In-warehouse picking system and transfer system

Abstract

The invention provides an in-warehouse sorting system and a transmission system, and relates to the technical field of warehousing sorting, a stereoscopic warehouse comprises a plurality of goods shelves, the goods shelves are provided with multiple layers of storage spaces, goods boxes are placed at storage positions of the storage spaces, and goods sorting equipment is installed on the goods shelves; according to the current order, the goods sorting equipment drives a first task module to put goods into a connection assembly or a connection box of a freight robot operating at the bottom of a goods shelf, or take out the goods from the connection assembly or the connection box and put the goods into a container; the first task module at least comprises a first movable part and a sorting mechanism; clapboards of one or more storage positions of the bottommost goods shelf layer are taken down from the goods shelf, and a ground freight robot is provided as a channel; or, one or more goods shelf layers are taken down from the goods shelf, so that the matching height is provided, and the freight robot is supported to run on the ground. The technical problems that in the prior art, an in-warehouse sorting system is low in storage space utilization rate, the goods in-out speed is low, and the sorting efficiency is low are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse picking, and in particular to an in-warehouse picking system and a transmission system. Background Art

[0002] Warehousing is the link with the highest logistics cost. Existing warehousing systems all require the construction of storage bases or storage centers. Modern logistics warehouses store goods in a fixed environment and ship out goods according to SKU, date, sequence and other information under the instructions of logistics orders.

[0003] In the existing warehouse-to-sorting process, the goods need to be moved out through the warehouse shelves by the storage and freight robots, and then the storage and freight robots transport the goods to the sorting platform or sorting system. However, this traditional form of storage, transmission and exchange occupies a large area, the transmission efficiency is limited by the storage and freight robots, and a special sorting system is required, which has extremely high time and configuration costs.

[0004] Therefore, the existing warehousing and transportation systems not only have low warehousing entry and exit efficiency, insufficient space utilization and high ground costs, but also cannot complete in-stock picking in a warehousing environment. Summary of the invention

[0005] The object of the present invention is to provide an in-warehouse picking system and a transmission system to alleviate the technical problems existing in the prior art of the in-warehouse picking system, such as low storage space utilization, slow cargo entry and exit speed, and low sorting efficiency.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides an in-stock picking system for a three-dimensional warehouse, wherein the three-dimensional warehouse comprises a plurality of shelves, wherein the shelves are provided with multi-layer storage spaces, and cargo boxes are placed in the storage spaces of the storage spaces, and cargo picking equipment is installed on the shelves. According to the current order:

[0008] The cargo picking device drives the first task module to put the cargo into the docking assembly or docking box of the cargo robot running at the bottom of the shelf, or take the cargo out of the docking assembly or docking box and put it into the cargo box; the first task module at least includes: a first movable part and a picking mechanism;

[0009] The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot;

[0010] Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

[0011] Furthermore, the arrangement of the goods picking device on the shelf is specifically implemented as: a first transverse track, a first column, a first movable member and a connecting mechanism of the first task module, wherein:

[0012] The first transverse rail is fixed to the shelf;

[0013] The first upright post is vertically arranged on the first transverse track and can slide transversely;

[0014] The first movable member is disposed on the first column and can slide along the first column;

[0015] The first movable member is provided with a connecting mechanism of the first task module.

[0016] Furthermore, the in-stock picking system also includes:

[0017] The fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a connecting mechanism of a second task module;

[0018] When the task module is a push-pull cargo box module, the connection mechanism of the task module is provided with:

[0019] Support structure for push-pull cargo box modules;

[0020] and, a conveying assembly for pushing and pulling the cargo box module;

[0021] The fixed track transmission device uses the push-pull cargo box module to pull out the target cargo box at the target storage position of the target shelf, and the picking mechanism of the cargo picking device system picks the target cargo in the target cargo box, so that the cargo picking device drives the first task module to put the cargo into the docking assembly or docking box of the cargo robot running at the bottom of the shelf;

[0022] Alternatively, the picking mechanism of the cargo picking equipment system takes the target cargo out of the docking assembly or docking box of the cargo robot, the fixed track transmission equipment uses the push-pull cargo box module to pull out the target cargo box on the target storage position of the target shelf, and the picking mechanism puts the target cargo into the target cargo box;

[0023] The push-pull cargo box module pushes the target cargo box back.

