Material transfer system and material transfer method

Abstract

The invention discloses a material transfer system and a material transfer method. The logistics transfer system comprises a stacking goods shelf and a vertical face carrying robot. The stacked goods shelf is formed by stacking at least two goods shelf units up and down; then, on the same side of the stacked goods shelf, each goods shelf unit is provided with at least one vertical face carrying robot; wherein the facade transfer robot is movably installed on the goods shelf facade of the goods shelf unit, and the facade transfer robot is further configured to be in butt joint with any goods shelf storage position of the goods shelf unit where the facade transfer robot is installed; it can be understood that in this way, warehouse-in operation and warehouse-out operation of the target goods on the stacking goods shelf unit can be achieved at least by driving the vertical face carrying robot; the height of an application scene of the facade transfer robot is expanded, and the technical problem that a single facade transfer robot is not suitable for a high-storage application scene due to the limitation of the bearing capacity of the single facade transfer robot is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics, and in particular to a material transfer system and a material transfer method. Background Art

[0002] In automated warehousing, the cargo rail robot and the transfer robot can be used in combination to realize the transfer of materials, that is, in and out of the warehouse; specifically, the cargo rail robot is a material handling robot that can move on the shelf track, and is mainly responsible for the transfer of materials in the height direction, while the transfer robot is a transport cart that cooperates with the cargo rail robot in relay, and is mainly responsible for the transfer of materials in the horizontal direction.

[0003] However, in the current solution, due to factors such as the load-bearing structure and control, the height of a single cargo rail robot cannot be very high, usually 15m or less. Thus, limited by the capacity limit of the cargo rail robot in the height direction, in the scenarios where the above solution can be applied, the height of the shelves is mostly limited to 15m or less, and the application requirements of high-rise warehousing, such as 20 to 30m, cannot be covered, resulting in a single usage scenario and inconvenience in use. Summary of the invention

[0004] In response to at least one aspect of the above-mentioned technical problems, an embodiment of the present application provides a material transfer system and a material transfer method. The material transfer system is configured by stacking at least two shelf units up and down, and on the same side, each shelf unit is provided with at least one facade handling robot (i.e., the above-mentioned cargo rail robot). Thus, at least by controlling the facade handling robot, the target goods can be put into and taken out of the stacked shelves formed by at least two shelf units. In this way, through the stacked structure of the shelf units and the facade handling robots arranged in the shelf units in the height direction, the design limitations of a single facade handling robot (or cargo rail robot) can be avoided at the application level, and higher warehousing applications can be achieved.

[0005] In a first aspect, an embodiment of the present application provides a material transfer system, the material transfer system comprising:

[0006] A stacking shelf, comprising at least two shelf units, wherein the at least two shelf units are stacked up and down in a height direction;

[0007] A facade handling robot is movably mounted on the shelf facade of the shelf unit; wherein the shelf facade is a vertical surface formed by the storage openings of all shelf storage locations in the shelf unit facing the same direction, and at least one facade handling robot is provided for each shelf unit on the same side of the stacked shelf;

[0008] A dispatching control device, used to control the facade handling robot;

[0009] Among them, the facade transport robot is configured to be docked with any shelf storage location of the shelf unit on which it is installed, so that the scheduling control device can at least realize the warehousing operation of transferring the target goods into the stacking shelf and the outbound operation of transferring the target goods from the stacking shelf by driving the facade transport robot.

[0010] In one embodiment, preferably, the facade handling robot comprises a vertical slide rail and a handling actuator installed on the vertical slide rail in an up-and-down manner;

[0011] Wherein, the shelf unit is installed with a horizontal slide rail, the vertical slide rail is horizontally slidably installed on the horizontal slide rail, and the height range of the vertical slide rail at least covers the height range of all storage layers in the shelf unit where it is installed;

[0012] Furthermore, the dispatching control device is specifically used to control the up and down lifting of the transport actuator along the vertical slide rail, and the horizontal sliding of the vertical slide rail along the horizontal slide rail, so that the transport actuator can dock with any shelf storage position of the shelf unit on which it is installed.

[0013] In one embodiment, preferably, the shelf unit is provided with a plurality of temporary storage locations, and the temporary storage locations are used to temporarily store the target goods;

[0014] The transport actuator is installed on the vertical slide rail through a height extension frame, and the height extension frame is configured to enable the transport actuator to dock with the temporary storage position of the shelf unit above the corresponding shelf unit;

[0015] Wherein, the dispatching control device is specifically used for:

[0016] For the warehousing operation of the target goods:

[0017] Acquire a first storage location for the target goods, and determine a shelf unit where the first storage location is located;

[0018] Driving the facade handling robot at the bottom layer to obtain the target goods from the sorting device, wherein the sorting device is arranged on the ground and comprises a sorting conveying line or a sorting workbench;

[0019] The target goods are transferred to the facade transport robot disposed in the shelf unit where the first storage location is located by driving the facade transport robot to transfer the target goods to a temporary storage location one layer above the facade transport robot, and the facade transport robot on the layer above obtains the target goods;

[0020] Driving a facade transport robot disposed in the shelf unit where the first storage location is located to transfer the target goods to the first storage location;

[0021] For the outbound operation of the target goods:

[0022] Acquire a first outbound storage location of the target goods, and determine a shelf unit where the first outbound storage location is located;

[0023] Driving a vertical transport robot disposed at a shelf unit where the first outbound storage location is located to obtain the target goods from the first outbound storage location;

[0024] The target goods are transferred to the facade transport robot at the bottom layer by driving the facade transport robot to transfer the target goods to a temporary storage location of the shelf unit where the facade transport robot is located, and the facade transport robot at the lower layer obtains the target goods from the temporary storage location, thereby transferring the target goods to the facade transport robot at the bottom layer;

[0025] The vertical transport robot at the bottom layer is driven to transfer the target goods to a sorting device, which is arranged on the ground and includes a sorting conveyor line or a sorting workbench.

[0026] In one embodiment, preferably, the height extension rack includes a horizontally arranged cross bar and a vertically arranged vertical bar, wherein one end of the cross bar close to the shelf unit is installed on the vertical slide rail for lifting and lowering, one end of the cross bar away from the shelf unit is fixedly connected to the bottom end of the vertical bar, and the top end of the vertical bar is fixedly installed with the transport actuator.

[0027] In one embodiment, preferably, the plurality of temporary storage locations are arranged at a storage layer at the bottom of the shelf unit.

[0028] In one embodiment, preferably, the material transfer system further comprises:

[0029] A horizontal transport robot is arranged on the ground and moves horizontally on the ground, and is used to transfer the target goods between the sorting device and the transport actuator of the vertical transport robot at the bottom layer;

[0030] Among them, for the warehousing operation of the target goods:

[0031] The dispatching control device drives the bottom-level vertical transport robot to obtain the target goods from the sorting device, specifically including:

[0032] Driving the horizontal transport robot to obtain the target goods from the sorting device;

[0033] Drive the horizontal transport robot to dock with the transport actuator of the bottom vertical transport robot and transfer the target goods to the transport actuator, or drive the horizontal transport robot to transfer the target goods to the temporary storage position of the bottom shelf unit, and drive the transport actuator of the bottom vertical transport robot to obtain the target goods from the temporary storage position;

[0034] For the outbound operation of the target goods:

[0035] The dispatching control device drives the bottom-level facade handling robot to transfer the target goods out, specifically including:

[0036] Drive the bottom-level vertical transport robot to transfer the target goods to a temporary storage location provided in the bottom-level shelf unit, and drive the horizontal transport robot to transfer the target goods from the temporary storage location to the sorting device; or, drive the transport actuator of the bottom-level vertical transport robot to dock with the horizontal transport robot and transfer the target goods to the horizontal transport robot, and drive the horizontal transport robot to transfer the target goods to the sorting device.

[0037] In one embodiment, preferably, the material transfer system further comprises:

[0038] A lifting unit is arranged beside the stacking shelf, and the lifting unit includes a lifting machine that can be lifted up and down in a vertical direction;

[0039] Wherein, the transport execution mechanism is configured to transfer the target cargo between itself and the elevator when docking with the elevator;

[0040] Wherein, the dispatching control device is specifically used for:

[0041] For the warehousing operation of the target goods:

[0042] Acquire a second storage location for the target goods, and determine a shelf unit where the second storage location is located;

[0043] Driving the elevator to rise to a height position where a sorting device is located to obtain the target goods, wherein the sorting device is arranged on the ground and comprises a sorting conveying line or a sorting workbench;

[0044] The elevator is driven to rise and fall to the transfer height position of the shelf unit where the second storage location is located, so that the elevation handling robot arranged at the shelf unit where the second storage location is located obtains the target goods from the elevator, and the transfer height position indicates the height position at which the handling actuator arranged at the shelf unit is docked with the elevator;

[0045] Driving a facade transport robot disposed at the shelf unit where the second storage location is located to transfer the target goods to the second storage location;

[0046] For the outbound operation of the target goods:

[0047] Acquire a second outbound storage location of the target goods, and determine the shelf unit where the second outbound storage location is located;

[0048] Driving a vertical transport robot disposed at the shelf unit where the second outbound storage location is located to obtain the target goods from the second outbound storage location;

[0049] The elevator is driven to rise and fall to the transfer height position of the shelf unit where the second outbound storage location is located, so that the elevation handling robot arranged in the shelf unit where the second outbound storage location is located docks with the elevator and transfers the target goods to the elevator, wherein the transfer height position indicates the height position at which the handling actuator arranged in the shelf unit docks with the elevator;

[0050] The elevator is driven to rise and fall to a height position where a sorting device is located so as to transfer the target goods to the sorting device, wherein the sorting device is arranged on the ground and comprises a sorting conveying line or a sorting workbench.

[0051] In one embodiment, preferably, the lift unit is arranged at one end of the stacking rack in the width direction, wherein the material transfer system further comprises a transfer dump position, the transfer dump position is arranged at one end of the rack unit in the width direction and is located between the lift unit and the rack unit, and the height position of the transfer dump position at the rack unit is consistent with the transfer height position, and the lift is configured to transfer the target goods between itself and the transfer dump position when docking with the transfer dump position;

[0052] Among them, for the warehousing operation of the target goods:

[0053] The dispatching control device drives the elevator to rise and fall to the transfer height position of the shelf unit where the second storage location is located, so that the elevation handling robot arranged in the shelf unit where the second storage location is located obtains the target goods from the elevator, specifically including:

[0054] Driving the elevator to rise and fall to the transfer height position of the shelf unit where the second storage location is located, so that the elevator is docked with the transfer location of the shelf unit where the second storage location is located;

[0055] Driving the elevator to transfer the target goods to the transfer storage location of the shelf unit where the second storage storage location is located;

[0056] Driving a vertical transport robot disposed at the shelf unit where the second storage location is located to obtain the target goods from the transfer storage location;

[0057] For the outbound operation of the target goods:

[0058] The dispatching control device drives the elevator to rise and fall to the transfer height position of the shelf unit where the second outbound storage location is located, so that the facade handling robot arranged in the shelf unit where the second outbound storage location is located docks with the elevator and transfers the target goods to the elevator. Specifically, it includes:

[0059] Driving the elevator to rise and fall to the transfer height position of the shelf unit where the second outbound storage location is located, so that the elevator is docked with the transfer storage location of the shelf unit where the second outbound storage location is located;

[0060] Driving the facade handling robot arranged at the shelf unit where the second outbound storage location is located to transfer the target goods to the transfer storage location of the shelf unit where the second outbound storage location is located;

[0061] The elevator is driven to obtain the target goods from the transfer storage location of the shelf unit where the second outbound storage location is located.

