Warehousing system

Abstract

The embodiment of the invention provides a warehousing system. The warehousing system comprises a storage area, a tallying robot, a transmission track and a track robot. A plurality of goods shelves are arranged in the storage area at intervals; the goods shelf comprises a storage space and a butt joint space; at least one storage layer is arranged in the storage space; a buffer layer is arranged in the docking space; the tallying robot is movably arranged on the outer side of the goods shelf in the length direction and used for carrying goods between the storage layer and the temporary storage layer of the goods shelf. The conveying track is arranged in the butt joint space in the length direction of the goods shelf and is parallel to the buffering layer. The rail robot is movably arranged on the conveying rail and used for moving along the conveying rail so as to move the goods on the cache layer of the goods shelf out of the goods shelf or move the goods outside the goods shelf to the cache layer. Compared with the ground, the conveying track is smoother and smoother, so that the track robot runs stably, the running speed is high, the cargo carrying efficiency is high, and the warehouse-in and warehouse-out efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of logistics and warehousing, and in particular to a warehousing system. Background Art

[0002] In the related art, the storage system includes a storage area with multiple shelves, a transport trolley and a picking station. The transport trolley is used to travel on the ground. It is necessary to move and transport goods between the storage area and the picking station, and to move to the bottom of the shelf in the storage area to pick up and place goods to achieve the entry and exit of goods. The transport trolley has high requirements for the accuracy of the ground. The unevenness of the ground will cause the transport trolley to travel slowly and the transportation efficiency to be low, which will lead to low efficiency in entering and exiting the storage system. Grinding the ground to solve the above problem will also increase costs and waste time. Summary of the invention

[0003] The purpose of the embodiment of the present application is to provide a storage system that can improve the efficiency of storage and retrieval. The specific technical solution is as follows:

[0004] The embodiment of the present application provides a warehousing system, comprising: a storage area, a sorting robot, a transmission track and a track robot; a plurality of shelves are arranged at intervals in the storage area; the shelf comprises a storage space and a docking space arranged from top to bottom; at least one storage layer is arranged in the storage space; a cache layer is arranged in the docking space; the sorting robot is movably arranged outside the shelf in the length direction, and is used to carry goods between the storage layer and the cache layer of the shelf; the transmission track is arranged in the docking space along the length direction of the shelf, and is arranged parallel to the cache layer; the track robot is movably arranged on the transmission track, and is used to move along the transmission track to move the goods in the cache layer of the shelf out of the shelf, or to move the goods outside the shelf to the cache layer.

[0005] In some embodiments of the present application, the shelf is a multi-depth shelf, the depth of the cache layer is less than the depth of the shelf, and is arranged from one side of the shelf in the length direction toward the inside of the shelf; the transmission track in the docking space is arranged on the other side of the shelf in the length direction, so that the transmission track and the cache layer are arranged in parallel; or, the shelf is composed of two single-depth shelves spliced ​​back to back, the cache layer is single-depth, and is arranged in the docking space at the bottom of one of the single-depth shelves, and the transmission track is arranged in the docking space at the bottom of the other single-depth shelf.

[0006] In some embodiments of the present application, the rail robot includes a first motion chassis and a first picking mechanism; the first motion chassis is used to move on the transmission track; the first picking mechanism is arranged on the first motion chassis, and is used to extend toward the cache layer to pick up and place the goods on the cache layer.

[0007] In some embodiments of the present application, the transmission track in the docking space includes two parallel columns of sub-tracks, and the two columns of sub-tracks are lower than the cache layer; the track robot includes a second motion chassis, a lifting mechanism and a carrying platform; the second motion chassis is used to move and switch tracks on the two columns of sub-tracks of the transmission track; the lifting mechanism and the carrying platform are arranged on the top of the second motion chassis, and are used to pick up and place the goods on the cache layer by lifting after the second motion chassis moves to the bottom of the cache layer.

[0008] In some embodiments of the present application, it also includes: a picking station; a conveyor line is also arranged between the shelf and the picking station; one end of the conveyor line is docked with the transmission track, and the other end is docked with the picking station, for conveying the goods to be shipped out toward the picking station, or conveying the goods to be received in toward the shelf; the track robot is used to, when entering the warehouse, move empty along the transmission track to the position docking with the conveyor line, pick up the goods to be received in the conveyor line, and then move along the transmission track to place the goods to be received in the warehouse at the target position on the cache layer; when leaving the warehouse, pick up the goods to be shipped out on the cache layer, move along the transmission track to the position docking with the conveyor line, and place the goods to be shipped out on the conveyor line.

[0009] In some embodiments of the present application, there are multiple shelves, and every two rows of shelves are spliced ​​on one side in the length direction to form a shelf unit; an aisle is provided between adjacent shelf units, and the sorting robot is movably provided in the aisle to pick up and place goods on the shelves on one side or both sides of the aisle; the cache layers of the first shelf and the second shelf of the shelf unit are respectively provided on both sides of the shelf unit; a first transfer track is provided at the bottom of the first shelf; a second transfer track is provided at the bottom of the second shelf; the first transfer track extends out of the end of the first shelf and is connected to the end of the second transfer track extending out of the second shelf, so as to allow the track robot to switch between the first transfer track and the second transfer track to pick up and place goods on the cache layer of the first shelf or the second shelf.

[0010] In some embodiments of the present application, the conveyor line includes an inbound conveyor line and an outbound conveyor line; the inbound conveyor line is arranged on one side of the first transmission track and docked with the first transmission track, and is used to convey the goods to be inbound from the picking station to the shelf; the outbound conveyor line is arranged on one side of the second transmission track and docked with the second transmission track, and is used to convey the goods to be outbound from the shelf to the picking station; the track robot is used to move to the position where the first transmission track and the inbound conveyor line are docked when entering the warehouse, and to receive the goods to be inbound; and to move to the position where the second transmission track and the outbound conveyor line are docked when leaving the warehouse, and to place the goods to be outbound.

[0011] In some embodiments of the present application, the conveyor line also includes a transfer conveyor line; the input end of the incoming conveyor line and the output end of the outgoing conveyor line are both connected to one side of the transfer conveyor line; the picking station includes a picking conveyor line; the other side of the transfer conveyor line is connected to the picking conveyor line; the transfer conveyor line is used to transfer the goods to be entered from the picking conveyor line to the input end of the incoming conveyor line, and to transfer the goods to be exited from the output end of the outgoing conveyor line to the picking conveyor line.

[0012] In some embodiments of the present application, the warehousing system also includes a ground robot; the side of the first transmission track extending from the first shelf is also provided with an inbound docking position; the side of the second transmission track extending from the second shelf is also provided with an outbound docking position; when entering the warehouse, the ground robot is used to transport the goods to be entered at the picking station to the inbound docking position, and the track robot is used to transport the goods to be entered on the inbound docking position to the cache layer; when leaving the warehouse, the track robot is used to transport the goods to be left on the cache layer to the outbound docking position, and the ground robot is used to transport the goods to be left on the outbound docking position to the picking station.