[0024] Furthermore, the in-warehouse picking system further comprises: a second transverse rail fixed to the lower part of the shelf, and two transverse rails are connected to the first column via a slider;

[0025] The slider moves on the transverse track driven by rollers and / or gears, and the rollers and / or gears are driven by a motor.

[0026] Furthermore, the fixed track transmission device disposed on the shelf further includes: a second column and a second movable member, wherein the second column is vertically disposed on the transverse track and can slide transversely;

[0027] The second movable member is disposed on the column and can slide along the second column;

[0028] The second movable member is provided with a connecting mechanism of the second task module.

[0029] Furthermore, the arrangement of the fixed track transmission equipment on the shelf further includes: a third column, and the second task module is arranged between the second column and the third column through the connecting mechanism;

[0030] Drive the second task module to be positioned at the cargo position or docking position on the shelf.

[0031] Furthermore, a synchronous pulley driven by a motor and controllable by a reducer, wherein the synchronous pulley drives a synchronous belt to support the first movable member to move on the slide rail of the first column;

[0032] A synchronous pulley driven by a motor and controllable by a reducer drives a synchronous belt to support the second movable member to move on the slide rail of the second column.

[0033] Furthermore, the in-warehouse picking system also includes: an identification module, which can be arranged on the cargo picking device and / or the fixed track transmission device.

[0034] In a second aspect, the present invention provides a transport system comprising the in-warehouse picking system described in any one of the aforementioned embodiments.

[0035] The present invention can achieve the following beneficial effects:

[0036] In the first aspect, the present invention provides an in-warehouse picking system for use in a three-dimensional warehouse, which includes multiple shelves. The shelves are provided with multiple layers of storage space, and cargo boxes are placed in the storage positions of the storage space. Cargo picking equipment is installed on the shelves, and according to the current order: the cargo picking equipment drives the first task module to put the cargo into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or takes the cargo out of the docking assembly or docking box and puts it into the cargo box; the first task module includes at least: a first movable part and a picking mechanism; the shelf removes the partitions of one or more storage positions of the bottom shelf layer to provide a ground freight robot as a passage; or, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to run on the ground.

[0037] In the present invention, in-warehouse picking is completed by utilizing the docking assembly of the freight robot at the bottom of the shelf, or taking out the goods from the docking assembly or docking box and placing them into the cargo box. The freight picking equipment drives the first task module to place the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or taking out the goods from the docking assembly or docking box and placing them into the cargo box; the first task module includes at least: a first movable part and a picking mechanism. The cargo picking equipment is provided with a horizontal track for the movement of the column. By configuring the shelves and modifying the shelf layer at the bottom of the storage space, a running channel is provided for the freight robot or the sorting robot, which fundamentally solves the problem of waste of existing storage space and makes in-stock picking possible in dense shelf scenarios. More importantly, the task module of the storage can store and retrieve cargo boxes and put them into the docking assembly or docking box of the freight robot running at the bottom of the shelf through the fixed track transmission equipment, or take them out from the docking assembly. The stored cargo / cargo boxes can be coordinated with the freight robot or the sorting robot, so that cargo storage, cargo / cargo box transfer and cargo / cargo box sorting can be successfully completed in the storage space. The storage space utilization rate, cargo entry and exit speed and sorting efficiency of the existing shelf in-stock picking system are greatly improved.

[0038] In addition, the second aspect of the embodiment of the present invention also provides a transmission system, including the in-warehouse picking system provided by the first aspect; since the transmission system provided by the embodiment of the present invention includes the in-warehouse picking system provided by the first aspect, the transmission system provided by the embodiment of the present invention can achieve all the beneficial effects that can be achieved by the in-warehouse picking system provided by the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 This is a schematic diagram of the shelf structure in an embodiment of the present application;

[0041] Figure 2 This is a schematic diagram of the structure of a ground freight robot in an embodiment of the present application;

[0042] Figure 3 This is a schematic diagram of the structure of a storage shelf in an embodiment of the present application;

[0043] Figure 4 This is a schematic diagram of the structure of multiple ground freight robots in the in-stock picking system in an embodiment of the present application;

[0044] Figure 5 It is a schematic structural diagram of the in-stock picking system in the embodiment of the present application from a first perspective;

