Transport-line-free four-way vehicle dense warehouse scheduling method and warehousing system

Abstract

The invention provides a dispatching method for a four-way vehicle dense warehouse without a conveying line and a warehousing system. The vertical two-way vehicle is used for achieving vertical movement of goods in a single goods lattice, and layer changing in the longitudinal space is executed. And meanwhile, the vertical two-way vehicle is directly communicated with the goods shelf sub-track in the horizontal space, so that the four-way vehicle can freely enter and exit from the vertical two-way vehicle, and the automatic warehouse entering and exiting function of the tray goods is flexibly achieved. According to the invention, a conveying line is removed, the high-flexibility four-way shuttle vehicle can be directly utilized to realize the butt joint with the warehouse-in and warehouse-out point location, the dense storage without the conveying line in the warehouse is realized, the installation, control and debugging work of conveying equipment is avoided, the field implementation process is simplified, the construction cost is reduced, and the construction period is shortened. The warehouse space can be fully utilized, the number of stored goods locations is increased, the production and installation cost is greatly reduced, the density of an automatic warehouse is increased, and the delivery, operation and maintenance difficulty is reduced while the flexibility of a warehousing system is improved.

Description

Technical Field

[0001] The present application relates to the technical field of warehouse management, and in particular to a four-way dense warehouse scheduling method without a conveyor line and a warehouse system. Background Art

[0002] The existing four-way vehicle storage system generally adopts Figure 1 Layout: The system uses conveyor lines at the entrance and exit to realize the automatic entry and exit of goods. When entering the warehouse, the goods are placed manually on the entry conveyor line, and the conveyor line automatically transports forward and transports the materials into the elevator. After the elevator lifts the goods to the specified number of shelves, the goods are transported out of the elevator to the docking position of the entry conveyor line, and finally the four-way shuttle transports the goods to the designated position. When leaving the warehouse, the four-way shuttle lifts the goods to be shipped to the docking conveyor line in front of the outgoing elevator. The conveyor line transports the goods into the elevator, and the elevator lifts the goods to the first shelf. The conveyor line automatically transports forward and transports the goods to the exit, waiting for manual outgoing or picking.

[0003] In the existing storage system, there is a connecting conveyor line between the elevator and the dense warehouse shelf on each layer, and the elevator and the entrance and exit are also connected by a conveyor line to realize the automatic transfer and transportation of goods. Therefore, during the project implementation phase, a large amount of manpower is required for the mechanical installation, electrical wiring and electric control debugging of the conveyor line and the elevator, and the on-site construction phase requires the cooperation of mechanical, electrical and R&D personnel to complete the installation and debugging of the conveying equipment. The project implementation cycle is long and the cost is high.

[0004] In addition, under the conveyor line solution, the logistics routes for inbound and outbound storage are relatively simple, the robustness of the conveyor path selection is low, and the system flexibility is insufficient. Once the project is implemented, it is difficult to adjust it in the later stage. Changes in customer demand or changes in inbound and outbound storage points will result in high transformation costs. Summary of the invention

[0005] In response to the deficiencies in the prior art, the present application provides a method for dispatching a dense warehouse with four-way vehicles without conveyor lines. The present application replaces the traditional conveyor lines with pallet four-way shuttle vehicles, and the movement and transfer of goods are all completed by the four-way shuttle vehicles. The traditional elevator is replaced by a vertical two-way vehicle to realize the layer-changing and transportation of goods and four-way vehicles. The four-way shuttle vehicle cooperates with the vertical two-way vehicle to realize the six-way movement of pallet materials in the dense warehouse, which can more flexibly realize the automatic entry and exit function of pallet goods, make full use of the factory storage space, and increase the number of effective storage spaces. The system design without conveyor lines adopted in the present application can effectively improve the flexibility of the automated warehouse system, make it easier to deploy, and can also reduce the construction period and implementation cost while meeting the storage needs. The present application specifically adopts the following technical solutions.

[0006] Firstly, in order to achieve the above-mentioned purpose, a method for dispatching a four-way car dense warehouse without a conveyor line is proposed, wherein the warehousing step includes: when the goods are transported to the warehouse entrance, dispatching a four-way shuttle car to transport the goods at the warehouse entrance to the vertical two-way car in the dense warehouse, and the vertical two-way car lifts the goods to the designated level of the shelf; dispatching a four-way shuttle car in the corresponding level of the dense warehouse shelf to pick up the goods transported by the vertical two-way car and transfer the goods to the designated storage location in the dense shelf for storage; The outbound steps include: dispatching the four-way shuttle car running in the storage level where the target goods belong in the dense warehouse shelf to extract the goods from the storage location of the goods and transfer the goods to the vertical two-way car, and the vertical two-way car transfers the goods to the first layer of the shelf; dispatching the four-way shuttle car on the first layer of the shelf to extract the goods transported by the vertical two-way car and move the goods to the outbound port for manual outbound.

[0007] As described in the previous article, the dispatching method for a four-way dense warehouse without a conveyor line, before the goods to be stored are transported to the storage entrance, further includes: scanning the code of the cargo pallet and the material code of the goods, and binding the pallet code and the material code. Usually, the warehouse keeper scans the code of the cargo pallet and the material code of the goods with a handheld terminal to bind the pallet code and the material code.

[0008] A four-way dense warehouse scheduling method without conveyor lines as described in the previous one, wherein after the binding is completed, when the goods are transported to the entrance, the goods are placed on the rack at the entrance; the rack at the entrance is independent of the shelf setting; the rack is independent of the shelf, and the rack is also provided with a rack sub-track interconnected with the sub-track in the shelf, and the four-way shuttle can run between the shelf sub-track and the rack sub-track.