[0062] In one embodiment, preferably, at one end of the shelf unit where the intermediate transfer dump position is set, the horizontal slide rail is protrudingly arranged so that the horizontal sliding stroke of the transport actuator covers the intermediate transfer dump position; the intermediate transfer dump position is at the same height as the bottom storage layer of the shelf unit.

[0063] In one embodiment, preferably, the material transfer system further comprises:

[0064] Temporary storage locations, a plurality of which are arranged at the bottom storage layer of the shelf unit;

[0065] A lift unit is provided at one end of the stacking shelf in the width direction, and the lift unit includes a lift that lifts up and down;

[0066] A transfer dump position is provided at one end of the shelf unit in the width direction and is located between the elevator unit and the shelf unit;

[0067] A walking platform, comprising a ground surface and a bearing surface provided between the upper and lower adjacent shelf units;

[0068] A horizontal transport robot is arranged on the walking platform and walks horizontally on the walking platform, and the horizontal transport robot is used to transfer the target goods between the temporary storage location and the transfer storage location arranged in the same shelf unit;

[0069] Wherein, the dispatching control device is specifically used for:

[0070] For the warehousing operation of the target goods:

[0071] Acquire a third storage location for the target goods, and determine the shelf unit where the third storage location is located;

[0072] The elevator is driven to obtain the target goods from the sorting device, and the target goods are transferred to the transfer storage position provided in the shelf unit where the third storage storage position is located, wherein the sorting device is provided on the ground and includes a sorting conveyor line or a sorting workbench;

[0073] Driving a horizontal transport robot provided at the shelf unit where the third incoming storage location is located to obtain the target goods from the transfer storage location, and transferring the target goods to a temporary storage location provided at the shelf unit where the third incoming storage location is located;

[0074] Driving the elevation handling robot provided in the shelf unit where the third incoming storage location is located to obtain the target goods from the temporary storage location, and transferring the target goods to the third incoming storage location;

[0075] For the outbound operation of the target goods:

[0076] Acquire a third outbound storage location of the target goods, and determine the shelf unit where the third outbound storage location is located;

[0077] Driving the facade handling robot provided at the shelf unit where the third outbound storage location is located to obtain the target goods from the third outbound storage location, and transferring the target goods to a temporary storage location provided at the shelf unit where the third outbound storage location is located;

[0078] Driving a horizontal transport robot provided at the shelf unit where the third outbound storage location is located to obtain the target goods from the temporary storage location, and transferring the target goods to a transfer storage location provided at the shelf unit where the third outbound storage location is located;

[0079] The elevator is driven to obtain the target goods from the transfer dump position, and the target goods are transferred to a sorting device, which is arranged on the ground and includes a sorting conveying line or a sorting workbench.

[0080] In one embodiment, preferably, the dispatch control device is further specifically used to dynamically adjust the number of the horizontal transport robots on each walking platform through the elevator according to the dispatch instruction.

[0081] In a second aspect, an embodiment of the present application provides a material transfer method, which is applied to a material transfer system, and the material transfer system includes:

[0082] A stacking shelf, comprising at least two shelf units, wherein the at least two shelf units are stacked up and down in a height direction;

[0083] A facade handling robot is movably mounted on the shelf facade of the shelf unit; wherein the shelf facade is a vertical surface formed by the storage openings of all shelf storage locations in the shelf unit facing the same direction, and at least one facade handling robot is provided for each shelf unit on the same side of the stacking shelf, and the facade handling robot is configured to dock with any shelf storage location of the shelf unit where it is installed;

[0084] Wherein, the material transfer method comprises:

[0085] At least by driving the facade transport robot, a storage operation of transferring target goods into the stacking shelf and a storage operation of transferring target goods out of the stacking shelf are realized.

[0086] In one embodiment, preferably, the facade handling robot comprises a vertical slide rail and a handling actuator installed on the vertical slide rail in an up-and-down manner;

[0087] Wherein, the shelf unit is installed with a horizontal slide rail, the vertical slide rail is horizontally slidably installed on the horizontal slide rail, and the height range of the vertical slide rail at least covers the height range of all storage layers in the shelf unit where it is installed;

[0088] Wherein, the material transfer method comprises:

[0089] At least by driving the transport actuator to move up and down along the vertical slide rail, and the vertical slide rail to slide horizontally along the horizontal slide rail, the target goods are transferred into the stacking shelf and the target goods are transferred out of the stacking shelf.

[0090] In one embodiment, preferably, the shelf unit is provided with a plurality of temporary storage locations, and the temporary storage locations are used to temporarily store the target goods;

[0091] The transport actuator is installed on the vertical slide rail through a height extension frame, and the height extension frame is configured to enable the transport actuator to dock with the temporary storage position of the shelf unit above the corresponding shelf unit;

[0092] Wherein, the material transfer method specifically includes:

[0093] For the warehousing operation of the target goods:

[0094] Acquire a first storage location for the target goods, and determine a shelf unit where the first storage location is located;

[0095] Driving the facade handling robot at the bottom layer to obtain the target goods from the sorting device, wherein the sorting device is arranged on the ground and comprises a sorting conveying line or a sorting workbench;

[0096] The target goods are transferred to the facade transport robot disposed in the shelf unit where the first storage location is located by driving the facade transport robot to transfer the target goods to a temporary storage location one layer above the facade transport robot, and the facade transport robot on the layer above obtains the target goods;

[0097] Driving a facade transport robot disposed in the shelf unit where the first storage location is located to transfer the target goods to the first storage location;

[0098] For the outbound operation of the target goods:

[0099] Acquire a first outbound storage location of the target goods, and determine a shelf unit where the first outbound storage location is located;

[0100] Driving a vertical transport robot disposed at a shelf unit where the first outbound storage location is located to obtain the target goods from the first outbound storage location;

[0101] The target goods are transferred to the facade transport robot at the bottom layer by driving the facade transport robot to transfer the target goods to a temporary storage location of the shelf unit where the facade transport robot is located, and the facade transport robot at the lower layer obtains the target goods from the temporary storage location, thereby transferring the target goods to the facade transport robot at the bottom layer;

[0102] The vertical transport robot at the bottom layer is driven to transfer the target goods to a sorting device, which is arranged on the ground and includes a sorting conveyor line or a sorting workbench.

[0103] In one embodiment, preferably, the material transfer system further comprises:

[0104] A horizontal transport robot is arranged on the ground and moves horizontally on the ground, and is used to transfer the target goods between the sorting device and the transport actuator of the vertical transport robot at the bottom layer;

[0105] Among them, for the warehousing operation of the target goods:

[0106] The step of driving the bottom-level vertical transport robot to obtain the target goods from the sorting device specifically includes:

[0107] Driving the horizontal transport robot to obtain the target goods from the sorting device;

[0108] Drive the horizontal transport robot to dock with the transport actuator of the bottom vertical transport robot and transfer the target goods to the transport actuator, or drive the horizontal transport robot to transfer the target goods to the temporary storage position of the bottom shelf unit, and drive the transport actuator of the bottom vertical transport robot to obtain the target goods from the temporary storage position;

[0109] For the outbound operation of the target goods:

[0110] The step of driving the bottom-level facade handling robot to transfer the target goods specifically includes:

[0111] Drive the bottom-level vertical transport robot to transfer the target goods to a temporary storage location provided in the bottom-level shelf unit, and drive the horizontal transport robot to transfer the target goods from the temporary storage location to the sorting device; or, drive the transport actuator of the bottom-level vertical transport robot to dock with the horizontal transport robot and transfer the target goods to the horizontal transport robot, and drive the horizontal transport robot to transfer the target goods to the sorting device.

[0112] In one embodiment, preferably, the material transfer system further comprises:

[0113] A lifting unit is arranged beside the stacking shelf, and the lifting unit includes a lifting machine that can be lifted up and down in a vertical direction;

[0114] Wherein, the transport execution mechanism is configured to transfer the target cargo between itself and the elevator when docking with the elevator;

[0115] Wherein, the material transfer method specifically includes:

[0116] For the warehousing operation of the target goods:

[0117] Acquire a second storage location for the target goods, and determine the shelf unit where the second storage location is located;

[0118] Driving the elevator to rise to a height position where a sorting device is located to obtain the target goods, wherein the sorting device is arranged on the ground and comprises a sorting conveying line or a sorting workbench;

[0119] The elevator is driven to rise and fall to the transfer height position of the shelf unit where the second storage location is located, so that the elevation handling robot arranged at the shelf unit where the second storage location is located obtains the target goods from the elevator, and the transfer height position indicates the height position at which the handling actuator arranged at the shelf unit is docked with the elevator;

[0120] Driving a facade transport robot disposed at the shelf unit where the second storage location is located to transfer the target goods to the second storage location;

[0121] For the outbound operation of the target goods:

[0122] Acquire a second outbound storage location of the target goods, and determine the shelf unit where the second outbound storage location is located;

[0123] Driving a vertical transport robot disposed at the shelf unit where the second outbound storage location is located to obtain the target goods from the second outbound storage location;

[0124] The elevator is driven to rise and fall to the transfer height position of the shelf unit where the second outbound storage location is located, so that the elevation handling robot arranged in the shelf unit where the second outbound storage location is located docks with the elevator and transfers the target goods to the elevator, wherein the transfer height position indicates the height position at which the handling actuator arranged in the shelf unit docks with the elevator;

[0125] The elevator is driven to rise and fall to a height position where a sorting device is located so as to transfer the target goods to the sorting device, wherein the sorting device is arranged on the ground and comprises a sorting conveying line or a sorting workbench.

[0126] In one embodiment, preferably, the lift unit is arranged at one end of the stacking rack in the width direction, wherein the material transfer system further comprises a transfer dump position, the transfer dump position is arranged at one end of the rack unit in the width direction and is located between the lift unit and the rack unit, and the height position of the transfer dump position at the rack unit is consistent with the transfer height position, and the lift is configured to transfer the target goods between itself and the transfer dump position when docking with the transfer dump position;

[0127] Among them, for the warehousing operation of the target goods:

[0128] The step of driving the elevator to rise to the transfer height position of the shelf unit where the second storage location is located so that the elevation handling robot arranged at the shelf unit where the second storage location is located obtains the target goods from the elevator specifically includes:

[0129] Driving the elevator to rise and fall to the transfer height position of the shelf unit where the second storage location is located, so that the elevator is docked with the transfer location of the shelf unit where the second storage location is located;

[0130] Driving the elevator to transfer the target goods to the transfer storage location of the shelf unit where the second storage storage location is located;

[0131] Driving a vertical transport robot disposed at the shelf unit where the second storage location is located to obtain the target goods from the transfer storage location;

[0132] For the outbound operation of the target goods:

[0133] The step of driving the elevator to rise to the transfer height position of the shelf unit where the second outbound storage location is located so that the facade handling robot arranged at the shelf unit where the second outbound storage location is located docks with the elevator and transfers the target goods to the elevator specifically includes:

[0134] Driving the elevator to rise and fall to the transfer height position of the shelf unit where the second outbound storage location is located, so that the elevator is docked with the transfer storage location of the shelf unit where the second outbound storage location is located;

[0135] Driving the facade handling robot arranged at the shelf unit where the second outbound storage location is located to transfer the target goods to the transfer storage location of the shelf unit where the second outbound storage location is located;

[0136] The elevator is driven to obtain the target goods from the transfer storage location of the shelf unit where the second outbound storage location is located.