[0045] Figure 6 It is a structural schematic diagram of the in-stock picking system in the embodiment of the present application from a second viewing angle;

[0046] Figure 7 It is a schematic structural diagram of the in-stock picking system in the embodiment of the present application from a third perspective;

[0047] Figure 8 It is a structural schematic diagram of a fixed track transmission device in a fourth perspective of an in-stock picking system in an embodiment of the present application;

[0048] Fig. 9 It is a schematic diagram of the structure of the track transmission device of the in-stock picking system in the embodiment of the present application from a fifth perspective;

[0049] Fig.10 It is a schematic structural diagram of the in-stock picking system in the embodiment of the present application from a sixth viewing angle;

[0050] Fig.11 This is a schematic diagram of a partial structure of a shelf in an embodiment of the present application;

[0051] Fig.12 It is a schematic diagram of the structure of the transmission system in the embodiment of the present application.

[0052] Icons: 1-cargo picking equipment; 10-shelf; 101-storage space; 102-partition; 103-storage position; 104-cargo box; 105-ground freight robot; 106-bottom shelf layer; 11-first horizontal track; 12-first column; 13-first movable part; 14-second task module; 15-first connecting mechanism; 2-first task module; 20-picking mechanism; 201-suction mechanism; 21-second column; 22-second movable part; 23-second connecting mechanism; 25-docking position; 3-cargo; 30-fixed track transmission equipment; 31-horizontal track; 32-motor; 33-third column; 4-docking box; 51-roller; 52-slider. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0054] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0056] In the description of the present invention, it should be noted that the terms "upper", "lower", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0057] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0058] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0060] Embodiment 1

[0061] The present embodiment provides an in-warehouse picking system, which includes For the sake of clarity and convenience of explanation, the in-warehouse picking system involved in this specification includes at least: one or more cargo picking devices, storage shelves and multiple ground freight robots (AGVs).

[0062] Figure 1 The structure diagram of a storage rack is shown, wherein the rack 10 (rack) is used for storage. The rack 10 is provided with a multi-layer storage space 101 (reservation unit), and a cargo box 104 (bin) is placed in a storage position 103 (slot) of the storage space 101. The rack is laterally supported by a partition 102 for the cargo box 104.

[0063] refer to Figure 2 , multiple ground cargo robots (AGV) 105 can dock cargo boxes and goods.

[0064] refer to Figure 3 A cargo picking device 1 is installed on the shelf, and the cargo picking device 1 drives the first task module 2 to put the cargo 3 into the docking assembly or docking box 4 of the ground cargo robot 105 running at the bottom of the shelf 10, or take the cargo 3 out of the docking assembly or docking box 4 and put it into the cargo box 104; the first task module 2 at least includes: a first movable part 13 and a picking mechanism 20.

[0065] The arrangement of the goods picking device 1 on the shelf 10 is specifically implemented as follows:

[0066] The connection mechanism of the first transverse track 11, the first column 12, the first movable member 13 and the first task module 2, wherein:

[0067] The first transverse rail 11 is fixed on the shelf 10;

[0068] It should be noted that the first transverse rail 11 is fixed on the beam or column of the shelf 10. When the shelf is laterally long, the transverse rail needs to be fixed with the help of the beam and column of the single rack, and extends to the adjacent shelf beam.

[0069] The first upright post 12 is vertically arranged on the first transverse track 11 and can slide transversely;

[0070] The first upright post 12 slides along the first transverse track 11 to enable the first movable member 13 to be positioned in each column of the shelf.

[0071] The first movable member 13 is disposed on the first column 12 and can slide along the first column 12;

[0072] The above arrangement enables the first movable member 13 to move horizontally and vertically, so that the first movable member 13 can be positioned at each tier of the shelf.

[0073] The first movable member 13 is provided with a first connecting mechanism 15 of the first task module 2;

[0074] The first task module 2, driven by the first movable member 13, uses the picking mechanism to store and retrieve the goods 3, and puts and runs the docking assembly or docking box of the ground freight robot 105 at the bottom of the shelf;

[0075] It should be particularly noted that, in the solution of the present invention, the bottom partitions of the storage shelves are removed. Here, the partitions represent the components that provide storage space support for different types of storage shelves, as well as surrounding components such as beams that provide stability for the layers. Removing the partitions to provide a matching height actually requires blocking the surrounding components that block the ground freight robot from running on the ground, and the partitions are not limited to the materials and styles set in the storage shelves. They support the ground freight robot to run on the ground and complete the docking action. The bottom partitions between adjacent columns of the storage shelves are removed to form the docking position 25 of the ground freight robot. It should be supplemented that the bottom partitions of the shelves include the partitions themselves and fixed beams, thereby providing space for the ground freight robot to move.