[0013] In some embodiments of the present application, the transmission tracks inside the plurality of shelf units extend toward one end away from the picking station and are connected through a main transmission track; the track robot is used to move through the main transmission track to the transmission tracks inside different shelf units to pick up and place goods from different shelf units.

[0014] In some embodiments of the present application, the first transfer track extends out of the end of the first shelf and is connected to the end of the second transfer track extending out of the second shelf through a switching track; the switching track is arranged in a direction perpendicular to the first transfer track and is flush with the height of the first transfer track and the second transfer track; the first motion chassis of the track robot includes a first chassis, a first running wheel group and a second running wheel group; the first running wheel group is arranged on both sides of the first chassis parallel to the transfer track, for driving the first chassis to move along the first transfer track or the second transfer track; the second running wheel group is arranged on the other two sides of the first chassis, for driving the first chassis to move along the switching track to switch between the first transfer track and the second transfer track.

[0015] In some embodiments of the present application, the first motion chassis of the track robot includes a second chassis and a walking wheel group; the walking wheel group is arranged on both sides of the second chassis parallel to the transmission track, for driving the second chassis to move along the transmission track.

[0016] In some embodiments of the present application, the first picking mechanism of the rail robot includes at least one group of telescopic picking components; the at least one group of telescopic picking components are arranged side by side along the length direction of the shelf, and are used to telescope toward the cache layer to pick up and place goods.

[0017] In some embodiments of the present application, the telescopic picking component is a clamping component, including: a cargo platform and telescopic arms arranged on both sides of the cargo platform; the telescopic arms are used to, when picking up cargo, extend toward the cargo and clamp the cargo, and then retract to move the cargo to the cargo platform; when releasing cargo, clamp the cargo on the cargo platform and extend toward the cache layer, and then release the cargo to place the cargo on the cache layer.

[0018] In some embodiments of the present application, there are multiple sorting robots, and the multiple sorting robots can be movably arranged on one side or both sides of the length direction of the shelf to transport the goods to be entered into the warehouse from the cache layer to the storage layer, or to transport the goods to be shipped out of the warehouse from the storage layer to the cache layer.

[0019] In some embodiments of the present application, the sorting robot can be movably hung on one side or both sides of the length direction of the shelf, including: at least one horizontal track, a first support frame and a second picking mechanism; the at least one horizontal track is arranged at intervals in the vertical direction and is fixedly connected to the length direction of the shelf; the first support frame is movably connected to the horizontal track and can move horizontally along the horizontal track; the second picking mechanism is movably installed on the first support frame and can move vertically along the first support frame to pick up and place different goods in the height direction of the shelf; it can also follow the first support frame to move horizontally along the horizontal track to pick up and place different goods in the length direction of the shelf.

[0020] In some embodiments of the present application, the sorting robot includes: a third motion chassis, a second support frame and a third picking mechanism; the third motion chassis is used to drive the second support frame and the third picking mechanism to move on the ground; the second support frame is installed on the third motion chassis in a vertical direction; the third picking mechanism is movably installed on the second support frame, and can move vertically along the second support frame to pick up and place different goods in the height direction of the shelf; it can also move horizontally driven by the third motion chassis to pick up and place different goods in the length direction of the shelf.

[0021] Beneficial effects of the embodiments of the present application:

[0022] The embodiment of the present application provides such a warehousing system, in which a transmission track is arranged in a docking space at the bottom of the shelf along the length direction of the shelf, so that the rail robot can move along the transmission track to move the goods in the cache layer of the shelf out of the shelf, or move the goods outside the shelf to the cache layer. The transmission track is smoother and flatter than the ground, so that the rail robot runs more smoothly, travels faster, and has a higher efficiency in handling goods, thereby improving the efficiency of entering and leaving the warehouse. The rail robot moves on the transmission track and is not affected by the undulation deviation of the ground. The ground does not need to be re-polished, which can reduce the cost of infrastructure implementation and shorten the implementation period. In addition, the efficiency of entering and leaving the warehouse can be further improved by cooperating with the tally robot and the rail robot to pick up and put away goods. The transmission track is arranged in the docking space of the shelf, which can improve the space utilization of the warehousing system.

[0023] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0025] Figure 1 It is a front view schematic diagram of a first embodiment of a storage system according to an embodiment of the present application;

[0026] Figure 2 for Figure 1 A schematic side view of the storage system shown;

[0027] Figure 3 A front view schematic diagram of a second embodiment of the storage system of the embodiment of the present application;

[0028] Figure 4A schematic top view of a third embodiment of the storage system of the present application embodiment;

[0029] Figure 5 for Figure 4 A partial schematic diagram of the storage system shown;

[0030] Figure 6 for Figure 1 The three-dimensional structure diagram of the track robot shown;

[0031] Figure 7 A schematic top view of a fourth embodiment of the storage system of the present application;

[0032] Figure 8 Another three-dimensional structural diagram of the tallying robot according to an embodiment of the present application.

[0033] Description of reference numerals:

[0034] Storage area 10; shelf unit 11; shelf 110; first shelf 110A; second shelf 110B; storage space 111; storage layer 1111; docking space 112; cache layer 1121; lane 12;

[0035] Cargo sorting robot 20; horizontal track 21; first support frame 22; second cargo picking mechanism 23; third moving chassis 24; second support frame 25; third cargo picking mechanism 26; temporary storage layer 27;

[0036] Transfer track 30; first transfer track 30A; second transfer track 30B; main transfer track 31; switching track 32;

[0037] Track robot 40; first moving chassis 41; first chassis 411; first running wheel set 412; second running wheel set 413; first picking mechanism 42; telescopic picking assembly 421; cargo platform 4211; telescopic arm 4212;

[0038] Picking station 50; picking conveyor line 51; placing wall 52;

[0039] Goods 60;

[0040] Conveyor line 70; inbound conveyor line 71; outbound conveyor line 72; transfer conveyor line 73; first transfer conveyor line 73A; second transfer conveyor line 73B;

[0041] Ground robot 80;

[0042] Inbound docking position 91; outbound docking position 92. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0044] As mentioned in the background technology, in the related technology, the storage system includes a storage area with multiple shelves, a transport cart and a picking station. The transport cart is used to travel on the ground. It is necessary to move and transport goods between the storage area and the picking station, and to move to the bottom of the shelf in the storage area to pick up and place goods to achieve the entry and exit of goods. The transport cart has high requirements for the accuracy of the ground. The unevenness of the ground will cause the transport cart to travel slowly and the transportation efficiency to be low, which will lead to low efficiency in entering and exiting the warehouse system. Grinding the ground to solve the above problems will also increase costs and waste time.