[0137] In one embodiment, preferably, the material transfer system further comprises:

[0138] Temporary storage locations, a plurality of which are arranged at the bottom storage layer of the shelf unit;

[0139] A lift unit is provided at one end of the stacking shelf in the width direction, and the lift unit includes a lift that lifts up and down;

[0140] A transfer dump position is provided at one end of the shelf unit in the width direction and is located between the elevator unit and the shelf unit;

[0141] A walking platform, comprising a ground surface and a bearing surface provided between the upper and lower adjacent shelf units;

[0142] A horizontal transport robot is arranged on the walking platform and walks horizontally on the walking platform, and the horizontal transport robot is used to transfer the target goods between the temporary storage location and the transfer storage location arranged in the same shelf unit;

[0143] Wherein, the material transfer method specifically includes:

[0144] For the warehousing operation of the target goods:

[0145] Acquire a third storage location for the target goods, and determine the shelf unit where the third storage location is located;

[0146] The elevator is driven to obtain the target goods from the sorting device, and the target goods are transferred to the transfer storage position provided in the shelf unit where the third storage storage position is located, wherein the sorting device is provided on the ground and includes a sorting conveyor line or a sorting workbench;

[0147] Driving a horizontal transport robot provided at the shelf unit where the third incoming storage location is located to obtain the target goods from the transfer storage location, and transferring the target goods to a temporary storage location provided at the shelf unit where the third incoming storage location is located;

[0148] Driving the elevation handling robot provided in the shelf unit where the third incoming storage location is located to obtain the target goods from the temporary storage location, and transferring the target goods to the third incoming storage location;

[0149] For the outbound operation of the target goods:

[0150] Acquire a third outbound storage location of the target goods, and determine the shelf unit where the third outbound storage location is located;

[0151] Driving the facade handling robot provided at the shelf unit where the third outbound storage location is located to obtain the target goods from the third outbound storage location, and transferring the target goods to a temporary storage location provided at the shelf unit where the third outbound storage location is located;

[0152] Driving a horizontal transport robot provided at the shelf unit where the third outbound storage location is located to obtain the target goods from the temporary storage location, and transferring the target goods to a transfer storage location provided at the shelf unit where the third outbound storage location is located;

[0153] The elevator is driven to obtain the target goods from the transfer dump position, and the target goods are transferred to a sorting device, which is arranged on the ground and includes a sorting conveying line or a sorting workbench.

[0154] In one embodiment, preferably, the material transfer method further comprises:

[0155] According to the dispatching instruction, the number of the horizontal transport robots on each walking platform is dynamically adjusted by the elevator.

[0156] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the material transfer method as described above is implemented.

[0157] In a fourth aspect, an embodiment of the present application provides a computer program product, including a computer program, which implements the material transfer method as described above when executed by a processor.

[0158] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0159] An embodiment of the present application provides a material transfer system and a material transfer method, wherein the logistics transfer system includes a stacking shelf and a facade handling robot; wherein the stacking shelf is formed by stacking at least two shelf units up and down; then, on the same side of the stacking shelf, each shelf unit is provided with at least one facade handling robot; wherein the facade handling robot is movably installed on the shelf facade of the shelf unit, and the facade handling robot is also configured to be docked with any shelf storage location of the shelf unit on which it is installed; it can be understood that, in this way, the material transfer system can realize the warehousing and outbound operations of the target goods on the stacking shelf composed of at least two shelf units by at least controlling the facade handling robot.

[0160] That is to say, this embodiment stacks the shelf units and the vertical handling robots arranged on the shelf units up and down. Therefore, on this basis, this embodiment can at least realize the warehousing and outbound operations of the target goods on the stacked shelves by controlling the vertical handling robots stacked up and down, thereby expanding the height of the application scenarios of the vertical handling robots, solving the technical problem that a single vertical handling robot or a cargo rail robot is not suitable for high storage application scenarios due to its limited carrying capacity, greatly expanding the application scenarios of the vertical handling robots, and can realize higher storage applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0161] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0162] Figure 1 This is a schematic diagram of the structure of the stacking arrangement of the shelf units and the facade handling robots described in the embodiments of the present application.

[0163] Figure 2 A possible structural schematic diagram of the facade handling robot described in an embodiment of the present application.

[0164] Figure 3 for Figure 2 Schematic diagram of the structure of the facade handling robot installed on the horizontal slide rail.

[0165] Figure 4 It is a schematic diagram of the structure of the height expansion rack described in the embodiment of the present application.

[0166] Figure 5This is a schematic diagram of the process of warehousing the target goods into the first warehousing storage location in the embodiment of the present application, wherein the target goods are transferred along the direction of the dotted arrow.

[0167] Figure 6 This is a schematic diagram of the process of the target goods being shipped out of the first shipping storage location in the embodiment of the present application, wherein the target goods are transferred along the direction of the dotted arrow.

[0168] Figure 7 Schematic diagram of the process of storing the target goods in the second storage location in the embodiment of the present application, wherein the target goods are transferred along the direction of the dotted arrow. Figure 7 The dotted box in the figure indicates the transfer height position of the rack unit.

[0169] Figure 8 Schematic diagram of the process of the target goods being shipped out of the second shipping storage location in the embodiment of the present application, wherein the target goods are transferred along the direction of the dotted arrow. Figure 8 The dotted box in the figure indicates the transfer height position of the rack unit.

[0170] Fig. 9 This is a schematic diagram of the process of storing the target goods into the second storage location in another embodiment of the present application, wherein: Fig. 9 exist Figure 7 A transfer dump position is added on the basis of .

[0171] Fig.10 This is a schematic diagram of the process of the target goods being shipped out of the second shipping storage location in another embodiment of the present application, wherein: Fig.10 exist Figure 8 A transfer dump location is added on the basis of .

[0172] Fig.11 This is a schematic diagram of the process of warehousing the target goods into the third warehousing storage location in the embodiment of the present application, wherein the target goods are transferred along the direction of the dotted arrow.

[0173] Fig.12 This is a schematic diagram of the process of the target goods being shipped out of the third shipping storage location in the embodiment of the present application, wherein the target goods are transferred along the direction of the dotted arrow.

[0174] Fig.13 Schematic diagram of the process of material transfer described in the embodiment of the present application.

[0175] Fig.14 It is a flow chart of the target goods warehousing operation in the material transfer method described in the embodiment of the present application.

[0176] Fig.15 It is a flow chart of the target goods outbound operation in the material transfer method described in the embodiment of the present application.

[0177] Fig.16 Another schematic diagram of the process of warehousing target goods in the material transfer method described in the embodiment of the present application.

[0178] Fig.17 Another schematic flow chart of the target cargo outbound operation in the material transfer method described in the embodiment of the present application.

[0179] Fig.18 It is another flow chart of the target goods warehousing operation in the material transfer method described in the embodiment of the present application.

[0180] Fig.19 It is another flow chart of the target goods outbound operation in the material transfer method described in the embodiment of the present application.

[0181] Wherein, the reference numerals are:

[0182] 10-shelf unit, 11-horizontal slide rail, 12-temporary storage location, 13-transfer storage location,

[0183] 20- vertical handling robot, 21- vertical slide rail, 22- handling actuator, 23- height extension rack,

[0184] 231- horizontal bar, 232- vertical bar,

[0185] 31-first incoming storage location, 32-first outgoing storage location, 33-second incoming storage location, 34-second outgoing storage location, 35-third incoming storage location, 36-third outgoing storage location,

[0186] 40-Horizontal handling robot,

[0187] 50-hoist unit, 51-lift,

[0188] 60- Walking platform,

[0189] 70- Sorting device. DETAILED DESCRIPTION

[0190] In order to better understand the above technical solution, the example embodiments of the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited to the exemplary embodiments described here.

[0191] In response to the technical problem that a single cargo rail robot is limited in the application of shelf height, the embodiments of the present application provide a material transfer system and a material transfer method. The material transfer system is configured by stacking at least two shelf units up and down, and on the same side, each shelf unit is provided with at least one facade handling robot (i.e., cargo rail robot). Thus, by at least driving the facade handling robot, the target goods can be put into the stacked shelf for warehousing and taken out of the stacked shelf for warehousing. In this way, through the stacked structure of the shelf unit and the facade handling robot arranged in the shelf unit in the height direction, the design limitation of a single facade handling robot (or cargo rail robot) can be avoided at the application level, and higher warehousing applications can be achieved.

[0192] Please combine Figures 1 to 12 , a material transfer system, the material transfer system includes stacking shelves, a facade handling robot 20 and a scheduling control device.

[0193] The stacking rack includes at least two rack units 10, which are stacked up and down in the height direction; the facade handling robot 20 is movably installed on the rack facade of the rack unit 10; wherein the rack facade is a vertical plane formed by the storage openings of all the rack storage locations in the rack unit 10 with the same orientation, and, on the same side of the stacking rack, each rack unit 10 is provided with at least one facade handling robot 20; the scheduling control device is used to control the facade handling robot 20; wherein the facade handling robot 20 is configured to be docked with any rack storage location of the rack unit 10 where it is installed, so that the scheduling control device at least realizes the warehousing operation of transferring the target goods into the stacking rack and the outbound operation of transferring the target goods from the stacking rack by driving the facade handling robot 20.

[0194] In general, this embodiment stacks the shelf units and the vertical handling robots arranged on the shelf units up and down, so that the warehousing operation of transferring the target goods into the stacked shelves and the warehousing operation of transferring the target goods out of the stacked shelves can be realized by at least controlling the vertical handling robots stacked up and down, thereby expanding the application scenarios of the vertical handling robots.

[0195] Specifically, the stacking rack may include, for example, two rack units, which are stacked up and down. Of course, the stacking rack may also include three or more rack units, which are also stacked up and down.

[0196] Among them, the facade transport robot is movably installed on the shelf facade of the shelf unit. Here, movable can be understood as, for example, the facade transport robot can move horizontally relative to the shelf unit, and then, the facade transport robot's own transport actuator can be lifted up and down along its own vertical slide rail. In this way, the facade transport robot can be docked with any shelf storage position of the shelf unit where it is installed.

[0197] Among them, on the same side of the stacked shelves, each shelf unit stacked up and down should be equipped with at least one facade handling robot.

[0198] On the basis of the above, the material transfer system can be configured to enable the scheduling control device to at least control the facade handling robot to achieve the warehousing operation of transferring the target goods into the stacking shelf and the outbound operation of transferring the target goods from the stacking shelf.

[0199] Among them, this embodiment specifically discloses three configuration methods of the material transfer system, as described below for details.

[0200] An embodiment of the present application provides a material transfer system and a material transfer method, wherein the logistics transfer system includes a stacking shelf and a facade handling robot; wherein the stacking shelf is formed by stacking at least two shelf units up and down; then, on the same side of the stacking shelf, each shelf unit is provided with at least one facade handling robot; wherein the facade handling robot is movably installed on the shelf facade of the shelf unit, and the facade handling robot is also configured to be docked with any shelf storage location of the shelf unit on which it is installed; it can be understood that, in this way, the material transfer system can realize the warehousing and outbound operations of the target goods on the stacking shelf composed of at least two shelf units by at least controlling the facade handling robot.

[0201] That is to say, this embodiment stacks the shelf units and the vertical handling robots arranged on the shelf units up and down. Therefore, on this basis, this embodiment can at least realize the warehousing and outbound operations of the target goods on the stacked shelves by controlling the vertical handling robots stacked up and down, thereby expanding the height of the application scenarios of the vertical handling robots, solving the technical problem that a single vertical handling robot or a cargo rail robot is not suitable for high storage application scenarios due to its limited carrying capacity, greatly expanding the application scenarios of the vertical handling robots, and can realize higher storage applications.