[0009] As described in the previous article, the four-way shuttle vehicle dense warehouse scheduling method without conveyor lines, wherein the materials are manually placed on the material rack at the entrance of the warehouse, and then lifted and transported away from the entrance by the four-way shuttle vehicle. After weighing, code scanning, and appearance inspection, the system automatically allocates the storage location of the goods, and the four-way shuttle vehicle transports the goods into the warehouse.

[0010] As described in the previous article, the four-way shuttle vehicle dense warehouse scheduling method without conveyor lines, wherein, if the allocated storage location is located on the first layer at the bottom of the shelf, the four-way shuttle vehicle in the first layer of the shelf is directly driven to transport the goods to the storage location. The four-way shuttle vehicle does not need to pass through the vertical two-way vehicle, and can directly transport the goods to the designated storage location for storage.

[0011] As in the previous method for dispatching a four-way dense warehouse without a conveyor line, if the assigned storage location is above the first layer of the shelf, the four-way shuttle vehicle on the first layer of the shelf is first driven to move the goods to the vertical two-way vehicle, and then the vertical two-way vehicle moves the goods to the corresponding level, and finally the four-way shuttle vehicle on the level moves the goods to the storage location.

[0012] As in the previous method for dispatching dense warehouses with four-way vehicles without conveyor lines, when it is necessary to continuously put goods into the warehouse, the four-way shuttle vehicle on the first floor is driven to continuously transport the goods to be put into the warehouse from the entrance to the entrance cache position between the entrance and the vertical two-way vehicle. After the vertical two-way vehicle reaches the first floor, the four-way shuttle vehicle in the vertical two-way vehicle transports the goods into the vertical two-way vehicle.

[0013] As described in the previous article, a four-way shuttle vehicle on one layer performs cargo transportation between the warehouse entrance and the warehouse cache position on one layer. Other cache positions can also be set in the plan according to needs for caching of incoming materials.

[0014] As described in the previous article, the dispatching method for a dense warehouse without a conveyor line and four-way vehicles is used, wherein the designated storage location of the goods in the three-dimensional shelf is queried according to the demand for outbound goods, and the four-way shuttle vehicle corresponding to the level of the designated storage location in the dense warehouse shelf is triggered: if the goods to be outbound are located on the first layer of the shelf, the four-way shuttle vehicle in the first layer of the shelf is directly driven to directly transport the goods from the corresponding storage location to the outbound port; If the goods to be shipped out are located above the first layer of the shelf, the four-way shuttle car in this layer is first driven to move the goods from the storage position to the vertical two-way car. The vertical two-way car then transports and lifts the goods to the first layer of the shelf, and then the four-way shuttle car in the first layer transports the goods to the shipping port.

[0015] As described in the previous article, the dispatching method for a dense warehouse with four-way vehicles without a conveyor line, wherein the outbound port is a material rack independent of the shelf structure of the dense warehouse, the material rack sub-track is connected to the shelf sub-track, and the outbound goods are transported to the outbound port by a four-way shuttle vehicle and then manually operated by a handheld terminal device to complete the outbound operation.

[0016] As in the previous method for dispatching four-way dense warehouses without conveyor lines, when the goods need to be shipped out continuously and the goods at the shipping port have not been manually transported away, the four-way shuttle vehicle located in the vertical two-way vehicle is driven to transport the goods from the vertical two-way vehicle to the shipping cache position. After the shipping port is released, the four-way shuttle vehicle located on the first layer will transport the goods in the shipping cache position to the shipping port, thereby realizing fast and continuous shipping out.

[0017] As described in the previous article, in the method for dispatching goods from a dense warehouse without a conveyor line and in which the goods need to be picked out of the warehouse, the goods are first transported to the warehouse exit for manual picking. After the picking is completed, the goods are reversely transported from the warehouse exit to the warehouse. The materials to be returned to the warehouse are transported by a four-way vehicle and stored in the warehouse again. The outbound port for picking can be either a cargo position extending outward from the first layer of the shelf or a walking position extending outward from the mother channel, which can ensure that the staff can carry and pick the pallet materials from three directions during the picking operation.

[0018] At the same time, in order to achieve the above-mentioned purpose, the present application provides a warehousing system, which includes: shelves, in which multiple layers of storage locations are arranged, and the storage locations are connected by rails; an entrance, used to receive goods and execute any of the above-mentioned entrance steps; an exit, used to receive goods and execute any of the above-mentioned exit steps; a vertical two-way vehicle, used to lift goods and a four-way shuttle vehicle to a specified level of the shelf; a four-way shuttle vehicle, which is distributed on each layer of the shelf and is used for transporting goods between the entrance, the vertical two-way vehicle, the exit, and the storage locations.

[0019] Optionally, the storage system as described above is characterized by further comprising: A material rack, which is independent of the shelf and is provided with a material rack sub-track interconnected with the sub-track in the shelf, and the four-way shuttle can run between the shelf sub-track and the material rack sub-track to perform the storage and / or storage out steps; The storage buffer is set between the storage entrance and the vertical two-way vehicle, and is used to receive the goods to be stored from the storage entrance, and wait for the vertical two-way vehicle to arrive at the first floor, and then the four-way shuttle vehicle in the vertical two-way vehicle will move the goods into the vertical two-way vehicle, and the vertical two-way vehicle will lift the goods to the corresponding level; The outbound cache position is set between the vertical two-way vehicle and the outbound port. It is used to receive the goods output by the vertical two-way vehicle and wait for the outbound port to be released before the four-way shuttle vehicle located on the first layer moves the goods in the outbound cache position to the outbound port.