[0045] In order to improve the efficiency of storage and retrieval, the present application embodiment provides a storage system, see Figure 1 and Figure 2 , Figure 1 It is a front view schematic diagram of a first embodiment of a storage system according to an embodiment of the present application; Figure 2 for Figure 1 A schematic side view of the storage system shown.

[0046] like Figure 1 and Figure 2 As shown, the warehousing system includes: a storage area 10, a sorting robot 20, a transmission track 30 and a track robot 40.

[0047] A plurality of shelves 110 are arranged at intervals in the storage area 10 ; the shelf 110 includes a storage space 111 and a docking space 112 arranged from top to bottom; at least one storage layer 1111 is arranged in the storage space 111 ; and a cache layer 1121 is arranged in the docking space 112 .

[0048] The sorting robot 20 is movably disposed outside the shelf 110 in the length direction, and is used to transport the goods 60 between the storage layer 1111 and the cache layer 1121 of the shelf 110 .

[0049] The transfer track 30 is arranged in the docking space 112 along the length direction of the shelf 110 and is arranged parallel to the cache layer 1121 .

[0050] The track robot 40 is movably disposed on the transfer track 30 and is used to move along the transfer track 30 to move goods in the buffer layer of the shelf out of the shelf, or to move goods outside the shelf to the buffer layer.

[0051] The embodiment of the present application provides such a warehousing system, in which the transmission track 30 is arranged in the docking space 112 at the bottom of the shelf 110 along the length direction of the shelf 110, so that the track robot 40 can move along the transmission track 30, move the goods 60 of the cache layer 1121 of the shelf 110 out of the shelf 110, or move the goods 60 outside the shelf 110 to the cache layer 1121. Compared with the ground, the transmission track 30 is smoother and flatter, so that the track robot 40 runs more smoothly, the driving speed is faster, and the efficiency of handling goods is higher, thereby improving the efficiency of entering and leaving the warehouse. The track robot 40 moves on the transmission track 30, is not affected by the undulation deviation of the ground, and the ground does not need to be re-polished, which can reduce the cost of infrastructure implementation and shorten the implementation cycle. In addition, the efficiency of entering and leaving the warehouse can be further improved by cooperating with the tally robot 20 and the track robot 40 to pick up and put goods. The transmission track 30 is arranged in the docking space 112 of the shelf 110, which can improve the space utilization of the warehousing system.

[0052] Specifically, the shelf 110 can be Figure 2 In the double-deep shelf shown, the sorting robot 20 is arranged on one side of the shelf 110 in the length direction, and is used to pick up and place two deep goods 60.

[0053] The transfer track 30 is a bidirectional transfer track. The staff or robots load the goods 60 to be stored on the track robot 40 on the transfer track 30, and the track robot 40 transports them to the cache layer 1121, or removes the goods 60 to be shipped out loaded by the track robot 40 for picking and shipping out.

[0054] like Figure 1 As shown, the warehousing system also includes a picking station 50 located outside the shelf 110. The transmission track 30 can extend to the picking station 50. The picking station 50 includes a distribution wall 52 for temporarily storing goods 60 to be shipped out from the storage area 10 or goods 60 to be shipped in from the outside.

[0055] Figure 1 and Figure 2 The picking station 50 shown is located on one side in the width direction of the shelf 110, and the portion of the transfer track 30 extending out of the docking space 112 is still arranged along the length direction of the shelf 110. In other embodiments of the present application, the orientation of the portion of the transfer track 30 extending out of the docking space 112 is not limited to this direction, which is related to the setting position of the picking station 50 and the layout of other facilities in the warehousing system, and the present application does not limit this.

[0056] The transport track 30 can be installed independently on the ground or as Figure 1 and Figure 2 As shown, one part is fixed on the supporting legs of the shelf 110 , and the other part is directly in contact with the ground. The present application does not limit the installation method of the transmission track 30 .

[0057] The transport track 30 may be Figure 1 and Figure 2 As shown, the height is lower than the height of the cache layer 1121, or it can be consistent with the height of the cache layer 1121, as long as the goods 60 on the cache layer 1121 are within the height range that the track robot 40 can pick up the goods, and the track robot 40 can freely pass through the docking space 112 when carrying the goods without interfering with the storage layer 1111. The specific height of the transmission track 30 is not limited in this application.

[0058] The cargo 60 may be a specific article, or a box or other container for holding articles. The present application does not limit the type of the cargo 60 .

[0059] In addition, when the transfer track 30 is arranged in the docking space 112 along the length direction of the shelf 110 and is arranged parallel to the buffer layer 1121, the transfer track 30 can be consistent with the length of the shelf 110, so that the goods 60 can be moved out of the shelf by a ground robot; or Figure 1 As shown, the transport track 30 can directly extend out of the docking space 112 to the outside of the shelf 110, and the track robot 40 can directly move the goods 60 out of the shelf. This is not limited here.

[0060] In some embodiments of the present application, Figure 2 As shown, the shelf 110 is a multi-depth shelf, the depth of the cache layer 1121 is less than the depth of the shelf 110 , and is arranged from one side of the length direction of the shelf 110 toward the inside of the shelf 110 .

[0061] The transfer track 30 in the docking space 112 is arranged on the other side of the shelf 110 in the length direction, so that the transfer track 30 and the cache layer 1121 are arranged in parallel.

[0062] Alternatively, the shelf 110 is formed by two single-depth shelves connected back to back, the buffer layer 1121 is single-depth and is arranged in the docking space 112 at the bottom of one of the single-depth shelves, and the transfer track 30 is arranged in the docking space 112 at the bottom of the other single-depth shelf.

[0063] Specifically, Figure 2 The shelf 110 shown is a double-deep shelf, and the buffer layer 1121 at the bottom of the shelf 110 is single-deep to leave installation space for the transmission track 30. Whether the shelf 110 is a single shelf or a shelf formed by splicing two sub-shelves, as long as the bottom docking space can accommodate the buffer layer and the transmission track.

[0064] The shelf 110 may also be a four-deep shelf or formed by two double-deep shelves connected back to back, as will be described in detail later.

[0065] By applying the embodiment of the present application, the depth of the cache layer 1121 is less than the depth of the shelf 110 , which provides a larger height space for the installation of the transfer track 30 , so that the shelf 110 can be provided with more storage layers 1111 to improve the storage capacity of the shelf 110 .

[0066] In the embodiment of the present application, the rail robot 40 may pick up goods in a variety of ways, such as: clamping, suction, hooking or lifting, etc., and the present application does not impose any specific restrictions.