[0202] In addition, it can be understood that the facade transport robot of this embodiment can be provided with material handling devices such as telescopic arms, so that after docking with a certain shelf storage location of the shelf unit, the facade transport robot can transfer the target goods between the shelf storage location and itself through material handling devices such as telescopic arms.

[0203] In one possible implementation, the facade transport robot 20 includes a vertical slide rail 21 and a transport actuator 22 installed on the vertical slide rail 21 for lifting and lowering; wherein, the shelf unit 10 is installed with a horizontal slide rail 11, and the vertical slide rail 21 is installed on the horizontal slide rail 11 for horizontal sliding, and the height range of the vertical slide rail 21 at least covers the height range of all storage layers in the shelf unit 10 where it is installed, and the length range of the horizontal slide rail 11 at least covers the width range of the shelf unit 10; and, the scheduling control device is specifically used to control the lifting and lowering of the transport actuator 22 along the vertical slide rail 21, and the horizontal sliding of the vertical slide rail 21 along the horizontal slide rail 11, so that the transport actuator 22 can dock with any shelf storage position of the shelf unit 10 where it is installed.

[0204] That is, see Figure 2 and Figure 3 The vertical handling robot may specifically include a pair of vertical slide rails, which may be installed on the horizontal slide rails of the shelf unit and can slide horizontally through horizontal walking wheels; then, on this basis, a handling actuator is provided between the pair of vertical slide rails, which may be installed on the vertical slide rails and can be raised and lowered through a transmission belt or a transmission chain, for example.

[0205] In this way, it can be understood that by setting the length of the vertical slide rail to match the height of all storage layers in the shelf unit and, for example, setting the length of the horizontal slide rail to match the width of the shelf unit, the transport actuator can be connected to any shelf storage location of the shelf unit by lifting and lowering the vertical slide rail relative to the shelf unit and horizontally moving the vertical slide rail relative to the shelf unit.

[0206] Specifically, the telescopic arm and other material handling devices mentioned above can be installed in the transport actuator, so that after the transport actuator is docked with the shelf storage location, the telescopic arm and other material handling devices can transfer the target goods between the transport actuator and the shelf storage location.

[0207] Regarding the first configuration of the material transfer system, a height extension rack can be set between the transport actuator of the facade transport robot and the vertical slide rail to enable the facade transport robot on the next layer to dock with the temporary storage position of the shelf unit on the previous layer. In this way, by transferring the target goods between the facade transport robot on the next layer and the temporary storage position of the shelf unit on the previous layer, the warehousing operation of the target goods can be realized in a step-by-step manner, and the out-of-warehouse operation of the target goods can be realized in a step-by-step manner; thus, the scheduling control device of the material transfer system can realize the transfer of the target goods within the stacking height range of at least two shelf units, that is, the warehousing operation and out-of-warehouse operation of the target goods on the stacked shelves, only by controlling or driving the facade transport robot.

[0208] That is, in one possible implementation, see Figures 4 to 6 The shelf unit 10 is provided with a plurality of temporary storage positions 12, which are used to temporarily store target goods; the transport actuator 22 is installed on the vertical slide rail 21 through a height extension frame 23, and the height extension frame 23 is configured to enable the transport actuator 22 to dock with the temporary storage position 12 of the shelf unit 10 on the upper layer of the shelf unit 10 corresponding to it;

[0209] Among them, the dispatching control device is specifically used for:

[0210] For the warehousing operation of the target goods:

[0211] Obtaining a first storage location for the target goods and determining a shelf unit where the first storage location is located;

[0212] The vertical handling robot at the bottom layer is driven to obtain target goods from the sorting device, where the sorting device is arranged on the ground and includes a sorting conveyor line or a sorting workbench;

[0213] The target goods are transferred to the facade transport robot disposed in the shelf unit where the first storage location is located by driving the facade transport robot to transfer the target goods to a temporary storage location one layer above the facade transport robot, and the facade transport robot on the layer above obtains the target goods;

[0214] Driving the facade handling robot arranged at the shelf unit where the first storage location is located to transfer the target goods to the first storage location;

[0215] Outbound operations for target goods:

[0216] Obtaining a first outbound storage location of the target goods, and determining a shelf unit where the first outbound storage location is located;

[0217] Driving a vertical transport robot disposed in a shelf unit where the first outbound storage location is located to obtain target goods from the first outbound storage location;

[0218] The target goods are transferred to the facade transport robot at the bottom layer by driving the facade transport robot to transfer the target goods to a temporary storage location of the shelf unit where the facade transport robot is located, and the facade transport robot at the lower layer obtains the target goods from the temporary storage location;

[0219] The vertical handling robot at the bottom layer is driven to transfer the target goods to the sorting device, which is arranged on the ground and includes a sorting conveyor line or a sorting workbench.

[0220] Specifically, see Figure 5 or Figure 6The temporary storage space can be set at the bottom storage layer of the shelf unit, for example. Then, the transport actuator can extend its maximum rising height through the height extension frame, for example, to a height that docks with the temporary storage space of the shelf unit on the upper layer.

[0221] On this basis, for example, for the warehousing operation of the target goods, the dispatch control device should first obtain the first warehousing storage location of the target goods and the shelf unit where the first warehousing storage location is located; for example, see Figure 5 , the first storage location is located in the shelf unit of the third layer (this application sets the shelf units to be counted from bottom to top, in order of the bottom layer or the first layer, the second layer, and the third layer); then, the scheduling control device can drive the facade handling robot on the bottom layer to first obtain the target goods; thereafter, the facade handling robot on the bottom layer can transfer the target goods to the temporary storage location of the shelf unit on the second layer through its handling actuator, and then, the facade handling robot of the shelf unit on the second layer can obtain the target goods from the temporary storage location of the shelf unit on the second layer, and similarly transfer the target goods to the temporary storage location of the shelf unit on the third layer; that is, the facade handling robot is driven to transfer the target goods to the temporary storage location on the layer above the facade handling robot, and the facade handling robot on the layer above obtains the target goods, so that the target goods can be transferred to the shelf unit where the first storage location is located (i.e., the shelf unit on the third layer) step by step; thereafter, the facade handling robot located at the shelf unit where the first storage location is located (i.e., the shelf unit on the third layer) is driven to transfer the target goods to the first storage location, and the storage operation of the target goods can be completed.

[0222] For example, for the outbound operation of the target goods, the dispatch control device should first obtain the first outbound storage location of the target goods and the shelf unit where the first outbound storage location is located; for example, see Figure 6, the first outbound storage location is also located in the shelf unit of the third layer; then, the scheduling control device can drive the facade handling robot of the shelf unit where the first outbound storage location is located (i.e., the shelf unit of the third layer) to first obtain the target goods from the first outbound storage location; thereafter, the facade handling robot of the shelf unit of the third layer can transfer the target goods to the temporary storage location of the third layer, and next, the facade handling robot located at the shelf unit of the second layer can obtain the target goods from the temporary storage location of the third layer and transfer it to the temporary storage location of the shelf unit of the second layer. Similarly, the facade handling robot located at the first layer or the lowest layer of the shelf unit can obtain the target goods from the temporary storage location of the second layer; that is, the facade handling robot is driven to transfer the target goods to the temporary storage location of the shelf unit where the facade handling robot is located, and the facade handling robot of the lower layer obtains the target goods from the temporary storage location, so that the target goods can be transferred to the facade handling robot at the lowest layer step by step, and then, the facade handling robot at the lowest layer is driven to transfer the target goods out, and the outbound operation of the target goods can be completed.

[0223] Among them, it should be clarified that the sorting device mentioned in the present application can be understood as, for example, a sorting conveyor line, a sorting workbench, etc. arranged on the ground. The warehousing operation of the target goods is to transfer them from the sorting device to the stacking shelf, and the outbound operation of the target goods is to transfer them from the stacking shelf to the sorting device.

[0224] In a specific embodiment, the height extension rack 23 includes a horizontally arranged cross bar 231 and a vertically arranged vertical bar 232, wherein the cross bar 231 is installed on the vertical slide rail 21 at one end close to the shelf unit 10 so as to be lifted and lowered, and the cross bar 231 is fixedly connected to the bottom end of the vertical bar 232 at one end away from the shelf unit 10, and the transport actuator 22 is fixedly installed at the top of the vertical bar 232.

[0225] That is, the height extension rack of this embodiment can be realized by means of horizontal bars and vertical bars.

[0226] Specifically, see Figure 4 The end of the horizontal bar close to the shelf unit is installed on the vertical slide rail for lifting up and down, and then the end of the horizontal bar away from the shelf unit is fixedly connected to the bottom end of the vertical bar, and the transport actuator is arranged at the top of the vertical bar. In this way, the maximum rising height of the transport actuator can be expanded to a certain extent, and the transport actuator can realize docking with the temporary storage position of the shelf unit on the upper layer.

[0227] In a specific embodiment, a plurality of temporary storage locations 12 may be specifically arranged at the bottom storage layer of the shelf unit 10, thereby reducing the setting height of the vertical rods mentioned above.

[0228] In a specific embodiment, the material transfer system further includes a horizontal transfer robot, which is arranged on the ground and walks horizontally on the ground, and the horizontal transfer robot is used to transfer the target goods between the sorting device and the transfer actuator of the bottom-level vertical transfer robot, or, it can be understood that the horizontal transfer robot can transfer the target goods between the sorting device and the temporary storage position of the bottom-level shelf unit;

[0229] Among them, for the warehousing operation of the target goods:

[0230] The dispatching control device drives the bottom-level vertical handling robot to obtain the target goods from the sorting device, specifically including:

[0231] Drive the horizontal transport robot to obtain target goods from the sorting device;

[0232] Drive the horizontal transport robot to dock with the transport actuator of the lowest level vertical transport robot and transfer the target goods to the transport actuator, or drive the horizontal transport robot to transfer the target goods to the temporary storage location of the lowest level shelf unit, and drive the transport actuator of the lowest level vertical transport robot to obtain the target goods from the temporary storage location.

[0233] Outbound operations for target goods:

[0234] The dispatching control device drives the bottom-level facade handling robot to transfer the target goods, including:

[0235] Drive the bottom-level vertical transport robot to transfer the target goods to a temporary storage location located in the bottom-level shelf unit, and drive the horizontal transport robot to transfer the target goods from the temporary storage location to the sorting device; or, drive the transport actuator of the bottom-level vertical transport robot to dock with the horizontal transport robot and transfer the target goods to the horizontal transport robot, and drive the horizontal transport robot to transfer the target goods to the sorting device.

[0236] That is to say, in this embodiment, a horizontal transport robot can be arranged between the bottom-level facade transport robot and the sorting device. In this way, for the warehousing operation of the target goods, the horizontal transport robot can first transfer the target goods from the sorting device to the temporary storage position of the bottom shelf unit or the facade transport robot; similarly, for the outbound operation of the target goods, the horizontal transport robot can finally transfer the target goods from the temporary storage position of the bottom shelf unit or the facade transport robot to the sorting device.

[0237] Regarding the second configuration of the material transfer system, a lifting unit can be set at one end of the stacked shelf, so that the target goods can be directly transferred to the vertical handling robot of the shelf unit where the incoming storage location is located by using the lift that lifts up and down the lifting unit, so that they can be directly put into the warehouse, or the vertical handling robot of the shelf unit where the outgoing storage location is located can transfer the target goods to the lifting unit, so that they can be directly shipped out of the warehouse, thereby improving the transfer efficiency.