[0076] More specifically, the picking mechanism comprises: a suction mechanism 201 and / or a picking mechanism, the suction mechanism 201 and / or the picking mechanism (not shown) can be connected to the first task module through the first connecting mechanism 15, that is, an extension member of the suction mechanism 201 and / or the picking mechanism, the extension member can be a multi-section robotic arm with freedom, connected to the first movable part 13, wherein the suction mechanism 201 can form and maintain contact with the goods through the suction force generated until the goods 3 are placed in the docking assembly or docking box of the freight robot running at the bottom of the shelf, or taken out from the docking assembly and placed in the cargo box.

[0077] refer to Figure 4 The configuration in this embodiment realizes that when the sorting and / or storage and retrieval of goods is completed, the stored and retrieved goods can be docked by the ground freight robot 105, and the goods can be transferred, sorted, and delivered to the destination cargo position or sorting position, or the transportation position where the sorting is completed.

[0078] The shelf removes the partitions 102 of one or more storage spaces on the bottom shelf layer to provide a ground freight robot 105 as a passage;

[0079] The shelf removes one layer or the bottom shelf layer 106 to provide a matching height to support the ground freight robot 105 to operate on the ground.

[0080] exist Figure 4 Also shown is the lane where the ground freight robot 105 walks on the ground between two shelves.

[0081] refer to Figure 5 , a fixed track transmission device 30 is also shown, and its arrangement on the shelf is specifically implemented as: a connecting mechanism of a first transverse track 11, a first column 12, a first movable member 13, and a second task module 14;

[0082] refer to Figure 5 In the case where the first task module 2 and / or the second task module 14 are both installed on the first transverse track, the first column, and the first movable part, the connecting mechanism of the first task module and the connecting mechanism of the second task module can be integrated to drive the first task module to sort goods and drive the second task module to store cargo boxes.

[0083] refer to Figure 6 In another case, when the first task module and / or the second task module are both installed on the first transverse track, the first column, and the first movable part, the connecting mechanism of the first task module and the connecting mechanism of the second task module are separately arranged to cooperate according to the current task.

[0084] When the task module is a push-pull cargo box module, it at least includes:

[0085] Support structures for pushing and pulling cargo box modules, such as loading and unloading racks;

[0086] And, a conveying component for pushing and pulling the cargo box module, such as a conveying belt. Of course, the conveying belt needs to be driven by a conveying motor;

[0087] The fixed track transmission device uses the push-pull cargo box module to pull out the target cargo box at the target storage position of the target shelf, and the picking mechanism of the cargo picking device system picks the target cargo in the target cargo box, so that the cargo picking device drives the first task module to put the cargo into the docking assembly or docking box of the cargo robot running at the bottom of the shelf;

[0088] Alternatively, the picking mechanism of the cargo picking equipment system takes the target cargo out of the docking assembly or docking box of the cargo robot, the fixed track transmission equipment uses the push-pull cargo box module to pull out the target cargo box on the target storage position of the target shelf, and the picking mechanism puts the target cargo into the target cargo box;

[0089] The push-pull cargo box module pushes the target cargo box back.

[0090] In actual application, however, as mentioned above, the connecting mechanism of the task module is a basic structure that can be connected with different task modules. If it is other task modules, the connecting parts are set according to the specific functions of the task modules, but it is not limited to this.

[0091] It should be noted that, combined with Figure 1-5In this embodiment, by modifying the bottom shelf layer of the shelf configuration, and cooperating with the cargo picking device 1 and the ground freight robot 105 or the sorting robot (not shown), the problem of low efficiency in cargo / carton transfer and sorting in existing shelf storage is fundamentally solved, and the application scenarios of the shelves are expanded, so that cargo warehousing, cargo / carton transfer and cargo / carton sorting can be completed within the storage space, thereby greatly improving the storage space utilization, cargo entry and exit speed, and sorting efficiency of the existing shelf in-warehouse picking system.