[0067] In some embodiments of the present application, Figure 1 and Figure 2 As shown, the track robot 40 includes a first moving chassis 41 and a first picking mechanism 42.

[0068] The first moving chassis 41 is used to move on the transfer track 30 ; the first picking mechanism 42 is disposed on the first moving chassis 41 , and is used to extend toward the cache layer 1121 to pick up and place the goods 60 on the cache layer 1121 .

[0069] Specifically, the cache layer 1121 is divided into a plurality of cache positions along the length direction of the shelf 110, which are used to temporarily store the goods 60 to be shipped out that are transported from the storage layer 1111 by the sorting robot 20, waiting for the rail robot 40 to take them away; or to temporarily store the goods 60 to be shipped in that are transported from the picking station 50 by the rail robot 40, waiting for the sorting robot 20 to take them away.

[0070] The form of the first pickup mechanism 42 includes but is not limited to a fork arm type, a hook arm, etc.

[0071] In addition, in some embodiments, the first pickup mechanism 42 can be set on the top of the first moving chassis 41. For example, if the top is flat, it can be directly set on the flat top; if a groove is set on the top, it can be embedded in the groove on the top. In other embodiments, the first pickup mechanism 42 can also be set at the bottom of the first moving chassis 41. The present application does not limit the positional relationship between the first moving chassis 41 and the first pickup mechanism 42. It is only necessary to ensure that the goods 60 on the cache layer 1121 are within the height range that the first pickup mechanism 42 can pick up.

[0072] By applying the embodiment of the present application, the first picking mechanism 42 can be driven by the first moving chassis 41 to move to the picking station 50 or the cache layer 1121 to pick up and place the goods 60 to achieve storage and warehousing.

[0073] In some embodiments of the present application, the transfer track 30 in the docking space 112 may include two parallel columns of sub-tracks, and the two columns of sub-tracks are lower than the cache layer 1121 .

[0074] The track robot 40 may include a second motion chassis, a lifting mechanism, and a carrying platform;

[0075] The second moving chassis is used to move and switch tracks on the two columns of sub-tracks of the transmission track 30; the lifting mechanism and the carrying platform are arranged on the top of the second moving chassis, and are used to pick up and place the goods 60 on the cache layer 1121 by lifting after the second moving chassis moves to the bottom of the cache layer 1121.

[0076] Specifically, one of the sub-tracks is set at the bottom of the cache layer 1121, so that the track robot 40 can move to the bottom of the cache layer 1121 to lift the goods 60. Using the embodiment of the present application, the carrying platform can move to the bottom of the cache layer 1121 to pick up and place the goods 60 under the drive of the second motion chassis and the lifting mechanism.

[0077] Figure 1 and Figure 2 In the first embodiment shown, only one sorting robot 20 is shown. In other embodiments of the present application, the number of sorting robots 20 may be multiple, and multiple sorting robots 20 may be movably arranged on one side or both sides in the length direction of the shelf 110, for transporting the goods 60 to be stored in from the cache layer 1121 to the storage layer 1111, or transporting the goods 60 to be shipped out from the storage layer 1111 to the cache layer 1121.

[0078] By using the embodiment of the present application, a plurality of sorting robots 20 can each be responsible for picking up and placing the goods 60 on a portion of the shelf 110 to improve the efficiency of picking up and placing the goods.

[0079] Next, Figure 1 The warehousing and outgoing processes of the warehousing system of the first embodiment are described.

[0080] When shipping out, the sorting robot 20 moves the goods to be shipped 60 on the storage layer 1111 of the shelf 110 to the cache layer 1121, and then the track robot 40 moves along the transmission track 30 to the position corresponding to the goods to be shipped 60 on the cache layer 1121, takes out the goods to be shipped 60 and moves to one end of the transmission track 30 close to the picking station 50, where they are taken out by staff or robots for picking and shipping out.

[0081] When entering the warehouse, the track robot 40 moves along the transmission track 30 to one end close to the picking station 50, takes the goods 60 to be stored, moves to the cache layer 1121 at the bottom of the target storage layer 1111, and places the goods 60 to be stored in the cache layer 1121. Then the sorting robot 20 moves the goods 60 to be stored from the cache layer 1121 to the target storage layer 1111.

[0082] It should be noted that the goods to be stored 60 described in the present application may be goods transported to the picking station 50 from the outside, or may be the remaining goods 60 after the goods to be stored 60 transported from the storage area 10 are picked.

[0083] In some embodiments of the present application, see Figure 3 , Figure 3 Schematic diagram of the front view of the second embodiment of the storage system of the present application. Figure 3 As shown, a conveyor line 70 is also provided between the shelf 110 and the picking station 50 .

[0084] One end of the conveyor line 70 is connected to the transfer track 30 , and the other end is connected to the picking station 50 , so as to convey the goods 60 to be shipped out of the warehouse toward the picking station 50 , or convey the goods 60 to be shipped in to the shelf 110 .

[0085] The track robot 40 is used to move empty along the transfer track 30 to a position docking with the conveyor line 70 when entering the warehouse, pick up the goods 60 to be stored on the conveyor line 70, and then move along the transfer track 30 to place the goods 60 to be stored at the target position on the cache layer 1121.

[0086] When out of the warehouse, the goods 60 to be out of the warehouse are received on the buffer layer 1121 , moved along the transfer track 30 to a position docking with the conveyor line 70 , and the goods 60 to be out of the warehouse are placed on the conveyor line 70 .

[0087] Specifically, the conveyor line 70 may be a roller conveyor line or a conveyor belt, etc., and the present application does not limit the form of the conveyor line 70. Figure 3 As shown, the conveyor line 70 shown in this embodiment is a roller conveyor line, and the section docking with the transmission track 30 can be independently controlled to start and stop. When the goods 60 to be stored are transported to the section, or the track robot 40 is about to place the goods 60 to be shipped out, the section is in a stationary state. After the track robot 40 takes away the goods 60 to be stored or the goods 60 to be shipped out are placed, the section starts to run. The use of a roller conveyor line ensures that the picking and placing of goods in the docking section and the transport of goods in other sections do not interfere with each other, which can improve the transportation efficiency of the conveyor line 70.

[0088] By using the embodiment of the present application and setting the conveyor line 70, the transport track 30 does not need to extend to the picking station 50, and the length of the part extending out of the docking space 112 only needs to be sufficient for the rail robot 40 to dock with the conveyor line 70 to pick up and place the goods. Therefore, the rail robot 40 only needs to move in the storage area 10, and no longer needs to move between the storage area 10 and the picking station 50, which improves the handling efficiency of the rail robot 40, thereby further improving the efficiency of storage and retrieval.

[0089] Next, Figure 3 The warehousing and outbound processes of the warehousing system of the second embodiment are described.