[0020] Among them, the inlet, inlet buffer, other buffer, outlet, outlet buffer, and vertical two-way vehicle can adjust the plan and layout according to the actual needs of the project. The four-way shuttle and vertical two-way vehicle respectively transport goods according to the above-mentioned loading and unloading methods.

[0021] The present application provides a vertical two-way vehicle for use in any of the above-mentioned storage systems. It only occupies a single storage space, and the storage utilization rate is extremely high; using the shelf columns as the main load-bearing components, it can realize the up and down movement of the equipment in the dense warehouse, greatly reducing the investment cost and installation cycle.

[0022] The present application also provides a four-way shuttle vehicle, which is used in any of the above-mentioned storage systems. It can perform layer-changing operations through a vertical two-way shuttle vehicle. Beneficial Effects

[0023] A solution for dense warehouses with four-way vehicles without conveyor lines. In the solution layout, a pallet four-way shuttle replaces the pallet conveyor, and a vertical two-way vehicle replaces the elevator. The four-way shuttle is used to realize the automatic handling of goods between the entrance and exit and the vertical two-way vehicle. The vertical two-way vehicle only occupies a single warehouse space, which can effectively improve the storage density. At the same time, multiple cache positions can be set up near the vertical two-way vehicle and the entrance and exit to relieve the system scheduling pressure during centralized entry and exit and improve storage efficiency. A picking station with three-sided openings is set at the picking exit to facilitate the picking operation of warehouse workers. The system is highly flexible and can increase or decrease the number of four-way shuttles and vertical two-way vehicles according to the changes in customer on-site efficiency requirements, so as to adapt to actual usage needs. When the on-site logistics flow line is adjusted and the position of the entrance and exit changes, the function change can be realized by simply adjusting the rack position and the software system. It is easy to transform and deliver quickly when the warehouse needs change in the later stage. During the project implementation phase, there is no need to install the conveying hardware and the conveying electric control personnel to participate, and the project implementation cycle is short and the cost is low.

[0024] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings: Figure 1 It is a schematic diagram of the layout of the existing four-way vehicle-intensive warehouse storage system; Figure 2 This is a schematic diagram of the layout of the four-way dense car depot solution without a conveyor line of the present application; Figure 3 It is a detailed layout diagram of the inbound and outbound docking solution in this application; Figure 4 It is a schematic diagram of the vertical two-way car, four-way shuttle car, pallet, and goods in the rack used in this application; Figure 5 It is the gear layout diagram of the vertical two-way vehicle adopted in this application; Figure 6 It is a schematic diagram of the meshing relationship of the vertical gear and rack used in this application; Figure 7 It is the process of equipment installation, implementation and delivery during project implementation.

[0026] In the figure, 1 represents the warehouse entrance; 2 represents the warehouse entrance cache position; 3 represents other cache positions; 4 represents the vertical two-way vehicle on the warehouse entrance side; 5 represents the vertical two-way vehicle on the warehouse exit side; 6 represents the warehouse exit cache position; 7 represents other cache positions; 8 represents the warehouse exit; 11 represents the four-way shuttle vehicle; 21 represents the conveyor line warehouse entrance; 22 represents the ordinary elevator; 23 represents the warehouse entrance connecting conveyor line; 24 represents the warehouse exit connecting conveyor line; 25 represents the ordinary elevator; 26 represents the conveyor line warehouse exit; 31 represents the AGV docking warehouse entrance; 32 represents the AGV docking warehouse exit; 51 represents the shelf column piece; 52 represents the T-rail; 53 represents the rack; 54 represents the goods; 55 represents the pallet; 56 represents the vertical two-way vehicle; 57 represents the four-way shuttle vehicle. DETAILED DESCRIPTION

[0027] In order to make the purpose and technical solution of the embodiment of the present application clearer, the technical solution of the embodiment of the present application will be clearly and completely described in conjunction with the drawings of the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, not all of the embodiments. Based on the described embodiment of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0029] The meaning of "and / or" described in this application means that the situations where each exists alone or both exist at the same time are included.

[0030] The meaning of "inside" and "outside" mentioned in this application refers to the direction relative to the storage space itself. The direction from the truck unloading area and loading area lanes to the three-dimensional shelf storage locations inside the storage space is inside, and the opposite is outside; it is not a specific limitation on the device mechanism of this application.

[0031] The term “connection” as used in this application may mean a direct connection between components or an indirect connection between components via other components.

[0032] The meaning of "up" and "down" in this application refers to that when a user is facing the three-dimensional shelf, the direction from the ground to the storage space at the top of the three-dimensional shelf is up, and the opposite direction is down, rather than a specific limitation on the device mechanism of this application.

[0033] This application sets up a storage cache position for entry and exit in front of the warehouse, uses a four-way shuttle car to realize the exchange of goods between the entrance and exit and the vertical two-way car, and uses the vertical two-way car to transport the goods to the corresponding level to realize the automation of intensive warehouse storage. This application uses a highly flexible four-way shuttle car to replace the traditional pallet conveyor line and a vertical two-way car to replace the traditional elevator. On the one hand, it can effectively solve the problem of troublesome installation of the conveyor line and complex electrical control design in the traditional four-way car solution; on the other hand, it can also solve the problem of how the goods in each layer enter the lifting device to realize cross-layer transfer through the vertical two-way car. Utilizing the high flexibility of robot products, the number of equipment can be increased or decreased according to customer efficiency requirements to meet operational needs. According to the characteristics of the order, multiple cache positions can be optionally set in front of the warehouse to efficiently respond to centralized entry and exit operations. When customer needs change and logistics flow lines are adjusted, the non-conveyor line solution can be adjusted and deployed quickly in time to solve the problems and pain points of the traditional conveyor line four-way car solution. It has the characteristics of low cost, high efficiency, high density, high flexibility, fast delivery, and easy operation and maintenance.