[0092] refer to Figure 7 , shows a system for picking in warehouse, Figure 1 and Figure 6 Based on the diagram and its corresponding description, Figure 7 In the embodiment, another transverse rail 31 is fixed to the lower part of the shelf 10 and can be driven by a motor 32 (marked at Fig. 9 The lateral track 31 is supported by a roller driven by the lateral track 31.

[0093] It should be noted that the roller is a preferred solution, and actually uses gears, or a combination of gears and rollers to achieve the movement of the column on the beam. Then, when using gears as a transmission method, it is necessary to cooperate with a toothed chain to complete the movement. The specific method can refer to the existing technology, and when the gears and rollers are combined, the gears and the toothed chain are engaged and transmitted to drive the roller to move, thereby achieving the movement of the column on the beam. Furthermore, the motor 32 drives the roller to make the component run, which can be achieved by wired (cables, flexible conductive materials, anti-wear wires) or wirelessly, such as a lithium battery that supports operation after charging, and the specific method is not limited.

[0094] exist Figure 5-6 Based on the diagrams and explanations, Figure 8 and Fig. 9 It shows:

[0095] The fixed rail transmission device 30 disposed on the shelf further includes: a second column 21 and a second movable member 22, wherein the second column 21 is vertically disposed on the first transverse rail 11 and can slide transversely; the second movable member 22 is disposed on the second column 21 and can slide along the second column;

[0096] The second movable member 22 is provided with a second connecting mechanism 23 of the second task module 14;

[0097] The second task module 14 is disposed between the first column 12 and the second column 21 through a second connecting mechanism 23;

[0098] The first movable member and the second movable member drive the second task module 14 to be positioned at the cargo position or the docking position on the shelf 10 .

[0099] The docking position can be understood as the position where the second task module 14 and the ground freight robot 105 complete the transfer of goods from the second task module 14 after storing and retrieving boxes and / or goods from the cargo position of the shelf.

[0100] In this embodiment, a large shelf system requires a more stable rail transmission device. For this purpose, two upper and lower transverse rails are provided on the rail assembly to fully fix the first column 12 and the second column 21, so that tasks such as pushing, pulling, docking and sorting of goods / cargo boxes can be carried out reliably.

[0101] It should be noted that Figure 1-Figure 9 and Fig.10 In the embodiments involved, the ground freight robot is a robot running on the bottom floor of the shelf. As an achievable embodiment, the ground freight robot can be an AGV, i.e., Automated Guided Vehicle, also commonly referred to as an AGV cart; or an AMR, i.e., Autonomous Mobile Robot, an autonomous mobile robot.

[0102] And for the sake of full disclosure, the ground freight robot can select a freight robot or a sorting robot from a disclosed text: at least the ground freight robot performs path planning under the control of a server, or the ground freight robot performs autonomous path planning, and is provided with a plane-moving component and a docking component that supports the push-pull placement of cargo boxes. In order to improve transportation efficiency, the ground freight robot can run directly on the ground directly below the shelf, and can cooperate with the storage shelf to remove the bottom partition. The goods are driven by the movable parts of the task module and placed on the docking component of the ground freight robot. The ground freight robot can be a freight robot or a sorting robot. The above coordination enables cargo warehousing, cargo / cargo box transfer and cargo / cargo box sorting to be completed within the storage space.

[0103] As a feasible method, similar principle, the operation of the movable part on the slide rail of the column can be shown in the following figure. The more specific electrical control method is not limited and is not specifically shown in the figure.

[0104] A synchronous pulley driven by the motor 32 and controlled by a reducer, wherein the synchronous pulley drives a synchronous belt to support the first movable member to move on the slide rail of the first column;

[0105] A synchronous pulley driven by the motor 32 and controllable by a reducer drives a synchronous belt to support the second movable member to move on the slide rail of the second column.

[0106] The above settings can not only accurately locate the position between the task module and the cargo box, but also greatly improve the storage space utilization, cargo entry and exit speed, and sorting efficiency of the existing in-warehouse picking system.