[0238] That is, in one possible implementation, the material transfer system further includes a lift unit 50; the lift unit 50 is disposed next to the stacking shelf, and the lift unit 50 includes a lift 51 that lifts up and down; wherein the transport actuator 22 is configured to transfer the target goods between itself and the lift 51 when docking with the lift 51;

[0239] Among them, the dispatching control device is specifically used for:

[0240] For the warehousing operation of the target goods:

[0241] Obtaining a second storage location 33 of the target goods, and determining the shelf unit 10 where the second storage location 33 is located;

[0242] The elevator 51 is driven to rise to the height position where the sorting device 70 is located to obtain the target goods. The sorting device 70 is arranged on the ground and includes a sorting conveyor line or a sorting workbench;

[0243] The elevator 51 is driven to rise and fall to the transfer height position of the shelf unit 10 where the second storage location 33 is located, so that the vertical handling robot 20 arranged at the shelf unit 10 where the second storage location 33 is located obtains the target goods from the elevator 51. The transfer height position indicates the height position at which the handling actuator 22 arranged at the shelf unit 10 is docked with the elevator 51.

[0244] The vertical transport robot 20 disposed in the shelf unit 10 where the second storage location 33 is located is driven to transfer the target goods to the second storage location 33;

[0245] Outbound operations for target goods:

[0246] Obtaining a second outbound storage location 34 of the target goods, and determining the shelf unit 10 where the second outbound storage location 34 is located;

[0247] Drive the vertical transport robot 20 disposed in the shelf unit 10 where the second outbound storage location 34 is located to obtain the target goods from the second outbound storage location 34;

[0248] The elevator 51 is driven to rise and fall to the transfer height position of the shelf unit 10 where the second outbound storage location 34 is located, so that the vertical handling robot 20 arranged at the shelf unit 10 where the second outbound storage location 34 is located docks with the elevator 51 and transfers the target goods to the elevator 51. The transfer height position indicates the height position at which the handling actuator 22 arranged at the shelf unit 10 docks with the elevator 51;

[0249] The driving elevator 51 is lifted to the height position where the sorting device 70 is located to transfer the target goods to the sorting device 70. The sorting device 70 is arranged on the ground, and the sorting device 70 includes a sorting conveying line or a sorting workbench.

[0250] Specifically, see Figure 7 or Figure 8 , a lifting unit can be set at one end of the stacking rack width direction, and then each rack unit can be pre-set with a transfer height position ( Figure 7 , Figure 8 The height position represented by the dotted box in the middle), for example, the height position where the bottom storage layer of the shelf unit is located can be set as the transfer height position. In this way, for each shelf unit, the elevator and the transport actuator arranged on the shelf unit can be driven separately to dock at the transfer height position, thereby completing the transfer of the target goods.

[0251] On this basis, for example, for the warehousing operation of the target goods, the dispatch control device should first obtain the second warehousing storage location of the target goods and the shelf unit where the second warehousing storage location is located; for example, see Figure 7 , the second warehousing storage location is located in the shelf unit on the third floor; then, the scheduling control device can drive the elevator to obtain the target goods from the sorting device, and drive the elevator to lift the target goods to the transfer height position of the shelf unit on the third floor; thereafter, the scheduling control device can drive the facade handling robot arranged on the shelf unit on the third floor to transfer the target goods from the elevator to the second warehousing storage location, thereby completing the warehousing operation of the target goods.

[0252] For example, for the outbound operation of the target goods, the dispatch control device should first obtain the second outbound storage location of the target goods and the shelf unit where the second outbound storage location is located; for example, see Figure 8 , the second outbound storage location is located in the shelf unit on the third floor; then, the scheduling control device can drive the facade handling robot located on the shelf unit on the third floor to obtain the target goods from the second outbound storage location; thereafter, the scheduling control device can drive the elevator to rise to the transfer height position of the shelf unit where the second outbound storage location is located, and then drive the facade handling robot to dock with the elevator and transfer the obtained target goods to the elevator; finally, the scheduling control device can drive the elevator to transfer the target goods to the sorting device, thereby completing the outbound operation of the target goods.

[0253] Preferably, in a specific embodiment, see Fig. 9 , Fig.10 , the hoist unit 50 is arranged at one end of the stacked shelf in the width direction, wherein the material transfer system further comprises a transfer dump position 13, the transfer dump position 13 is arranged at one end of the shelf unit 10 in the width direction and is located between the hoist unit 50 and the shelf unit 10, and the height position of the transfer dump position 13 at the shelf unit 10 is consistent with the transfer height position, and the elevator 51 is configured to transfer the target goods between itself and the transfer dump position 13 when docking with the transfer dump position 13. For example, the elevator 51 can be configured with a material box handling mechanism such as a telescopic arm, and the material box or the target goods can be transferred between the elevator itself and the transfer dump position through the telescopic arm;

[0254] Among them, for the warehousing operation of the target goods:

[0255] The dispatching control device drives the elevator to rise and fall to the transfer height position of the shelf unit where the second storage location is located, so that the facade handling robot arranged in the shelf unit where the second storage location is located obtains the target goods from the elevator. Specifically, it includes:

[0256] The elevator is driven to rise and fall to the transfer height position of the shelf unit where the second storage location is located, so that the elevator is docked with the transfer location of the shelf unit where the second storage location is located;

[0257] Drive the elevator to transfer the target goods to the transfer storage position of the shelf unit where the second storage storage position is located;

[0258] Driving the vertical handling robot arranged at the shelf unit where the second storage location is located to obtain the target goods from the transfer storage location;

[0259] Outbound operations for target goods:

[0260] The dispatching control device drives the elevator to the transfer height position of the shelf unit where the second outbound storage location is located, so that the facade handling robot set in the shelf unit where the second outbound storage location is located docks with the elevator and transfers the target goods to the elevator. Specifically includes:

[0261] The elevator is driven to rise and fall to the transfer height position of the shelf unit where the second outbound storage location is located, so that the elevator is docked with the transfer storage location of the shelf unit where the second outbound storage location is located;

[0262] Driving the facade handling robot arranged at the shelf unit where the second outbound storage location is located to transfer the target goods to the transfer storage location of the shelf unit where the second outbound storage location is located;

[0263] The elevator is driven to obtain the target goods from the transfer storage location of the shelf unit where the second outbound storage location is located.

[0264] That is, this embodiment can specifically set a transfer dump position on each shelf unit, so that the transfer of target goods between the elevator and the facade handling robot (or the handling actuator) can be specifically transferred through the transfer dump position, freeing up the occupancy of the elevator and improving the transfer efficiency.

[0265] In a specific embodiment, at one end of the shelf unit 10 where the intermediate transfer dump position 13 is set, the horizontal slide rail 11 is protrudingly arranged so that the horizontal sliding stroke of the transport actuator 22 covers the intermediate transfer dump position 13; the intermediate transfer dump position 13 is at the same height as the bottom storage layer of the shelf unit 10.

[0266] That is, the horizontal slide rail of the facade handling robot can be extended to cover the transfer dump location, so that the handling actuator of the facade handling robot can be conveniently docked with the transfer dump location, thereby realizing the transfer of target goods between the handling actuator and the transfer dump location.

[0267] Regarding the third configuration of the material transfer system, on the basis of the above-mentioned second configuration, a horizontal handling robot and a temporary storage location can be set on each shelf unit. In this way, for each shelf unit, the target goods can be transferred between the transfer storage location and the temporary storage location on that layer by a horizontal handling robot. Since multiple temporary storage locations can be set, the temporary redundancy of the target goods is increased, thereby improving the transfer efficiency.

[0268] That is, in one possible implementation, the material transfer system further includes a temporary storage position 12, a hoist unit 50, a transfer storage position 13, a walking platform 60 and a horizontal handling robot 40; a plurality of temporary storage positions 12 are arranged at the storage layer of the bottom layer of the shelf unit 10; the hoist unit 50 is arranged at one end in the width direction of the stacked shelf, and the hoist unit 50 includes a lift 51 that lifts up and down; the transfer storage position 13 is arranged at one end in the width direction of the shelf unit 10 and is located between the hoist unit 50 and the shelf unit 10; the walking platform 60 includes the ground and a bearing surface arranged between upper and lower adjacent shelf units 10; the horizontal handling robot 40 is arranged on the walking platform 60 and walks horizontally on the walking platform 60, and the horizontal handling robot 40 is used to transfer target goods between the temporary storage position 12 and the transfer storage position 13 arranged in the same shelf unit 10;

[0269] Among them, the dispatching control device is specifically used for:

[0270] For the warehousing operation of the target goods:

[0271] Obtaining a third storage location for the target goods and determining the shelf unit where the third storage location is located;

[0272] The driving lift obtains the target goods from the sorting device, and transfers the target goods to the transfer storage position located in the shelf unit where the third storage storage position is located, the sorting device is located on the ground, and the sorting device includes a sorting conveyor line or a sorting workbench;

[0273] Drive the horizontal transport robot located in the shelf unit where the third incoming storage location is located to obtain the target goods from the transfer storage location, and transfer the target goods to the temporary storage location located in the shelf unit where the third incoming storage location is located;

[0274] Driving the facade handling robot located in the shelf unit where the third incoming storage location is located to obtain the target goods from the temporary storage location, and transferring the target goods to the third incoming storage location;

[0275] Outbound operations for target goods:

[0276] Obtaining a third outbound storage location of the target goods, and determining the shelf unit where the third outbound storage location is located;

[0277] Driving the facade handling robot located at the shelf unit where the third outbound storage location is located to obtain the target goods from the third outbound storage location, and transferring the target goods to a temporary storage location located at the shelf unit where the third outbound storage location is located;

[0278] Drive the horizontal transport robot located in the shelf unit where the third outbound storage location is located to obtain the target goods from the temporary storage location, and transfer the target goods to the transfer storage location located in the shelf unit where the third outbound storage location is located;

[0279] The driving elevator obtains the target goods from the transfer dump position and transfers the target goods to a sorting device, which is arranged on the ground and includes a sorting conveying line or a sorting workbench.

[0280] Specifically, see Fig.11 or Fig.12 A walking platform can be set between the upper and lower stacked shelf units, and the walking platform is equipped with a horizontal transport robot. In this way, the horizontal transport robot can transfer the target goods between the transfer storage position and the temporary storage position of the shelf unit on this layer.

[0281] On this basis, for example, for the warehousing operation of the target goods, the dispatch control device should first obtain the third warehousing storage location of the target goods and the shelf unit where the third warehousing storage location is located; for example, see Fig. 9, the third warehousing storage location is located in the shelf unit on the third floor; then, the scheduling control device can first drive the elevator to obtain the target goods from the sorting device and transfer the target goods to the transit storage location set on the shelf unit on the third floor; thereafter, the horizontal handling robot set on the shelf unit on the third floor can transfer the target goods from the transit storage location to the vacant temporary storage location on the shelf unit on the third floor; thereafter, the vertical handling robot set on the shelf unit on the third floor can be driven to transfer the target goods from the temporary storage location to the third warehousing storage location, thereby completing the warehousing operation of the target goods.

[0282] For example, for the outbound operation of the target goods, the dispatch control device should first obtain the third outbound storage location of the target goods and the shelf unit where the third outbound storage location is located; for example, see Fig.10 , the third outbound storage location is located in the shelf unit on the second floor; then, the scheduling control device can drive the vertical handling robot of the second-layer shelf unit to obtain the target goods from the third outbound storage location and transfer the target goods to the vacant temporary storage location of the second-layer shelf unit; thereafter, the horizontal handling robot arranged on the second-layer shelf unit transfers the target goods to the transit storage location of the second-layer shelf unit; thereafter, the elevator can be driven to obtain the target goods from the transit storage location of the second-layer shelf unit and transfer the target goods to the sorting device, thus completing the outbound operation of the target goods.