[0034] Figure 2 A four-way vehicle-intensive warehouse storage system without a conveyor line according to the present application comprises: The storage entrance 1 is set in the storage space near the incoming materials. A handheld terminal is set in the storage area. The warehouse manager scans the code of the cargo pallet and the material code of various goods through the handheld terminal, binds the pallet code and the material code, realizes the binding of the storage information, and then moves the goods to the storage entrance 1 to trigger the generation of the storage task; The storage buffer 2 is arranged near the storage entrance 1 and is used for caching materials to be stored; Four-way vehicle-intensive warehouse racks are densely arranged in the storage space, forming a storage array in the middle of the storage space for storing goods to be stored after scanning the entry points; Vertical two-way shuttle 4 / 5, which can be placed at any position inside the intensive warehouse shelf or at the end of the shelf, is used for up and down layer change of goods and four-way shuttle vehicles; Other cache positions 3 / 6 are arranged near the vertical two-way vehicle and are used for caching goods entering or leaving the vertical two-way vehicle; The outbound storage buffer 7 is arranged near the outbound port 8 and is used for caching materials to be outbound; The outbound port 8 is arranged in the storage space near the material outbound delivery path. A handheld terminal is arranged in the outbound area. The warehouse manager scans the code of the cargo pallet through the handheld terminal to realize the outbound delivery of the cargo. The outbound port can be used for the outbound delivery of the whole pallet of materials and the outbound delivery of the goods to be picked. After receiving the goods to be stored, the above system executes the storage process according to the following steps: First, the operator scans the pallet code and the material code of each type of goods through a handheld terminal device, and binds the pallet code and material code. Then, the goods with information binding in the storage buffer area are moved to the storage port 1 for storage operation.

[0035] The four-way shuttle 11 arrives at the entrance 1 to transport the goods for storage. After weighing, code scanning, and appearance inspection, the system automatically allocates the cargo space. If the allocated cargo space is on the first floor, the four-way shuttle 11 extracts the goods from the entrance and transfers the goods to the designated storage location on the first floor of the dense shelf for storage. If the cargo space level to which the goods are to be allocated is on the upper floor of the shelf, the system first dispatches the four-way shuttle on the first floor of the dense warehouse shelf to extract the goods from the entrance 1 and transport the goods to the vertical two-way vehicle 4. After the vertical two-way vehicle lifts the goods to the designated level of the shelf, the four-way shuttle in the corresponding level will then pick up and transport them to the designated storage location in the dense shelf for storage.

[0036] Corresponding to the warehousing process, the above-mentioned warehousing system also retrieves various types of goods from the four-way vehicle-intensive warehouse shelves to realize outbound delivery according to the following steps: First, if the goods to be shipped are located on the upper layer of the intensive warehouse shelf, the system dispatches the four-way shuttle 11 running in the cargo storage layer of the intensive warehouse shelf to extract the goods from the storage position of the goods and transfer the goods to the vertical two-way vehicle 5. The vertical two-way vehicle lifts the goods to the first layer of the shelf, and then the first-layer four-way shuttle transports the goods to the warehouse exit 8. If the goods to be shipped are located on the first layer of the shelf, the system directly dispatches the first-layer four-way shuttle to extract the goods from the storage position of the goods and transfer the goods to the warehouse exit 8. The goods at the warehouse exit 8 are manually moved away to complete the shipment.

[0037] The above system can also adjust the goods in and out of the warehouse strategy according to the number of equipment configurations and the efficiency requirements of the project. When the number of equipment is small and the efficiency requirements are reduced, the goods can be moved in and out of the warehouse according to the following method of loading and unloading.

[0038] Specifically, during the warehousing process: If the level of the assigned cargo location is on the upper level of the shelf, the system will first dispatch the four-way shuttle 11 on the first level of the dense warehouse shelf to extract the cargo from the storage entrance 1 and move the cargo to the vertical two-way vehicle 4. If there is no idle four-way shuttle on the first level of the shelf, the system will first dispatch an idle four-way vehicle on the upper level to reach the first level of the shelf after the vertical two-way vehicle 4 changes levels, and then use the four-way vehicle to extract the cargo from the storage entrance 1 and move the cargo to the vertical two-way vehicle 4. After the four-way vehicle and the cargo change levels together to the designated level of the assigned cargo location, the current four-way shuttle directly moves the cargo out of the vertical two-way vehicle 4 and transfers the cargo to the designated storage location in the dense shelf for storage.

[0039] During the outbound process: If the goods to be shipped are located on the upper layer of the intensive warehouse shelf, the system will give priority to dispatching the four-way shuttle 11 running in the cargo storage layer of the intensive warehouse shelf to extract the goods from the storage position of the goods and transfer the goods to the vertical two-way car 5. If there is no idle four-way car in this layer, the idle four-way shuttle in other layers will be dispatched first to reach this layer through the transfer of the vertical two-way car 5, and then the four-way shuttle will extract the goods and transfer the goods to the vertical two-way car 5. Then the goods and the four-way car will be lifted to the first layer of the shelf by the vertical two-way car, and the current four-way shuttle will carry the goods to the warehouse exit 8.