[0107] refer to Fig.11 , showing a partial in-stock picking system, including:

[0108] In this embodiment, Figure 1 The connection structure between the first transverse rail 11 and the first column 12 and the second column 21 is shown. Figure 3 This can be achieved by driving the slider 52 to move on the transverse track 31 through the roller 51 , the first column 12 and the second column 21 are sleeved on the fixed position of the slider 52 , and the roller 51 contacts the transverse track 31 to achieve smooth movement.

[0109] The above setting may be one implementation method and is not limited thereto.

[0110] refer to Fig.12 , showing an in-warehouse picking system, the fixed track transmission equipment arranged on the shelf also includes: a third column 33, the second task module 14 is arranged between the second column 21 and the third column 33 through a connecting mechanism; driving the second task module 14 to be positioned at the cargo position or docking position on the shelf 10.

[0111] Combination Figure 1-11 In this embodiment, the fixed track transmission equipment and the cargo picking equipment are respectively arranged on different columns. In a large-scale dense storage scenario, such as a warehouse storing more than 100,000 cargo boxes and a flow rate of 5,000 boxes / hour, the fixed track transmission equipment and the cargo picking equipment can be installed on the same shelf in multiple units to meet the needs of large-volume orders. When the fixed track transmission equipment and the cargo picking equipment system work together, taking order delivery as an example, X goods or a certain SKU (Stock Keeping Unit, i.e., the basic unit for inventory in and out measurement) of a certain A order needs to be delivered, the fixed track transmission equipment uses the second task module, i.e., the push-pull cargo box module, to pull out the target cargo box at the target storage position of the target shelf so that the X goods can be sucked by the suction mechanism 201 and / or the picking mechanism of the cargo picking equipment system. Before suction, the identification module is required to identify the X goods or a certain SKU, and the identification module can be set on the cargo picking equipment and / or the fixed track transmission equipment. The identification module can be set on the cargo picking equipment and / or the fixed track transmission equipment. The recognition module can be a monocular camera, a laser camera or a depth-of-field camera.

[0112] After the above picking process is completed, the identification module is used to accurately locate and the cargo picking device is used to place the X cargo or a certain SKU indicated by the order into the docking position of the ground cargo robot. The ground cargo robot will drive to the next docking position or workstation.

[0113] In another embodiment, one or more shelves are included, and the structure and working principle of the shelf refer to Figure 1-12 The shelves can be configured with in-warehouse picking equipment and / or fixed track transmission equipment. During operation, they are installed on one or more shelves, and can support independent operation under the control chip and software instructions or coordinated operation with built-in warehouse management software on the server side. At the same time, the one or more shelves can be ordinary shelves or precision shelves, and are not limited to shelf height and ground flatness. In addition, the present invention also discloses an in-warehouse picking system, which is configured as follows: Figure 6 The in-warehouse picking system and multiple ground freight robots 105 can further improve the efficiency of cargo 3 storage, transportation and sorting based on this configuration, and adapt to the needs of rapid transportation and transmission technology in various warehousing scenarios.

[0114] In summary:

[0115] The in-warehouse picking system provided in the embodiment of the present application utilizes the cargo picking equipment 1 to complete in-warehouse picking by using the docking assembly of the freight robot at the bottom of the shelf 10, or taking out the cargo 3 from the docking assembly or the docking box 4 and placing it into the cargo box 104. The cargo picking equipment 1 drives the first task module 2 to place the cargo 3 into the docking assembly or the docking box 4 of the freight robot running at the bottom of the shelf 10, or taking out the cargo 3 from the docking assembly or the docking box 4 and placing it into the cargo box 104; the first task module 2 includes at least: a first movable part 13 and a picking mechanism 20. The cargo picking device 1 is provided with a first transverse track 11 for the movement of the column. By configuring the shelf 10 and modifying the shelf layer at the bottom of the storage space, a running channel is provided for the freight robot or the sorting robot, which fundamentally solves the problem of waste of existing storage space and makes it possible to pick up in the warehouse under the dense shelf 10 scene. More importantly, the task module of the storage can store and retrieve the cargo box 104 and put it into the docking assembly or docking box 4 of the freight robot running at the bottom of the shelf 10 through the fixed track transmission equipment 30, or take it out from the docking assembly, so that the stored goods 3 / cargo box 104 can be coordinated with the freight robot or the sorting robot, so that the storage of goods 3, the transfer of goods 3 / cargo box 104 and the sorting of goods 3 / cargo box 104 can be successfully completed in the storage space. The storage space utilization rate, the speed of goods 3 entering and exiting, and the sorting efficiency of the existing shelf 10 in-warehouse picking system are greatly improved.