[0090] When shipping out, the sorting robot 20 moves the goods to be shipped 60 on the storage layer 1111 of the shelf 110 to the cache layer 1121, and then the track robot 40 moves along the transmission track 30 to the position corresponding to the goods to be shipped 60, takes out the goods to be shipped 60 and moves to the end of the transmission track 30 close to the conveyor line 70, places the goods to be shipped 60 on the conveyor line 70, and the conveyor line 70 transports the goods to be shipped 60 to the picking station 50.

[0091] When entering the warehouse, the staff or robot places the goods to be entered 60 on the conveyor line 70, and the conveyor line 70 transports the goods to be entered 60 to the end close to the shelf 110. The track robot 40 receives the goods to be entered 60 at the end of the transmission track 30 close to the conveyor line 70, and moves along the transmission track 30 to the cache layer 1121 at the bottom of the target storage layer 1111, and places the goods to be entered 60 in the cache layer 1121. Then the sorting robot 20 moves the goods to be entered 60 from the cache layer 1121 to the target storage layer 1111.

[0092] In some embodiments of the present application, see Figure 4 , Figure 4 This is a top view of the third embodiment of the storage system of the present application. It should be noted that: Figure 4 In the actual top view, the track robot 40 and the transfer track 30 shown in the middle cannot be seen. In order to show the track robot 40 and the transfer track 30 located at the bottom of the shelf 110 in this figure, a part of the storage space 111 structure of the shelf 110 is hidden.

[0093] like Figure 4 As shown, there are a plurality of shelves 110 , and every two rows of shelves 110 are spliced ​​together on one side in the length direction to form a shelf unit 11 .

[0094] An aisle 12 is provided between adjacent shelf units 11 , and the sorting robot 20 is movably provided in the aisle 12 for picking up and placing goods 60 on the shelves 110 on one side or both sides of the aisle 12 .

[0095] The cache layers 1121 of the first shelf 110A and the second shelf 110B of the shelf unit 11 are respectively arranged on both sides of the shelf unit 11; a first transfer track 30A is arranged at the bottom of the first shelf 110A; and a second transfer track 30B is arranged at the bottom of the second shelf 110B.

[0096] The first transfer track 30A extends out of the end of the first shelf 110A and is connected to the end of the second transfer track 30B extending out of the second shelf 110B, so as to allow the track robot 40 to switch between the first transfer track 30A and the second transfer track 30B to pick up and place the goods 60 on the cache layer 1121 of the first shelf 110A or the second shelf 110B.

[0097] It should be noted that a row of shelves 110 refers to at least one shelf 110 arranged along the length direction of the shelf 110 .

[0098] Specifically, Figure 4 As shown, the shelf unit 11 in this embodiment is formed by two rows of double-deep shelves connected back to back, wherein the number of double-deep shelves in each row is 5.

[0099] The cache layer 1121 of each double-deep shelf is single-deep and is arranged on the side of the double-deep shelf away from the splicing surface, so that two deep installation spaces are reserved at the bottom of the shelf unit 11 to install two transmission rails 30, which can further improve the efficiency of warehousing.

[0100] In every two connected shelves 110, one is a first shelf 110A and the other is a second shelf 110B. Figure 4 In each shelf unit 11, the lower row of shelves 110 are all first shelves 110A, and the other row of shelves 110 are all second shelves 110B. In other embodiments, it is also possible to specify that the lower row of shelves 110 are all second shelves 110B, and the other row of shelves 110 are all first shelves 110A. This embodiment of the present application is not limited to this.

[0101] By using the embodiment of the present application, the storage area 10 is divided into a plurality of shelf units 11 for easy zoning management. The sorting robot 20 is arranged in the lane 12 between the shelf units 11, which can improve the space utilization rate of the storage system. The first transmission track 30A and the second transmission track 30B are connected at the ends, so that the track robot 40 can switch between the first transmission track 30A and the second transmission track 30B, and can pick up and place the goods 60 on the cache layer 1121 of any shelf 110 in the shelf unit 11, so that the storage system can mobilize the track robot 40 more flexibly. When the in-and-out business volume of one row of shelves 110 surges or the track robot 40 on a transmission track 30 is damaged, the storage system can call the track robot 40 at the bottom of another row of shelves 110 to meet business needs and ensure in-and-out efficiency.

[0102] In some embodiments of the present application, Figure 4 As shown, the conveyor line 70 includes an inbound conveyor line 71 and an outbound conveyor line 72 .

[0103] The incoming conveyor line 71 is disposed at one side of the first transfer track 30A and docked with the first transfer track 30A, and is used to convey the incoming goods 60 of the picking station 50 to the shelf 110 .

[0104] The outbound conveyor line 72 is disposed on one side of the second transfer track 30B and docked with the second transfer track 30B, and is used to convey the goods 60 to be outbound from the shelf 110 to the picking station 50 .

[0105] The track robot 40 is used to move to the position where the first transfer track 30A and the inbound conveyor line 71 are connected to receive the goods 60 to be inbound during warehousing; and to move to the position where the second transfer track 30B and the outbound conveyor line 72 are connected to place the goods 60 to be outbound during outbound.

[0106] Specifically, the inbound conveyor line 71 and the outbound conveyor line 72 are one-way transport.

[0107] When the target storage layer 1111 corresponding to the goods 60 to be stored is on the second shelf 110B, after the rail robot 40 receives the goods 60 to be stored on the storage conveyor line 71 on the first transfer track 30A, it needs to first move to the second transfer track 30B, and then move along the second transfer track 30B to the corresponding cache layer 1121 at the bottom of the second shelf 110B to place the goods.

[0108] When the goods 60 on the first shelf 110A need to be shipped out, the track robot 40 receives the goods 60 to be shipped out on the first transfer track 30A, first moves along the first transfer track 30A to the connection between the end and the second transfer track 30B, and then places the goods 60 to be shipped out on the shipping conveyor line 72 after moving to the second transfer track 30B.

[0109] By using the embodiment of the present application, an inbound conveyor line 71 and an outbound conveyor line 72 are provided, so that the inbound and outbound transportation of the goods 60 do not interfere with each other, thereby further improving the inbound and outbound transportation efficiency.

[0110] In some embodiments of the present application, Figure 4 As shown, the conveyor line 70 also includes a transfer conveyor line 73 .

[0111] The input end of the inbound conveyor line 71 and the output end of the outbound conveyor line 72 are both connected to one side of the transfer conveyor line 73 .

[0112] The picking station 50 includes a picking conveyor line 51 ; the other side of the transfer conveyor line 73 is connected to the picking conveyor line 51 .

[0113] The transfer conveyor line 73 is used to transfer the incoming goods 60 conveyed from the picking conveyor line 51 to the input end of the incoming conveyor line 71 , and to transfer the outgoing goods 60 conveyed from the output end of the outgoing conveyor line 72 to the picking conveyor line 51 .