[0040] When picking of goods is required during outbound delivery: The goods to be picked arrive at the outbound port 8 through the above-mentioned outbound process. The materials to be picked are manually taken out from the pallet at the outbound port 8 to complete the picking operation and trigger the task of returning the last pallet to the warehouse. The pallet is transferred to the designated storage location in the dense shelf by the four-way vehicle and the vertical two-way vehicle for storage.

[0041] In the above system, the vertical two-way car acts as an elevator. Figure 4 The front and rear sides of the vertical two-way vehicle are provided with a groove structure that can be passed through by the four-way shuttle and the goods, and the four-way shuttle can be relied on to realize the in and out transportation of goods. Specifically, the vertical two-way vehicle of the present application is arranged with a T-rail 52 and a rack 53 for equipment lifting on the inner side of the shelf. Figure 6 , the vertical two-way vehicle 56 of the present application has gears meshing with the racks arranged on both sides of its body. After the gears on the vertical two-way vehicle are meshed with the racks, the rotation of the gears on the vehicle body drives the vertical two-way vehicle to move along the racks to achieve vertical movement in both directions. The two-way vehicle uses the groove structure that runs through the middle of its body front and back to allow the four-way shuttle vehicle 57 to enter and exit along the track, and the pallet 55 is carried on the four-way shuttle vehicle to achieve the transfer of goods 54. The vertical two-way vehicle accommodates the four-way shuttle vehicle 57 to enter and exit to receive the goods loaded on the pallet thereon. After the four-way vehicle and the goods are changed and arrive at the target docking level, the four-way vehicle can enter the stereoscopic warehouse through the track docked by the front or rear end of the vertical two-way vehicle to achieve the transit and transportation of the goods.

[0042] When dispatching the corresponding equipment, for each inbound and outbound transfer operation, this system needs to rely on the cooperation of different equipment to realize the function. Considering that the operation time of each equipment is different, there will be a situation where the equipment that arrives quickly will wait for the slow equipment. This leads to a loss of equipment efficiency. Therefore, during the level conversion of the vertical two-way car, the four-way car in the corresponding level can be dispatched, or the vertical two-way car can be combined with the four-way shuttle car to form a six-way shuttle car mode, so that it can move the goods in advance during the level conversion process so that it can wait in advance at the corresponding docking position of the vertical two-way car. After the two-way car arrives at the corresponding level, the goods are directly lifted into the two-way car through the jacking of the four-way shuttle car to realize the acceptance and transfer of the goods.

[0043] Specifically, when designing the solution, if the project requires continuous in-and-out storage operations, in order to maximize the system efficiency and prevent the vertical two-way vehicle from waiting for goods or the four-way vehicle from waiting for the vertical two-way vehicle, an in-stock cache position 2 can be set at the front end of the inlet 1, another cache position 3 can be set at the front end of the vertical two-way vehicle 4, an out-stock cache position 7 can be set in front of the out-stock port 8, and another cache position 6 can be set at the front end of the vertical two-way vehicle 5. At this time, in the in-stock area, when the vertical two-way vehicle 4 is performing the current task, it can use the other cache positions 3, the in-stock port cache position 2, and the three task waiting positions of the in-stock port 1 to maximize the system efficiency. Under this solution, the system performs in-and-out storage operations by carrying goods according to the loading and unloading methods described below.

[0044] Among them, during the warehousing process: If the level of the assigned goods is on the upper shelf, the system will first dispatch the four-way shuttle vehicle responsible for docking in the first layer of the dense warehouse shelf to extract the goods from the entrance 1 and move the goods to other cache positions 3. When the next warehousing task is initiated, if the materials in other cache positions 3 have not yet entered the vertical two-way vehicle 4, the four-way shuttle vehicle on the first layer will extract the goods from the entrance 1 and move the goods to the entrance cache position 2. After the vertical two-way vehicle is in place, the four-way vehicle on the first layer or the four-way shuttle vehicle inside the vertical two-way vehicle will move the goods from other cache positions 3 into the vertical two-way vehicle 4. After the vertical two-way vehicle 4 lifts the goods to be stored to the designated shelf level, the four-way shuttle vehicle will transfer the goods to the designated storage location in the dense shelf for storage, completing the warehousing task. At the same time, after the other docking positions 3 are released, the first-floor four-way shuttle vehicle can continue to transport the goods from the entrance cache position 2 to other docking positions 3, and transport the goods from the entrance 1 to the entrance cache position 2. By circulating the goods between the cache positions, the mutual waiting between the goods and the vertical lift vehicle can be avoided, thereby realizing efficient and continuous warehousing operations for incoming materials.

[0045] During the outbound process: If the goods to be shipped out are located on the upper layer of the intensive warehouse shelf, the system dispatches the four-way shuttle 11 running in the cargo storage layer in the intensive warehouse shelf to extract the goods from the storage position of the goods and transfer the goods to other cache positions 6 in front of the vertical two-way car 5. After the vertical two-way car is in place, the four-way shuttle in the current layer or the four-way shuttle inside the vertical two-way car 5 will transport the goods into the vertical two-way car 5, and the goods will be lifted to the first layer of the shelf by the vertical two-way car, and finally the four-way shuttle will transport the goods to the outbound port 8. If the goods of the previous outbound task have not been manually transported away, the four-way shuttle will first transport the goods to the outbound port cache position 7, and after the outbound port 8 is released, the four-way shuttle connected on the first layer will transport the materials to be shipped out of the outbound port cache position 7 to the outbound port 8, realizing the automatic outbound operation of the goods.