[0116] Embodiment 2

[0117] This embodiment provides a transmission system, which includes the in-warehouse picking system provided by any optional implementation manner in Embodiment 1.

[0118] Since the transmission system provided in this embodiment includes the in-warehouse picking system described in Example 1, the transmission system provided in this embodiment can achieve all the beneficial effects that can be achieved by the in-warehouse picking system in Example 1, and its specific structure and achievable effects can be obtained by referring to the various optional or preferred implementations in Example 1.

[0119] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other; the above embodiments in this specification are only used to illustrate the technical solution of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that: it is still possible to modify the technical solutions recorded in the aforementioned embodiments, or to replace some or all of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention.

Claims

1. A system for picking in warehouse, characterized in that: Used in a three-dimensional warehouse, the three-dimensional warehouse includes multiple shelves, the shelves are provided with multi-layer storage space, and cargo boxes are placed in the storage space, and cargo picking equipment is installed on the shelves. According to the current order: The cargo picking device drives the first task module to put the cargo into the docking assembly or docking box of the cargo robot running at the bottom of the shelf, or take the cargo out of the docking assembly or docking box and put it into the cargo box; The first task module at least includes: a first movable part and a picking mechanism; The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot; Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

2. The in-stock picking system according to claim 1, characterized in that: The arrangement of the goods picking device on the shelf is specifically implemented as: a first transverse track, a first column, a first movable member and a first connecting mechanism of the first task module, wherein: The first transverse rail is fixed to the shelf; The first upright post is vertically arranged on the first transverse track and can slide transversely; The first movable member is disposed on the first column and can slide along the first column; The first movable member is provided with a first connecting mechanism of the first task module.

3. The in-stock picking system according to claim 1, characterized in that: Also includes: The fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a second connecting mechanism of a second task module; When the task module is a push-pull cargo box module, the connection mechanism of the task module is provided with: Support structure for push-pull cargo box modules; and, a conveying assembly for pushing and pulling the cargo box module; The fixed track transmission device uses the push-pull cargo box module to pull out the target cargo box at the target storage position of the target shelf, and the picking mechanism of the cargo picking device system picks the target cargo in the target cargo box, so that the cargo picking device drives the first task module to put the cargo into the docking assembly or docking box of the cargo robot running at the bottom of the shelf; Alternatively, the picking mechanism of the cargo picking equipment system takes the target cargo out of the docking assembly or docking box of the cargo robot, the fixed track transmission equipment uses the push-pull cargo box module to pull out the target cargo box on the target storage position of the target shelf, and the picking mechanism puts the target cargo into the target cargo box; The push-pull cargo box module pushes the target cargo box back.

4. The in-warehouse picking system according to any one of claims 2-3, characterized in that: Also includes: A second transverse rail, which is fixed to the lower part of the shelf, and the two transverse rails are connected to the first column through a slider; The slider moves on the transverse track driven by rollers and / or gears, and the rollers and / or gears are driven by a motor.

5. The in-stock picking system according to claim 4, characterized in that: The fixed track transmission device disposed on the shelf further includes: a second column and a second movable member, wherein the second column is vertically disposed on the transverse track and can slide transversely; The second movable member is disposed on the column and can slide along the second column; The second movable member is provided with a second connecting mechanism of the second task module.

6. The in-stock picking system according to claim 5, characterized in that: The fixed track transmission device disposed on the shelf further includes: a third column, The second task module is disposed between the second column and the third column through the second connecting mechanism; Drive the second task module to be positioned at the cargo position or docking position on the shelf.

7. The in-stock picking system according to claim 5, characterized in that: A synchronous pulley driven by a motor and controllable by a reducer drives a synchronous belt to support the first movable member to move on the slide rail of the first column, and drives a synchronous belt to support the second movable member to move on the slide rail of the second column.

8. The in-stock picking system according to claim 5, characterized in that: Also includes: An identification module, which can be arranged on the cargo picking device and / or the fixed track transmission device.

9. A transmission system, characterized in that: A warehouse picking system comprising any one of claims 1 to 8.

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