[0114] Specifically, Figure 4As shown, the transfer conveyor line 73 is arranged in two rows, and the ends of the two rows of transfer conveyor lines 73 are connected to each other to form a ring conveyor line. In this embodiment, the conveying direction of the transfer conveyor line 73 is specified to be counterclockwise, wherein the transfer conveyor line 73 located on one side close to the shelf 110 is the first transfer conveyor line 73A, and the other side is the second transfer conveyor line 73B, and the conveying directions of the first transfer conveyor line 73A and the second transfer conveyor line 73B are opposite.

[0115] In other embodiments, the conveying direction of the transfer conveyor line 73 may also be clockwise, and the transfer conveyor line 73 located on one side close to the shelf 110 may also be the first transfer conveyor line 73A, and the other side may be the second transfer conveyor line 73B. This application does not limit this.

[0116] The first transfer conveyor line 73A is connected to the output end of the outbound conveyor line 72, and is used to receive the goods to be outbound 60 delivered from the output end of the outbound conveyor line 72, and transmit it to the second transfer conveyor line 73B; the first transfer conveyor line 73A is also connected to the input end of the inbound conveyor line 71, and is used to transmit the goods to be inbound 60 delivered from the second transfer conveyor line 73B to the input end of the inbound conveyor line 71.

[0117] The second transfer conveyor line 73B is connected to the picking conveyor line 51, and is used to receive the goods to be stored 60 conveyed by the picking conveyor line 51 and transport them to the first transfer conveyor line 73A, and is also used to receive the goods to be shipped out 60 conveyed by the first transfer conveyor line 73A and transport them to the picking conveyor line 51.

[0118] like Figure 1 , Figure 3 and Figure 4 As shown, the picking station 50 also includes a distribution wall 52 for temporarily storing the goods 60 to be shipped out from the storage area 10 or the goods 60 to be shipped in from the outside.

[0119] By using the embodiment of the present application, a transfer conveyor line 73 is set up to cache the goods 60, thereby preventing all the inbound conveyor lines 71 and outbound conveyor lines 72 from being directly connected to the picking conveyor line 51, resulting in too many connection lines for the picking conveyor line 51.

[0120] In some embodiments of the present application, Figure 4 As shown, the transfer tracks 30 inside the plurality of shelf units 11 extend toward one end away from the picking station 50 and are connected by a main transfer track 31 .

[0121] The track robot 40 is used to move to the transfer tracks 30 inside different shelf units 11 through the main transfer track 31 to pick up and place goods 60 from different shelf units 11 .

[0122] By using the embodiment of the present application, the ends of the first transmission track 30A and the second transmission track 30B are connected to the main transmission track 31, so that the storage system can more flexibly mobilize the track robot 40 to work across the lane 12 to achieve circular circulation operation. The track robot 40 moves to different shelf units 11 through the main transmission track 31, thereby serving different shelf units 11. When the inbound and outbound business volume of one shelf unit 11 surges or the track robot 40 is damaged, the storage system can call the track robot 40 of another shelf unit 11 to meet business needs and ensure inbound and outbound efficiency.

[0123] In some embodiments of the present application, see Figure 5 and Figure 6 , Figure 5 for Figure 4 A partial schematic diagram of the storage system shown; Figure 6 for Figure 1 The three-dimensional structure diagram of the track robot is shown in FIG. Figures 4 to 6 As shown, the first transfer track 30A extends out of the end of the first shelf 110A and is connected to the end of the second transfer track 30B extending out of the second shelf 110B via the switching track 32.

[0124] The switching track 32 is disposed in a direction perpendicular to the first transfer track 30A and is flush with the height of the first transfer track 30A and the second transfer track 30B.

[0125] The first motion chassis 41 of the rail robot 40 includes a first chassis 411 , a first running wheel set 412 and a second running wheel set 413 .

[0126] The first running wheel set 412 is disposed on two sides of the first chassis 411 parallel to the transmission track 30, and is used to drive the first chassis 411 to move along the first transmission track 30A or the second transmission track 30B.

[0127] The second running wheel set 413 is disposed on the other two sides of the first chassis 411 , and is used to drive the first chassis 411 to move along the switching track 32 , so as to switch between the first transmission track 30A and the second transmission track 30B.

[0128] Specifically, the transmission track 30, the main transmission track 31 and the switching track 32 are all U-shaped tracks that are open upward, and are used to accommodate the first and second traveling wheel groups 412 and 413 to prevent the first traveling wheel group 412 from falling off the track when moving along the first transmission track 30A or the second transmission track 30B, and the second traveling wheel group 413 from falling off the track when moving longitudinally.

[0129] When the track robot 40 uses the first running wheel set 412 to move on the first transfer track 30A or the second transfer track 30B, the second running wheel set 413 can be controlled to rise, so as to avoid the second running wheel set 413 interfering with the switching track 32 during movement. Similarly, when the track robot 40 uses the second running wheel set 413 to move on the switching track 32, the first running wheel set 412 can be controlled to rise, so as to avoid the first running wheel set 412 interfering with the first transfer track 30A and the second transfer track 30B during movement.

[0130] The transfer track 30 and the main transfer track 31 are also connected via the same switching track 32, which will not be described in detail here.

[0131] In the embodiment of the present application, the first transfer track 30A extends out of the end of the first shelf 110A, and is connected to the end of the second transfer track 30B extending out of the second shelf 110B through the switching track 32, so that the track robot 40 can switch between the first transfer track 30A and the second transfer track 30B through the switching track 32, and the movement is more flexible, which improves the handling efficiency. The track robot 40 can use the first running wheel group 412 to move on the first transfer track 30A or the second transfer track 30B, and use the second running wheel group 413 to move on the switching track 32, which has a simple structure and is easy to control.

[0132] In some embodiments of the present application, the first motion chassis 41 of the track robot 40 includes a second chassis and a running wheel group; the running wheel group is arranged on both sides of the second chassis parallel to the transmission track 30, and is used to drive the second chassis to move along the transmission track 30.

[0133] Specifically, in addition to the track robot 40 with two sets of running wheel groups mentioned in the above embodiment, some track robots 40 including only the first running wheel group 412 can also be arranged on each transmission track 30, and only run on the current transmission track 30 to ensure the transportation efficiency on the single transmission track 30.

[0134] Next, Figure 4 The warehousing and outbound processes of the warehousing system of the third embodiment are illustrated.