[0283] In a specific implementation, the dispatch control device is also specifically used to dynamically adjust the number of horizontal transport robots on each walking platform through the elevator according to the dispatch instruction.

[0284] That is, for example, when the number of businesses in a certain shelf unit is large, the horizontal transport robots of other shelf units can be dynamically adjusted to this shelf unit through the elevator to improve the transfer efficiency.

[0285] Based on the above-mentioned material transfer system, the present application further discloses a material transfer method, which is applied to the material transfer system. The material transfer system includes:

[0286] The stacking shelf comprises at least two shelf units, wherein the at least two shelf units are stacked up and down in a height direction;

[0287] A facade handling robot is movably mounted on a shelf facade of a shelf unit; wherein the shelf facade is a vertical surface formed by the storage openings of all shelf storage locations in the shelf unit facing the same direction, and at least one facade handling robot is provided for each shelf unit on the same side of the stacked shelves, and the facade handling robot is configured to dock with any shelf storage location of the shelf unit where it is installed;

[0288] Among them, see Fig.13 , material transfer methods include:

[0289] S1. At least by driving the vertical transport robot, a warehousing operation of transferring target goods into the stacking shelf and a warehousing operation of transferring target goods from the stacking shelf are realized.

[0290] That is, by stacking the shelf units equipped with the facade handling robots up and down, the present embodiment can at least realize the warehousing and out-of-warehouse operations of the target goods by driving the facade handling robots; here, on the one hand, the present embodiment can realize the warehousing and out-of-warehouse operations of the target goods only by driving the facade handling robots; on the other hand, the present embodiment can realize the warehousing and out-of-warehouse operations of the target goods by driving the facade handling robots and other devices that cooperate with the facade handling robots; the other devices mentioned here are, for example, the lifting unit and horizontal handling robot described above. Of course, other devices are not limited to these.

[0291] In one possible implementation, the vertical handling robot includes a vertical slide rail and a handling actuator installed on the vertical slide rail in an up-and-down manner; wherein the shelf unit is installed with a horizontal slide rail, the vertical slide rail is installed on the horizontal slide rail in a horizontal sliding manner, the height range of the vertical slide rail at least covers the height range of all storage layers in the shelf unit where it is installed, and the length range of the horizontal slide rail at least covers the width range of the shelf unit;

[0292] Among them, step S1 includes: at least by driving the transport actuator to rise and fall along the vertical slide rail, and the vertical slide rail to slide horizontally along the horizontal slide rail, to realize the warehousing operation of transferring the target goods into the stacking shelf and the warehousing operation of transferring the target goods from the stacking shelf.

[0293] In one possible implementation, the shelf unit is provided with a plurality of temporary storage locations, which are used to temporarily store target goods; the transport actuator is installed on the vertical slide rail through a height extension frame, and the height extension frame is configured to enable the transport actuator to dock with the temporary storage location of the shelf unit on the upper layer of the shelf unit corresponding to the transport actuator;

[0294] Wherein, step S1 specifically includes:

[0295] See also Fig.14 , for the warehousing operation of the target goods:

[0296] S101, obtaining a first storage location for target goods, and determining a shelf unit where the first storage location is located;

[0297] S102, driving the vertical handling robot at the bottom layer to obtain target goods from a sorting device, where the sorting device is located on the ground and includes a sorting conveyor line or a sorting workbench;

[0298] S103, the target goods are transferred to the facade transport robot disposed in the shelf unit where the first storage location is located by driving the facade transport robot to transfer the target goods to a temporary storage location one layer above the facade transport robot, and the facade transport robot on the layer above obtains the target goods;

[0299] S104: driving the elevation handling robot disposed at the shelf unit where the first incoming storage location is located to transfer the target goods to the first incoming storage location.

[0300] See also Fig.15 , for the outbound operation of the target goods:

[0301] S105, obtaining a first outbound storage location of the target goods, and determining a shelf unit where the first outbound storage location is located;

[0302] S106, driving the vertical transport robot disposed in the shelf unit where the first outbound storage location is located to obtain the target goods from the first outbound storage location;

[0303] S107, the target goods are transferred to the facade transport robot at the bottom layer by driving the facade transport robot to transfer the target goods to the temporary storage location of the shelf unit where the facade transport robot is located, and the facade transport robot at the lower layer obtains the target goods from the temporary storage location;

[0304] S108. Drive the facade handling robot at the bottom layer to transfer the target goods to a sorting device, which is located on the ground and includes a sorting conveyor line or a sorting workbench.

[0305] That is, by means of the temporary storage space of the shelf unit and the height extension frame of the facade handling robot, this embodiment discloses a method for realizing the warehousing and outbound operations of the target goods only by driving the facade handling robot.

[0306] In one possible implementation, the material transfer system further includes a horizontal transfer robot, which is disposed on the ground and moves horizontally on the ground, and is used to transfer the target goods between the sorting device and the transfer actuator of the bottom-level vertical transfer robot, or, it can be understood that the horizontal transfer robot can transfer the target goods between the sorting device and the temporary storage position of the bottom-level shelf unit;

[0307] Among them, for the warehousing operation of the target goods:

[0308] Step S102 specifically includes:

[0309] S1021, driving the horizontal transport robot to obtain target goods from the sorting device;

[0310] S1022. Drive the horizontal transport robot to dock with the transport actuator of the bottom vertical transport robot and transfer the target goods to the transport actuator, or drive the horizontal transport robot to transfer the target goods to the temporary storage location of the bottom shelf unit, and drive the transport actuator of the bottom vertical transport robot to obtain the target goods from the temporary storage location.

[0311] Outbound operations for target goods:

[0312] Step S108 specifically includes:

[0313] Drive the bottom-level vertical transport robot to transfer the target goods to a temporary storage location located in the bottom-level shelf unit, and drive the horizontal transport robot to transfer the target goods from the temporary storage location to the sorting device; or, drive the transport actuator of the bottom-level vertical transport robot to dock with the horizontal transport robot and transfer the target goods to the horizontal transport robot, and drive the horizontal transport robot to transfer the target goods to the sorting device.

[0314] In one possible implementation, the material transfer system further includes a lift unit, the lift unit being disposed next to the stacking shelf, the lift unit including a lift that lifts up and down in a vertical direction; wherein the transport actuator is configured to transfer the target cargo between itself and the lift when docking with the lift;

[0315] Wherein, step S1 specifically includes:

[0316] See also Fig.16 , for the warehousing operation of the target goods:

[0317] S201, obtaining a second storage location for target goods, and determining a shelf unit where the second storage location is located;

[0318] S202, driving the elevator to the height position where the sorting device is located to obtain the target goods, the sorting device is arranged on the ground, and the sorting device includes a sorting conveyor line or a sorting workbench;

[0319] S203, driving the elevator to rise to the transfer height position of the shelf unit where the second storage location is located, so that the vertical handling robot arranged in the shelf unit where the second storage location is located obtains the target goods from the elevator, and the transfer height position indicates the height position at which the handling actuator arranged in the shelf unit is docked with the elevator;

[0320] S204, driving the facade handling robot arranged in the shelf unit where the second storage location is located to transfer the target goods to the second storage location;

[0321] See also Fig.17 , for the outbound operation of the target goods:

[0322] S205, obtaining a second outbound storage location of the target goods, and determining a shelf unit where the second outbound storage location is located;

[0323] S206, driving the vertical transport robot disposed in the shelf unit where the second outbound storage location is located to obtain the target goods from the second outbound storage location;

[0324] S207, driving the elevator to rise to the transfer height position of the shelf unit where the second outbound storage location is located, so that the elevation handling robot arranged in the shelf unit where the second outbound storage location is located docks with the elevator and transfers the target goods to the elevator, and the transfer height position indicates the height position at which the handling actuator arranged in the shelf unit docks with the elevator;

[0325] S208, driving the elevator to rise to the height position where the sorting device is located to transfer the target goods to the sorting device, the sorting device is arranged on the ground, and the sorting device includes a sorting conveyor line or a sorting workbench.

[0326] That is, with the help of the elevator unit arranged next to the shelf unit, this embodiment discloses a method of realizing the warehousing and outbound operations of the target goods by driving the facade transport robot and other devices cooperating with the facade transport robot.

[0327] In a specific embodiment, the lift unit is disposed at one end of the stacked rack in the width direction, wherein the material transfer system further comprises a transfer dump position, the transfer dump position is disposed at one end of the rack unit in the width direction and is located between the lift unit and the rack unit, and the height position of the transfer dump position at the rack unit is consistent with the transfer height position, and the lift is configured to transfer the target goods between itself and the transfer dump position when docking with the transfer dump position;

[0328] Among them, for the warehousing operation of the target goods:

[0329] Step S203 specifically includes:

[0330] S2031, driving the elevator to rise and fall to the transfer height position of the shelf unit where the second incoming storage location is located, so that the elevator is docked with the transfer storage location of the shelf unit where the second incoming storage location is located;

[0331] S2032, driving the elevator to transfer the target goods to the transfer storage location of the shelf unit where the second storage location is located;

[0332] S2033, driving the vertical transport robot arranged at the shelf unit where the second storage location is located to obtain the target goods from the transfer storage location;

[0333] Outbound operations for target goods:

[0334] Step S207 specifically includes:

[0335] S2071, driving the elevator to rise and fall to the transfer height position of the shelf unit where the second outbound storage location is located, so that the elevator is docked with the transfer storage location of the shelf unit where the second outbound storage location is located;

[0336] S2072, driving the facade handling robot disposed in the shelf unit where the second outbound storage location is located to transfer the target goods to the transfer storage location of the shelf unit where the second outbound storage location is located;

[0337] S2073, drive the elevator to obtain the target goods from the transfer storage location of the shelf unit where the second outbound storage location is located.

[0338] In one possible implementation, the material transfer system further includes a temporary storage location, a hoist unit, a transfer storage location, a walking platform and a horizontal handling robot; a plurality of temporary storage locations are arranged at the storage location layer at the bottom of the shelf unit; the hoist unit is arranged at one end in the width direction of the stacked shelf, and the hoist unit includes a lift that can be lifted up and down; the transfer storage location is arranged at one end in the width direction of the shelf unit and is located between the hoist unit and the shelf unit; the walking platform includes a ground surface and a bearing surface arranged between upper and lower adjacent shelf units; the horizontal handling robot is arranged on the walking platform and walks horizontally on the walking platform, and the horizontal handling robot is used to transfer target goods between the temporary storage location and the transfer storage location arranged in the same shelf unit;

[0339] Wherein, step S1 specifically includes:

[0340] See also Fig.18 , for the warehousing operation of the target goods:

[0341] S301, obtaining a third storage location for target goods, and determining a shelf unit where the third storage location is located;

[0342] S302, driving the elevator to obtain the target goods from the sorting device, and transferring the target goods to the transfer storage location located in the shelf unit where the third storage location is located, the sorting device is located on the ground, and the sorting device includes a sorting conveyor line or a sorting workbench;

[0343] S303, driving the horizontal transport robot located in the shelf unit where the third incoming storage location is located to obtain the target goods from the transfer storage location, and transferring the target goods to the temporary storage location located in the shelf unit where the third incoming storage location is located;

[0344] S304, driving the facade handling robot provided in the shelf unit where the third incoming storage location is located to obtain the target goods from the temporary storage location, and transferring the target goods to the third incoming storage location;

[0345] See also Fig.19 , for the outbound operation of the target goods:

[0346] S305, obtaining a third outbound storage location of the target goods, and determining the shelf unit where the third outbound storage location is located;

[0347] S306, driving the facade handling robot located at the shelf unit where the third outbound storage location is located to obtain the target goods from the third outbound storage location, and transferring the target goods to a temporary storage location located at the shelf unit where the third outbound storage location is located;

[0348] S307, driving the horizontal transport robot located in the shelf unit where the third outbound storage location is located to obtain the target goods from the temporary storage location, and transferring the target goods to the transit storage location located in the shelf unit where the third outbound storage location is located;

[0349] S308, driving the elevator to obtain the target goods from the transfer storage location, and transferring the target goods to a sorting device, which is disposed on the ground and includes a sorting conveyor line or a sorting workbench.