[0046] This operation mode can cope with continuous warehousing or high-efficiency scenarios, ensuring that the two-way vehicle and all four-way vehicles are in motion at the same time. The docking positions designed at the front and rear ends here can enable the cargo handling to play a relay role, ensuring that each device is always in operation and maximizing the system efficiency.

[0047] In specific applications, in addition to docking with manual forklifts, the AGV docking position can also be directly set at the end of the shelf, such as Figure 3 In this solution, the system moves goods in and out of the warehouse according to the loading and unloading methods described below.

[0048] Among them, during the warehousing process: The AGV carries the goods to be stored and arrives at the AGV docking port 31. The AGV can directly dock with the end cargo position of the four-way vehicle dense warehouse shelf and place the goods to be stored at the warehouse entrance 31. The AGV leaves, and the system calls the four-way shuttle vehicle. The four-way shuttle vehicle arrives at the AGV docking port 31 and carries the goods to perform the storage action. After the scale scans the code and the appearance is inspected, the system automatically allocates the cargo position. The goods are transported to the designated storage position in the dense shelf for storage through the above-mentioned non-conveyor line four-way vehicle dense warehouse solution.

[0049] During the outbound process: The goods are transported from the storage bin to the first shelf level through the above-mentioned non-conveyor line four-way car-intensive warehouse solution. The four-way shuttle transports the materials and places them at the AGV docking exit 32. The AGV moves the goods from the exit 32 to complete the exit operation.

[0050] The rack structure of the AGV docking position entrance and exit 31 / 32 is different from that of the entrance and exit 1 / 8. The entrance 1 and exit 8 need to add independent rack structures, while the AGV docking entrance 31 and the AGV docking exit 32 can directly use the structure of the dense warehouse shelf end to achieve cargo placement and handling. Therefore, in the program planning and project implementation, the positions of the four-way vehicle dense warehouse shelf ends can all be used as AGV entrances and exits, realizing the docking of AGV and four-way shuttle vehicles, thereby realizing the warehouse's entry and exit functions. Since there are many positions at the shelf ends, during the entry and exit operations, the system can dispatch the four-way shuttle vehicle and AGV equipment to achieve the shortest path for entry and exit operations, greatly improving the efficiency of warehousing operations. The position of the shelf end can also be used as an entry and exit cache position to realize the warehouse's advance stocking, centralized entry and exit, and other functions, effectively solving the bottleneck problem of warehouse efficiency.

[0051] The above-mentioned solution for the four-way vehicle dense warehouse without conveyor lines uses vertical two-way vehicles to replace traditional elevators and four-way shuttle vehicles to replace traditional conveyor line operations in this design. At the same time, the RMS system is used to realize the efficient scheduling of storage robots in the warehouse, and the WMS system is used to realize the management and update of the storage status and storage location of goods in and out of the warehouse. In the above system, a new solution for the four-way vehicle dense warehouse without conveyor lines is provided by combining vertical two-way vehicles with four-way shuttle vehicle equipment, so that goods can be automatically transported in six directions in the warehouse. The above solution can make full use of the existing site of the factory building, increase the storage density of the warehouse, and reduce the intensity of manual installation work during the implementation stage, thereby reducing the project construction cost. By utilizing the high flexibility of the non-conveyor line solution, the location and number of the in and out ports can be adjusted as the logistics demand changes, and the number of vertical two-way vehicles and four-way shuttle vehicles can be adjusted according to the change of efficiency demand, so as to realize the scalability of the warehouse.

[0052] The following is a comparison between the above-mentioned four-way dense car park solution without conveyor lines and the currently available solutions.

[0053] In the same area, according to the same warehousing and efficiency requirements, traditional solutions are used, such as Figure 1 As shown; to provide a solution for a four-way dense car warehouse without a conveyor line, such as Figure 2 In the two schemes, the overall floor space of the warehouse is exactly the same, and the height of the two four-way vehicle-intensive warehouse areas is calculated based on the design of 4-layer shelves. The comparison of the schemes is shown in the table below: Table 1- Comparison between the solution of four-way dense parking lot without conveyor line and the existing solution Traditional four-way dense parking lot solution Solution for four-way dense car storage without conveyor line 1 Warehouse area (m²) 1060 1060 2 Storage space (m³) 8320 8320 3 Number of maternity paths 5 5 4 Number of cargo spaces 1064 1168 5 Storage density (%) 30.69 33.69 As described in the table above, in the same factory building, taking the same volume of storage space, and ensuring that the space used, storage goods specifications, number of dense warehouse shelf mother lanes, and number of SKUs that can be stored in the system are basically the same for the two solutions, a non-conveyor line four-way vehicle dense warehouse storage solution and a traditional four-way vehicle dense warehouse solution are implemented. Comparing the two solutions, it is obvious that the number of storage locations in this application is 104 more than the traditional solution, the number of locations is increased by 9.7%, and the overall storage density of the warehouse is increased by 3%. At the same time, in the solution, the inbound cache locations and outbound cache locations of this application are far more than those of the traditional solution. Therefore, from the comparison of the inventory density of the two solutions, this application is obviously better than the existing traditional solutions.