[0135] When the goods 60 on the first shelf 110A need to be shipped out:

[0136] The sorting robot 20 moves the goods to be shipped 60 on the storage layer 1111 of the first shelf 110A to the cache layer 1121, and then the track robot 40 moves along the first transmission track 30A to the position corresponding to the goods to be shipped 60, takes out the goods to be shipped 60 and moves to one end of the first transmission track 30A close to the inbound conveyor line 71, and then moves along the switching track 32 to the second transmission track 30B, places the goods to be shipped 60 on the outbound conveyor line 72, and the outbound conveyor line 72 transports the goods to be shipped 60 to the transfer conveyor line 73, and the transfer conveyor line 73 transports the goods to be shipped 60 to the picking conveyor line 51 of the picking station 50.

[0137] When the goods to be stored need to be placed on the first shelf 110A:

[0138] The staff or robot places the goods to be stored 60 on the picking conveyor line 51, and the goods to be stored 60 moves to the storage conveyor line 71 through the transfer conveyor line 73. The track robot 40 receives the goods to be stored 60 at one end of the first transmission track 30A close to the storage conveyor line 71, and moves along the first transmission track 30A to the cache layer 1121 at the bottom of the target storage layer 1111 of the first shelf 110A, and places the goods to be stored 60 in the cache layer 1121. Then the sorting robot 20 moves the goods to be stored 60 from the cache layer 1121 to the target storage layer 1111.

[0139] When the goods 60 on the second shelf 110B need to be shipped out:

[0140] The sorting robot 20 moves the goods to be shipped 60 on the storage layer 1111 of the second shelf 110B to the cache layer 1121, and then the track robot 40 moves along the second transmission track 30B to the position corresponding to the goods to be shipped 60, takes out the goods to be shipped 60 and moves to one end of the second transmission track 30B close to the shipping conveyor line 72, places the goods to be shipped 60 on the shipping conveyor line 72, and the shipping conveyor line 72 transports the goods to be shipped 60 to the transfer conveyor line 73, and the transfer conveyor line 73 transports the goods to be shipped 60 to the picking conveyor line 51 of the picking station 50.

[0141] When the goods to be stored need to be placed on the second shelf 110B:

[0142] The staff or robot places the goods to be stored 60 on the picking conveyor line 51, and the goods to be stored 60 moves to the storage conveyor line 71 through the transfer conveyor line 73. The track robot 40 receives the goods to be stored 60 at one end of the first transmission track 30A close to the storage conveyor line 71, and moves to the second transmission track 30B along the switching track 32, and moves to the cache layer 1121 at the bottom of the target storage layer 1111 of the second shelf 110B, and places the goods to be stored 60 on the cache layer 1121. Then the sorting robot 20 moves the goods to be stored 60 from the cache layer 1121 to the target storage layer 1111.

[0143] In some embodiments of the present application, Figure 1 , Figure 3 and Figure 6 As shown, the first picking mechanism 42 of the rail robot 40 includes at least one set of telescopic picking components 421. At least one set of telescopic picking components 421 is arranged side by side along the length direction of the shelf 110, and is used to telescope toward the cache layer 1121 to pick up and place the goods 60.

[0144] The telescopic cargo-picking assembly 421 is a clamping assembly, including: a cargo platform 4211 and telescopic arms 4212 arranged on both sides of the cargo platform 4211 .

[0145] The telescopic arm 4212 is used to, when picking up goods, extend toward the goods 60 and clamp the goods 60, and then retract to move the goods 60 to the cargo platform 4211; when releasing goods, clamp the goods 60 on the cargo platform 4211 and extend toward the cache layer 1121, and then release the goods 60 to place the goods 60 on the cache layer 1121.

[0146] Specifically, Figure 1 The figure shows a rail robot 40 including a set of telescopic pickup components 421 and a rail robot 40 including two sets of telescopic pickup components 421. The two sets of telescopic pickup components 421 are arranged side by side on the first motion chassis 41, so that the rail robot 40 can carry at least one cargo 60 out of the warehouse or into the warehouse at a time, which shortens the moving distance, improves the handling efficiency, and thus improves the efficiency of entering and leaving the warehouse, compared with the rail robot 40 including only one set of telescopic pickup components 421.

[0147] In some embodiments of the present application, see Figure 7 , Figure 7 FIG. 4 is a top view of a fourth embodiment of a storage system according to an embodiment of the present application. Figure 7 As shown, the warehousing system further includes a ground robot 80 .

[0148] A side of the first transfer track 30A extending out of the first shelf 110A is provided with a storage docking position 91 ; a side of the second transfer track 30B extending out of the second shelf 110B is provided with a storage docking position 92 .

[0149] When entering the warehouse, the ground robot 80 is used to transport the goods to be entered 60 at the picking station 50 to the warehouse docking position 91, and the track robot 40 is used to transport the goods to be entered 60 on the warehouse docking position 91 to the cache layer 1121.

[0150] When out of the warehouse, the track robot 40 is used to transport the goods to be out of the warehouse 60 on the cache layer 1121 to the out of the warehouse docking position 92, and the ground robot 80 is used to transport the goods to be out of the warehouse 60 on the out of the warehouse docking position 92 to the picking station 50.

[0151] Specifically, the ground robot 80 can pick up goods in the form of lifting, telescopic, etc., which is not limited in the present application. The ground robot 80 can travel along any route between the storage area 10 and the picking station 50 to improve the handling efficiency.

[0152] The ground robot 80 carries the goods to be shipped out 60 and moves to the picking station 50. After the staff takes away the goods to be shipped out 60, the ground robot 80 can pick up the goods to be shipped in 60 at the picking station 50 and go to the shipping docking position 91, or return to the shipping docking position 92 to continue to pick up the goods to be shipped out 60, or go to the waiting area to wait. Similarly, the ground robot 80 carries the goods to be shipped in 60 and moves to the shipping docking position 91. After placing the goods to be shipped in 60, the ground robot 80 can go to the shipping docking position 92 to pick up the goods to be shipped out 60, or return to the picking station 50 to continue to pick up the goods to be shipped in 60, or go to the waiting area to wait.

[0153] In this embodiment, the inbound conveyor line 71, the outbound conveyor line 72 and the picking conveyor line 51 may not be provided, and only the inbound docking position 91 and the outbound docking position 92 may be provided. Figure 4 The storage system of the third embodiment shown is the same and will not be described again here.

[0154] By using the embodiment of the present application, setting the inbound docking position 91 and the outbound docking position 92 can save the cost and occupied area of ​​the conveyor line 70. The rail robot 40 is responsible for the transportation of the goods 60 in the storage area 10, and the ground robot 80 is responsible for the transportation of the goods between the storage area 10 and the picking station 50. Compared with the prior art, the transport cart needs to move between the storage area and the picking station to transport the goods, and needs to move to the bottom of the shelf in the storage area to pick up and place the goods to realize the in and out of the warehouse. The distance that the robot walks on the ground is shortened, and the efficiency of transporting goods and the efficiency of in and out of the warehouse is improved.