[0350] In a possible implementation manner, step S1 further includes:

[0351] S309. According to the dispatching instruction, dynamically adjust the number of horizontal transport robots on each walking platform through the elevator.

[0352] Based on the above-mentioned material transfer method, the present application also discloses a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above-mentioned material transfer method is implemented.

[0353] Based on the above-mentioned material transfer method, the present application also discloses a computer program product, including a computer program, which implements the above-mentioned material transfer method when executed by a processor.

[0354] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0355] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0356] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0357] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0358] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize that some variations, modifications, changes, additions and sub-combinations thereof should be included within the scope of protection of the present invention.

Claims

1. A material transfer system, characterized in that: The material transfer system comprises: A stacking shelf, comprising at least two shelf units, wherein the at least two shelf units are stacked up and down in a height direction; A facade handling robot is movably mounted on the shelf facade of the shelf unit; wherein the shelf facade is a vertical surface formed by the storage openings of all shelf storage locations in the shelf unit facing the same direction, and at least one facade handling robot is provided for each shelf unit on the same side of the stacked shelf; A dispatching control device, used to control the facade handling robot; Among them, the facade transport robot is configured to be docked with any shelf storage location of the shelf unit on which it is installed, so that the scheduling control device can at least realize the warehousing operation of transferring the target goods into the stacking shelf and the outbound operation of transferring the target goods from the stacking shelf by driving the facade transport robot.

2. The material transfer system according to claim 1, characterized in that: The vertical surface handling robot comprises a vertical slide rail and a handling actuator installed on the vertical slide rail in an up-and-down manner; Wherein, the shelf unit is installed with a horizontal slide rail, the vertical slide rail is horizontally slidably installed on the horizontal slide rail, and the height range of the vertical slide rail at least covers the height range of all storage layers in the shelf unit where it is installed; Furthermore, the dispatching control device is specifically used to control the up and down lifting of the transport actuator along the vertical slide rail, and the horizontal sliding of the vertical slide rail along the horizontal slide rail, so that the transport actuator can dock with any shelf storage position of the shelf unit on which it is installed.

3. The material transfer system according to claim 2, characterized in that: The shelf unit is provided with a plurality of temporary storage locations, and the temporary storage locations are used to temporarily store the target goods; The transport actuator is installed on the vertical slide rail through a height extension frame, and the height extension frame is configured to enable the transport actuator to dock with the temporary storage position of the shelf unit above the corresponding shelf unit; Wherein, the dispatching control device is specifically used for: For the warehousing operation of the target goods: Acquire a first storage location for the target goods, and determine a shelf unit where the first storage location is located; Driving the facade handling robot at the bottom layer to obtain the target goods from the sorting device, wherein the sorting device is arranged on the ground and comprises a sorting conveying line or a sorting workbench; The target goods are transferred to the facade transport robot disposed in the shelf unit where the first storage location is located by driving the facade transport robot to transfer the target goods to a temporary storage location one layer above the facade transport robot, and the facade transport robot on the layer above obtains the target goods; Driving a facade transport robot disposed in the shelf unit where the first storage location is located to transfer the target goods to the first storage location; For the outbound operation of the target goods: Acquire a first outbound storage location of the target goods, and determine a shelf unit where the first outbound storage location is located; Driving a vertical transport robot disposed at a shelf unit where the first outbound storage location is located to obtain the target goods from the first outbound storage location; The target goods are transferred to the facade transport robot at the bottom layer by driving the facade transport robot to transfer the target goods to a temporary storage location of the shelf unit where the facade transport robot is located, and the facade transport robot at the lower layer obtains the target goods from the temporary storage location, thereby transferring the target goods to the facade transport robot at the bottom layer; The vertical transport robot at the bottom layer is driven to transfer the target goods to a sorting device, which is arranged on the ground and includes a sorting conveyor line or a sorting workbench.

4. The material transfer system according to claim 3, characterized in that: The height extension rack includes a horizontally arranged cross bar and a vertically arranged vertical bar, wherein the cross bar is installed on the vertical slide rail at one end close to the shelf unit so as to be lifted and lowered, the cross bar is fixedly connected to the bottom end of the vertical bar at one end away from the shelf unit, and the transport actuator is fixedly installed at the top end of the vertical bar.

5. The material transfer system according to claim 3, characterized in that: The plurality of temporary storage locations are arranged at the bottom storage layer of the shelf unit.

6. The material transfer system according to claim 3, characterized in that: The material transfer system also includes: A horizontal transport robot is arranged on the ground and moves horizontally on the ground, and is used to transfer the target goods between the sorting device and the transport actuator of the vertical transport robot at the bottom layer; Among them, for the warehousing operation of the target goods: The dispatching control device drives the bottom-level vertical transport robot to obtain the target goods from the sorting device, specifically including: Driving the horizontal transport robot to obtain the target goods from the sorting device; Drive the horizontal transport robot to dock with the transport actuator of the bottom vertical transport robot and transfer the target goods to the transport actuator, or drive the horizontal transport robot to transfer the target goods to the temporary storage position of the bottom shelf unit, and drive the transport actuator of the bottom vertical transport robot to obtain the target goods from the temporary storage position; For the outbound operation of the target goods: The dispatching control device drives the bottom-level facade handling robot to transfer the target goods out, specifically including: Drive the bottom-level vertical transport robot to transfer the target goods to a temporary storage location provided in the bottom-level shelf unit, and drive the horizontal transport robot to transfer the target goods from the temporary storage location to the sorting device; or, drive the transport actuator of the bottom-level vertical transport robot to dock with the horizontal transport robot and transfer the target goods to the horizontal transport robot, and drive the horizontal transport robot to transfer the target goods to the sorting device.

7. The material transfer system according to claim 2, characterized in that: The material transfer system also includes: A lifting unit is arranged beside the stacking shelf, and the lifting unit includes a lifting machine that can be lifted up and down in a vertical direction; wherein the transport execution mechanism is configured to transfer the target cargo between itself and the elevator when docking with the elevator; Wherein, the dispatching control device is specifically used for: For the warehousing operation of the target goods: Acquire a second storage location for the target goods, and determine the shelf unit where the second storage location is located; Driving the elevator to rise to a height position where a sorting device is located to obtain the target goods, wherein the sorting device is arranged on the ground and comprises a sorting conveying line or a sorting workbench; The elevator is driven to rise and fall to the transfer height position of the shelf unit where the second storage location is located, so that the elevation handling robot arranged at the shelf unit where the second storage location is located obtains the target goods from the elevator, and the transfer height position indicates the height position at which the handling actuator arranged at the shelf unit is docked with the elevator; Driving a facade transport robot disposed at the shelf unit where the second storage location is located to transfer the target goods to the second storage location; For the outbound operation of the target goods: Acquire a second outbound storage location of the target goods, and determine the shelf unit where the second outbound storage location is located; Driving a vertical transport robot disposed at the shelf unit where the second outbound storage location is located to obtain the target goods from the second outbound storage location; The elevator is driven to rise and fall to the transfer height position of the shelf unit where the second outbound storage location is located, so that the elevation handling robot arranged in the shelf unit where the second outbound storage location is located docks with the elevator and transfers the target goods to the elevator, wherein the transfer height position indicates the height position at which the handling actuator arranged in the shelf unit docks with the elevator; The elevator is driven to rise and fall to a height position where a sorting device is located so as to transfer the target goods to the sorting device, wherein the sorting device is arranged on the ground and comprises a sorting conveying line or a sorting workbench.

8. The material transfer system according to claim 7, characterized in that: The lift unit is disposed at one end of the stacking rack in the width direction, wherein the material transfer system further comprises a transfer dump position, the transfer dump position is disposed at one end of the rack unit in the width direction and is located between the lift unit and the rack unit, and the height position of the transfer dump position at the rack unit is consistent with the transfer height position, and the lift is configured to transfer the target goods between itself and the transfer dump position when docking with the transfer dump position; Among them, for the warehousing operation of the target goods: The dispatching control device drives the elevator to rise and fall to the transfer height position of the shelf unit where the second storage location is located, so that the elevation handling robot arranged in the shelf unit where the second storage location is located obtains the target goods from the elevator, specifically including: Driving the elevator to rise and fall to the transfer height position of the shelf unit where the second storage location is located, so that the elevator is docked with the transfer location of the shelf unit where the second storage location is located; Driving the elevator to transfer the target goods to the transfer storage location of the shelf unit where the second storage storage location is located; Driving a vertical transport robot disposed at the shelf unit where the second storage location is located to obtain the target goods from the transfer storage location; For the outbound operation of the target goods: The dispatching control device drives the elevator to rise and fall to the transfer height position of the shelf unit where the second outbound storage location is located, so that the facade handling robot arranged in the shelf unit where the second outbound storage location is located docks with the elevator and transfers the target goods to the elevator. Specifically, it includes: Driving the elevator to rise and fall to the transfer height position of the shelf unit where the second outbound storage location is located, so that the elevator is docked with the transfer storage location of the shelf unit where the second outbound storage location is located; Driving the facade handling robot arranged at the shelf unit where the second outbound storage location is located to transfer the target goods to the transfer storage location of the shelf unit where the second outbound storage location is located; The elevator is driven to obtain the target goods from the transfer storage location of the shelf unit where the second outbound storage location is located.

9. The material transfer system according to claim 8, characterized in that: At one end of the shelf unit where the intermediate transfer dump position is arranged, the horizontal slide rail is arranged to protrude so that the horizontal sliding stroke of the transport actuator covers the intermediate transfer dump position.

10. The material transfer system according to claim 2, characterized in that: The material transfer system also includes: Temporary storage locations, a plurality of which are arranged at the bottom storage layer of the shelf unit; A lift unit is provided at one end of the stacking shelf in the width direction, and the lift unit includes a lift that lifts up and down; A transfer dump position is provided at one end of the shelf unit in the width direction and is located between the elevator unit and the shelf unit; A walking platform, comprising a ground surface and a bearing surface provided between the upper and lower adjacent shelf units; A horizontal transport robot is arranged on the walking platform and walks horizontally on the walking platform, and the horizontal transport robot is used to transfer the target goods between the temporary storage location and the transfer storage location arranged in the same shelf unit; Wherein, the dispatching control device is specifically used for: For the warehousing operation of the target goods: Acquire a third storage location for the target goods, and determine the shelf unit where the third storage location is located; The elevator is driven to obtain the target goods from the sorting device, and the target goods are transferred to the transfer storage position provided in the shelf unit where the third storage storage position is located, wherein the sorting device is provided on the ground and includes a sorting conveyor line or a sorting workbench; Driving a horizontal transport robot provided at the shelf unit where the third incoming storage location is located to obtain the target goods from the transfer storage location, and transferring the target goods to a temporary storage location provided at the shelf unit where the third incoming storage location is located; Driving the elevation handling robot provided in the shelf unit where the third incoming storage location is located to obtain the target goods from the temporary storage location, and transferring the target goods to the third incoming storage location; For the outbound operation of the target goods: Acquire a third outbound storage location of the target goods, and determine the shelf unit where the third outbound storage location is located; Driving the facade handling robot provided at the shelf unit where the third outbound storage location is located to obtain the target goods from the third outbound storage location, and transferring the target goods to a temporary storage location provided at the shelf unit where the third outbound storage location is located; Driving a horizontal transport robot provided at the shelf unit where the third outbound storage location is located to obtain the target goods from the temporary storage location, and transferring the target goods to a transfer storage location provided at the shelf unit where the third outbound storage location is located; The elevator is driven to obtain the target goods from the transfer dump position, and the target goods are transferred to a sorting device, which is arranged on the ground and includes a sorting conveying line or a sorting workbench.