[0054] This application is significantly more economical than the traditional four-way car dense warehouse solution. In this application, the conveyor line equipment is saved at the entrance and exit, the elevator, and the docking point of the lifting equipment and the four-way shuttle car, and the vertical two-way car is used to replace the traditional elevator. In the project design stage, this application does not require the participation of conveyor line structure designers and conveyor lifting electric control R&D personnel, reducing the labor cost of technology research and development. In the project implementation stage, this application does not require the participation of mechanical installation personnel and electrical wiring personnel for conveying and lifting, reducing the labor cost of construction operations. In the system debugging and software development stage, this application docks the automation equipment interface in the warehouse with a single interface, and the equipment in the warehouse only uses a set of RMS scheduling system to complete the control of all robot equipment, reducing the labor cost of the software. At the same time, the vertical two-way shuttle car used in this application has a compact and small structure and only occupies a single cargo position. The vertical two-way car uses the shelf column as the main supporting component, which greatly reduces the production and processing cost of the traditional elevator. During the project implementation and installation process, the equipment is light in weight, highly integrated, and easy to install. Therefore, this application is significantly economical and can reduce the construction cost of dense warehouses.

[0055] This application is highly efficient. In the use of a four-way car dense warehouse with an AGV, the traditional solution requires both the four-way car and the AGV equipment to move the goods to the elevator when entering and exiting the warehouse, so that the goods can be entered and exited. The equipment has a long running path and the operation process is time-consuming. When this application is used in conjunction with an AGV, due to the inherent characteristics of the dense warehouse shelves, the ends of the shelves can be used as entry and exit ports, so the movement paths of the four-way car and AGV can be optimized. The four-way shuttle car or AGV equipment can choose the shortest path nearby during operation to realize the rapid entry and exit function of goods. During operation, the single operation process of the equipment takes less time, a single device can carry more pallets per unit time, and the overall operation efficiency is higher.

[0056] This application project has a short implementation period and fast delivery. This application uses a vertical two-way vehicle combined with a four-way shuttle vehicle, completely eliminating the conveyor line and elevator in the traditional solution. The system can use the RMS system to directly realize the dispatch of vertical two-way vehicles and four-way shuttle vehicles to complete the task of entering and leaving the warehouse. During the project implementation, the equipment installation, implementation, and delivery process are as follows Figure 7 As shown: Through comparison, it is obvious that this application reduces the process of conveyor line elevator mechanical installation, conveyor line elevator electrical wiring and conveyor line single machine debugging during implementation compared with the traditional four-way dense parking lot solution. This application has less on-site installation work, and there is no need for conveyor line mechanical installation personnel and electrical wiring personnel to participate in the project implementation phase, and the overall implementation cycle is shorter.

[0057] The present application has high scalability. In the traditional solution, once the conveyor line is implemented, the direction of transportation, the number of inlet and outlet ports, and the efficiency of the system are all limited by the existing conveying equipment. It is difficult to achieve efficiency improvement or change the logistics flow line by simply adding conveying equipment in the later stage. As customer needs change, the transformation of old warehouses often costs a large economic cost. The vertical two-way car and the four-way shuttle car are flexible stand-alone equipment. Each device can complete the task independently and autonomously. They have extremely high flexibility and can cooperate with each other flexibly through the scheduling of the system. Therefore, in the warehousing system provided by the present application, customers can increase the number of equipment according to their own business needs to adapt to the latest needs of customers. In the warehouse transformation, only simple adjustments to the hardware and the corresponding software logic are required to achieve changes in efficiency or changes in logistics flow lines.

[0058] In summary, the present application provides a new solution for a dense warehouse with four-way vehicles without conveyor lines. It utilizes a new vertical two-way vehicle, which uses shelf columns as the main load-bearing components, and can realize up and down movement within a single cargo grid, thereby realizing the layer-changing function of palletized goods and four-way shuttle vehicles in the longitudinal space of the dense warehouse. It can flexibly arrange the vertical two-way vehicle at any position in the warehouse, such as the inside of the dense warehouse shelf or the end of the dense warehouse shelf track. In the horizontal space, the groove structure of the vertical two-way vehicle body is directly connected to the shelf sub-track, which can provide guidance for the four-way vehicle, allowing it to freely enter and exit the vertical two-way vehicle, thereby realizing the automatic entry and exit function of palletized goods. Its entry and exit does not use conveyor lines as material transfer and mobile equipment, but uses highly flexible four-way shuttle vehicles to directly dock with the entry and exit points, realizing dense storage without conveyor lines in the warehouse. This application adopts a conveyor line-free solution design of a vertical two-way car combined with a four-way shuttle car, which avoids the on-site installation, electrical wiring and electric control debugging of the conveying equipment, simplifies the on-site implementation process and the work content of the construction personnel, and can effectively reduce the project implementation cost and shorten the construction period. It uses a vertical two-way car to replace the traditional elevator, which only occupies a single cargo space, can make full use of the warehouse space, and can effectively increase the number of storage cargo spaces and greatly reduce production and installation costs. All automated equipment in its warehouse only uses robot equipment to realize the automatic entry and exit function of goods, and uses a set of RMS software to dispatch all automated equipment, making the warehouse smarter and the system simpler. Therefore, through the solution of the dense warehouse storage system without conveyor lines in this application, the density of the automated warehouse can be improved, while improving the flexibility of the storage system, reducing the construction cost and construction period of the automated warehouse, and reducing the difficulty of delivery and operation and maintenance.

[0059] The above is only an implementation method of the present application, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application.