11. The material transfer system according to claim 10, characterized in that: The dispatch control device is also specifically used to dynamically adjust the number of the horizontal transport robots on each walking platform through the elevator according to the dispatch instruction.

12. A material transfer method, characterized in that: The material transfer method is applied to a material transfer system, and the material transfer system comprises: A stacking shelf, comprising at least two shelf units, wherein the at least two shelf units are stacked up and down in a height direction; A facade handling robot is movably mounted on the shelf facade of the shelf unit; wherein the shelf facade is a vertical surface formed by the storage openings of all shelf storage locations in the shelf unit facing the same direction, and at least one facade handling robot is provided for each shelf unit on the same side of the stacking shelf, and the facade handling robot is configured to dock with any shelf storage location of the shelf unit where it is installed; Wherein, the material transfer method comprises: At least by driving the facade transport robot, a storage operation of transferring target goods into the stacking shelf and a storage operation of transferring target goods out of the stacking shelf are realized.

13. The material transfer method according to claim 12, characterized in that: The vertical surface handling robot comprises a vertical slide rail and a handling actuator installed on the vertical slide rail in an up-and-down manner; Wherein, the shelf unit is installed with a horizontal slide rail, the vertical slide rail is horizontally slidably installed on the horizontal slide rail, and the height range of the vertical slide rail at least covers the height range of all storage layers in the shelf unit where it is installed; Wherein, the material transfer method comprises: At least by driving the transport actuator to move up and down along the vertical slide rail, and the vertical slide rail to slide horizontally along the horizontal slide rail, the target goods are transferred into the stacking shelf and the target goods are transferred out of the stacking shelf.

14. The material transfer method according to claim 13, characterized in that: The shelf unit is provided with a plurality of temporary storage locations, and the temporary storage locations are used to temporarily store the target goods; The transport actuator is installed on the vertical slide rail through a height extension frame, and the height extension frame is configured to enable the transport actuator to dock with the temporary storage position of the shelf unit above the corresponding shelf unit; Wherein, the material transfer method specifically includes: For the warehousing operation of the target goods: Acquire a first storage location for the target goods, and determine a shelf unit where the first storage location is located; Driving the facade handling robot at the bottom layer to obtain the target goods from the sorting device, wherein the sorting device is arranged on the ground and comprises a sorting conveying line or a sorting workbench; The target goods are transferred to the facade transport robot disposed in the shelf unit where the first storage location is located by driving the facade transport robot to transfer the target goods to a temporary storage location one layer above the facade transport robot, and the facade transport robot on the layer above obtains the target goods; Driving a facade transport robot disposed in the shelf unit where the first storage location is located to transfer the target goods to the first storage location; For the outbound operation of the target goods: Acquire a first outbound storage location of the target goods, and determine a shelf unit where the first outbound storage location is located; Driving a vertical transport robot disposed at a shelf unit where the first outbound storage location is located to obtain the target goods from the first outbound storage location; The target goods are transferred to the facade transport robot at the bottom layer by driving the facade transport robot to transfer the target goods to a temporary storage location of the shelf unit where the facade transport robot is located, and the facade transport robot at the lower layer obtains the target goods from the temporary storage location, thereby transferring the target goods to the facade transport robot at the bottom layer; The vertical transport robot at the bottom layer is driven to transfer the target goods to a sorting device, which is arranged on the ground and includes a sorting conveyor line or a sorting workbench.

15. The material transfer method according to claim 14, characterized in that: The material transfer system also includes: A horizontal transport robot is arranged on the ground and moves horizontally on the ground, and is used to transfer the target goods between the sorting device and the transport actuator of the vertical transport robot at the bottom layer; Among them, for the warehousing operation of the target goods: The step of driving the bottom-level vertical transport robot to obtain the target goods from the sorting device specifically includes: Driving the horizontal transport robot to obtain the target goods from the sorting device; Drive the horizontal transport robot to dock with the transport actuator of the bottom vertical transport robot and transfer the target goods to the transport actuator, or drive the horizontal transport robot to transfer the target goods to the temporary storage position of the bottom shelf unit, and drive the transport actuator of the bottom vertical transport robot to obtain the target goods from the temporary storage position; For the outbound operation of the target goods: The step of driving the bottom-level facade handling robot to transfer the target goods specifically includes: Drive the bottom-level vertical transport robot to transfer the target goods to a temporary storage location provided in the bottom-level shelf unit, and drive the horizontal transport robot to transfer the target goods from the temporary storage location to the sorting device; or, drive the transport actuator of the bottom-level vertical transport robot to dock with the horizontal transport robot and transfer the target goods to the horizontal transport robot, and drive the horizontal transport robot to transfer the target goods to the sorting device.

16. The material transfer method according to claim 13, characterized in that: The material transfer system also includes: A lifting unit is arranged beside the stacking shelf, and the lifting unit includes a lifting machine that can be lifted up and down in a vertical direction; Wherein, the transport execution mechanism is configured to transfer the target cargo between itself and the elevator when docking with the elevator; Wherein, the material transfer method specifically includes: For the warehousing operation of the target goods: Acquire a second storage location for the target goods, and determine the shelf unit where the second storage location is located; Driving the elevator to rise to a height position where a sorting device is located to obtain the target goods, wherein the sorting device is arranged on the ground and comprises a sorting conveying line or a sorting workbench; The elevator is driven to rise and fall to the transfer height position of the shelf unit where the second storage location is located, so that the elevation handling robot arranged at the shelf unit where the second storage location is located obtains the target goods from the elevator, and the transfer height position indicates the height position at which the handling actuator arranged at the shelf unit is docked with the elevator; Driving a facade transport robot disposed at the shelf unit where the second storage location is located to transfer the target goods to the second storage location; For the outbound operation of the target goods: Acquire a second outbound storage location of the target goods, and determine the shelf unit where the second outbound storage location is located; Driving a vertical transport robot disposed at the shelf unit where the second outbound storage location is located to obtain the target goods from the second outbound storage location; The elevator is driven to rise and fall to the transfer height position of the shelf unit where the second outbound storage location is located, so that the elevation handling robot arranged in the shelf unit where the second outbound storage location is located docks with the elevator and transfers the target goods to the elevator, wherein the transfer height position indicates the height position at which the handling actuator arranged in the shelf unit docks with the elevator; The elevator is driven to rise and fall to a height position where a sorting device is located so as to transfer the target goods to the sorting device, wherein the sorting device is arranged on the ground and comprises a sorting conveying line or a sorting workbench.

17. The material transfer method according to claim 16, characterized in that: The lift unit is disposed at one end of the stacking rack in the width direction, wherein the material transfer system further comprises a transfer dump position, the transfer dump position is disposed at one end of the rack unit in the width direction and is located between the lift unit and the rack unit, and the height position of the transfer dump position at the rack unit is consistent with the transfer height position, and the lift is configured to transfer the target goods between itself and the transfer dump position when docking with the transfer dump position; Among them, for the warehousing operation of the target goods: The step of driving the elevator to rise to the transfer height position of the shelf unit where the second storage location is located so that the elevation handling robot arranged at the shelf unit where the second storage location is located obtains the target goods from the elevator specifically includes: Driving the elevator to rise and fall to the transfer height position of the shelf unit where the second storage location is located, so that the elevator is docked with the transfer location of the shelf unit where the second storage location is located; Driving the elevator to transfer the target goods to the transfer storage location of the shelf unit where the second storage storage location is located; Driving a vertical transport robot disposed at the shelf unit where the second storage location is located to obtain the target goods from the transfer storage location; For the outbound operation of the target goods: The step of driving the elevator to rise to the transfer height position of the shelf unit where the second outbound storage location is located so that the facade handling robot arranged at the shelf unit where the second outbound storage location is located docks with the elevator and transfers the target goods to the elevator specifically includes: Driving the elevator to rise and fall to the transfer height position of the shelf unit where the second outbound storage location is located, so that the elevator is docked with the transfer storage location of the shelf unit where the second outbound storage location is located; Driving the facade handling robot arranged at the shelf unit where the second outbound storage location is located to transfer the target goods to the transfer storage location of the shelf unit where the second outbound storage location is located; The elevator is driven to obtain the target goods from the transfer storage location of the shelf unit where the second outbound storage location is located.

18. The material transfer method according to claim 13, characterized in that: The material transfer system also includes: Temporary storage locations, a plurality of which are arranged at the bottom storage layer of the shelf unit; A lift unit is provided at one end of the stacking shelf in the width direction, and the lift unit includes a lift that lifts up and down; A transfer dump position is provided at one end of the shelf unit in the width direction and is located between the elevator unit and the shelf unit; A walking platform, comprising a ground surface and a bearing surface provided between the upper and lower adjacent shelf units; A horizontal transport robot is arranged on the walking platform and walks horizontally on the walking platform, and the horizontal transport robot is used to transfer the target goods between the temporary storage location and the transfer storage location arranged in the same shelf unit; Wherein, the material transfer method specifically includes: For the warehousing operation of the target goods: Acquire a third storage location for the target goods, and determine the shelf unit where the third storage location is located; The elevator is driven to obtain the target goods from the sorting device, and the target goods are transferred to the transfer storage position provided in the shelf unit where the third storage storage position is located, wherein the sorting device is provided on the ground and includes a sorting conveyor line or a sorting workbench; Driving a horizontal transport robot provided at the shelf unit where the third incoming storage location is located to obtain the target goods from the transfer storage location, and transferring the target goods to a temporary storage location provided at the shelf unit where the third incoming storage location is located; Driving the elevation handling robot provided in the shelf unit where the third incoming storage location is located to obtain the target goods from the temporary storage location, and transferring the target goods to the third incoming storage location; For the outbound operation of the target goods: Acquire a third outbound storage location of the target goods, and determine the shelf unit where the third outbound storage location is located; Driving the facade handling robot provided at the shelf unit where the third outbound storage location is located to obtain the target goods from the third outbound storage location, and transferring the target goods to a temporary storage location provided at the shelf unit where the third outbound storage location is located; Driving a horizontal transport robot provided at the shelf unit where the third outbound storage location is located to obtain the target goods from the temporary storage location, and transferring the target goods to a transfer storage location provided at the shelf unit where the third outbound storage location is located; The elevator is driven to obtain the target goods from the transfer dump position, and the target goods are transferred to a sorting device, which is arranged on the ground and includes a sorting conveying line or a sorting workbench.

19. The material transfer method according to claim 18, characterized in that: The material transfer method further comprises: According to the dispatching instruction, the number of the horizontal transport robots on each walking platform is dynamically adjusted by the elevator.

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions. When the processor executes the computer-executable instructions, the material transfer method according to any one of claims 12 to 19 is implemented.

21. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the material transfer method according to any one of claims 12 to 19 is implemented.

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