Claims

1. A dispatching method for a four-way dense car depot without a conveyor line, characterized in that: The warehousing steps include: When the goods are transported to the warehouse entrance (1), a four-way shuttle vehicle (11) is dispatched to transport the goods at the warehouse entrance (1) to a vertical two-way vehicle (4) in the dense warehouse, and the vertical two-way vehicle lifts the goods to a designated level of the shelf; Dispatching a four-way shuttle vehicle (11) in a corresponding level of a dense warehouse shelf to pick up the goods transported by the vertical two-way vehicle and transfer the goods to a designated storage location in the dense warehouse shelf for storage; The steps of outbound delivery include: The four-way shuttle vehicle (11) running in the storage level to which the target goods belong in the dense warehouse shelf is dispatched to extract the goods from the storage location of the goods and transfer the goods to the vertical two-way vehicle (5), and the vertical two-way vehicle transfers the goods to the first level of the shelf; The four-way shuttle vehicle on the first layer of the dispatching rack is used to pick up the goods transported by the vertical two-way vehicle and move the goods to the outbound port (8) for manual outbound delivery.

2. The method for dispatching a four-way dense car depot without a conveyor line as claimed in claim 1, characterized in that: Before the goods to be stored are moved to the storage entrance (1), the process also includes: scanning the code of the cargo pallet and the material code of the goods, and binding the pallet code and the material code.

3. The method for dispatching a four-way dense car depot without a conveyor line as claimed in claim 2, characterized in that: When the goods are transported to the storage entrance (1), the goods are placed on the material rack of the storage entrance (1); the material rack of the storage entrance (1) is independently arranged from the shelf; The material rack is independent of the shelf, and the material rack is also provided with a material rack sub-track interconnected with the sub-track in the shelf, and the four-way shuttle (11) can run between the shelf sub-track and the material rack sub-track.

4. The method for dispatching a four-way dense car depot without a conveyor line as claimed in claim 3, characterized in that: After the goods are transported to the material rack at the storage entrance (1), they are lifted and transported away from the storage entrance (1) by the four-way shuttle vehicle (11) and are allocated corresponding storage locations after being weighed, scanned, and inspected for appearance; If the allocated storage location is located at the first layer at the bottom of the shelf, directly driving the four-way shuttle (11) in the first layer of the shelf to move the goods to the storage location; If the allocated storage location is above the first layer of the shelf, the four-way shuttle (11) on the first layer of the shelf is first driven to move the goods to the vertical two-way vehicle (4), and then the vertical two-way vehicle moves the goods to the corresponding level, and finally the four-way shuttle in the level moves the goods to the storage location.

5. The method for dispatching a four-way dense car depot without a conveyor line as described in claims 1-4 is characterized in that: When it is necessary to continuously store goods in the warehouse, the four-way shuttle vehicle (11) located on the first floor is driven to continuously transport the goods to be stored from the warehouse entrance (1) to the warehouse storage buffer position (3) located between the warehouse entrance (1) and the vertical two-way vehicle (4). After the vertical two-way vehicle reaches the first floor, the four-way shuttle vehicle in the vertical two-way vehicle transports the goods into the vertical two-way vehicle.

6. The method for dispatching a four-way dense car depot without a conveyor line as claimed in claim 1, characterized in that: If the goods to be shipped out are located on the first layer of the shelf, the four-way shuttle vehicle in the first layer of the shelf is directly driven to directly transport the goods from the corresponding storage location to the shipping port (8); If the goods to be shipped out are located above the first layer of the shelf, the four-way shuttle vehicle in this layer is first driven to move the goods from the storage position to the vertical two-way vehicle (4), and the vertical two-way vehicle transports and lifts the goods to the first layer of the shelf. Then, the four-way shuttle vehicle (11) in the first layer transports the goods to the shipping port (8).

7. The dispatching method for a four-way dense car depot without a conveyor line as claimed in claim 1 or 6, characterized in that: When it is necessary to continuously remove goods from the warehouse, the four-way shuttle vehicle (11) located in the vertical two-way vehicle (5) is driven to move the goods from the vertical two-way vehicle (5) to the warehouse removal cache position (6). After the warehouse removal port (8) is released, the four-way shuttle vehicle located on the first layer moves the goods in the warehouse removal cache position to the warehouse removal port (8).

8. The method for dispatching a four-way dense car depot without a conveyor line as claimed in claim 1, characterized in that: When picking and unloading is required, the goods are first transported to the outbound port (8) for manual picking, and after picking is completed, the inbound loading steps are reversed from the outbound port; The outbound port (8) for picking is a cargo position extending outward from a layer of the shelf, or a walking position extending outward from the main aisle.

9. A storage system, characterized in that: include: Shelves, which are equipped with multiple layers of storage bins connected by rails; An entry port (1) for receiving goods to execute the entry steps described in any one of claims 1 to 8; An outbound port (8) is used to receive goods and execute the outbound step described in any one of claims 1 to 8; Vertical two-way vehicles are used to lift goods and four-way shuttles to designated levels of the racks; The four-way shuttle vehicles are distributed on each shelf layer and are used for transporting goods between the inlet (1), the vertical two-way vehicle, the outlet (8), and the storage bins.

10. The storage system according to claim 9, characterized in that: Also includes: A material rack, which is independent of the shelf and is provided with a material rack sub-track interconnected with the sub-track in the shelf, and the four-way shuttle (11) can run between the shelf sub-track and the material rack sub-track to perform the storage and / or storage out steps; An inbound cache position (3) is arranged between the inbound port (1) and the vertical two-way vehicle (4) and is used to receive goods to be inbound that are input from the inbound port (1) and wait for the vertical two-way vehicle to arrive at a layer before the four-way shuttle vehicle in the vertical two-way vehicle moves the goods into the vertical two-way vehicle; The outbound cache position (6) is arranged between the vertical two-way vehicle (5) and the outbound port (8) and is used to receive goods output by the vertical two-way vehicle (5) and wait for the outbound port (8) to be released before the four-way shuttle vehicle located on the first layer moves the goods in the outbound cache position to the outbound port (8).

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