[0155] Next, Figure 7 The warehousing and outbound processes of the warehousing system of the fourth embodiment are illustrated.

[0156] When the goods 60 on the first shelf 110A need to be shipped out:

[0157] The sorting robot 20 moves the goods to be shipped 60 on the storage layer 1111 of the first shelf 110A to the cache layer 1121, and then the track robot 40 moves along the first transmission track 30A to the position corresponding to the goods to be shipped 60, takes off the goods to be shipped 60 and moves to one end of the first transmission track 30A close to the inbound docking position 91, and then moves along the switching track 32 to the second transmission track 30B, places the goods to be shipped 60 on the outbound docking position 92, and the ground robot 80 receives the goods to be shipped 60 at the outbound docking position 92 and transports them to the picking station.

[0158] When the goods to be stored need to be placed on the first shelf 110A:

[0159] The staff or robot places the goods to be stored 60 on the ground robot 80, and the ground robot 80 moves the goods to be stored 60 to the storage docking position 91. The track robot 40 receives the goods to be stored 60 at one end of the first transmission track 30A close to the storage docking position 91, and moves along the first transmission track 30A to the cache layer 1121 at the bottom of the target storage layer 1111 of the first shelf 110A, and places the goods to be stored 60 in the cache layer 1121. Then the sorting robot 20 moves the goods to be stored 60 from the cache layer 1121 to the target storage layer 1111.

[0160] When the goods 60 on the second shelf 110B need to be shipped out:

[0161] The sorting robot 20 moves the goods to be shipped 60 on the storage layer 1111 of the second shelf 110B to the cache layer 1121, and then the track robot 40 moves along the second transmission track 30B to the position corresponding to the goods to be shipped 60, takes off the goods to be shipped 60 and moves to one end of the second transmission track 30B close to the shipping docking position 92, places the goods to be shipped 60 on the shipping docking position 92, and the ground robot 80 receives the goods to be shipped 60 at the shipping docking position 92 and transports them to the picking station.

[0162] When the goods to be stored need to be placed on the second shelf 110B:

[0163] The staff or robot places the goods to be stored 60 on the ground robot 80, and the ground robot 80 moves the goods to be stored 60 to the storage docking position 91. The track robot 40 receives the goods to be stored 60 at one end of the first transmission track 30A close to the storage docking position 91, and moves along the switching track 32 to the second transmission track 30B, and moves to the cache layer 1121 at the bottom of the target storage layer 1111 of the second shelf 110B, and places the goods to be stored 60 on the cache layer 1121. Then the sorting robot 20 moves the goods to be stored 60 from the cache layer 1121 to the target storage layer 1111.

[0164] In some embodiments of the present application, Figures 1 to 4 As shown, the sorting robot 20 can be movably hung on one side or both sides of the shelf 110 in the length direction, and includes: at least one horizontal track 21, a first support frame 22 and a second picking mechanism 23.

[0165] At least one horizontal rail 21 is arranged at intervals along the vertical direction and is fixedly connected to the shelf 110 in the length direction.

[0166] The first support frame 22 is movably connected to the horizontal track 21 and can move horizontally along the horizontal track 21 .

[0167] The second picking mechanism 23 is movably installed on the first support frame 22, and can move vertically along the first support frame 22 to pick up and place different goods 60 in the height direction of the shelf 110; it can also move horizontally along the horizontal track 21 following the first support frame 22 to pick up and place different goods 60 in the length direction of the shelf 110.

[0168] Specifically, the first support frame 22 can be Figures 1 to 4 The column door frame shown may also be a single column, and this application does not limit this.

[0169] The first support frame 22 is provided with a first lifting mechanism, which may be a transmission structure such as a conveyor belt wheel, a sprocket chain, etc., fixed to the first support frame 22, and drives the second pickup mechanism 23 to move vertically along the first support frame 22. The present application does not limit the specific structure of the first lifting mechanism.

[0170] When the tallying robot 20 picks up and places goods 60, the first support frame 22 first drives the second picking mechanism 23 to move to the column where the target goods 60 are located, and the first lifting mechanism drives the second picking mechanism 23 to move to the row where the target goods 60 are located, so that the second picking mechanism 23 moves to the position corresponding to the target goods 60, and then picks up and places the goods 60. The above-mentioned process of moving to the column and row where the target goods 60 are located is not in a particular order, and can also be carried out simultaneously to improve the working efficiency of the tallying robot 20.

[0171] Using the embodiment of the present application, the second picking mechanism 23 is installed on the first support frame 22, and can move vertically along the first support frame 22, and move horizontally along the horizontal track 21 with the first support frame 22, so as to pick up and place the goods 60 at different positions on the shelf 110.

[0172] In some embodiments of the present application, see Figure 8 , Figure 8 FIG. 2 is another three-dimensional structural diagram of the tallying robot according to an embodiment of the present application. Figure 8 As shown, the sorting robot 20 includes: a third motion chassis 24, a second support frame 25 and a third picking mechanism 26.

[0173] The third moving chassis 24 is used to drive the second supporting frame 25 and the third picking mechanism 26 to move on the ground.

[0174] The second support frame 25 is installed on the third moving chassis 24 along the vertical direction.

[0175] The third picking mechanism 26 is movably installed on the second support frame 25, and can move vertically along the second support frame 25 to pick up and place different goods 60 in the height direction of the shelf 110; it can also move horizontally driven by the third moving chassis 24 to pick up and place different goods 60 in the length direction of the shelf 110.

[0176] Specifically, a second lifting mechanism is provided on the second support frame 25, and the second lifting mechanism can be a transmission structure such as a conveyor belt wheel, a sprocket chain, etc., which is fixed to the second support frame 25 and drives the third pickup mechanism 26 to move vertically along the second support frame 25. The present application does not limit the specific structure of the second lifting mechanism.

[0177] like Figure 8 As shown, a plurality of temporary storage layers 27 are arranged at intervals along the vertical direction on the second support frame 25, and each temporary storage layer 27 is used to temporarily store a to-be-moved cargo 60. The third pickup mechanism 26 has a rotating function and can rotate toward the shelf 110 or the temporary storage layer 27 to pick up and place cargo.

[0178] In this way, the sorting robot 20 is also used to receive the goods to be shipped 60 toward the storage layer 1111 through the third picking mechanism 26, and after rotating toward the temporary storage layer 27, place the goods to be shipped 60 on the temporary storage layer 27. After repeating the above process multiple times, the third picking mechanism 26 is driven to move by the second lifting mechanism to place the goods to be shipped 60 on multiple temporary storage layers 27 on the cache layer 1121. The above process can also be performed in reverse to place the goods to be stored 60 on multiple cache layers 1121 on the storage layer 1111, which will not be repeated here.

[0179] By using the embodiment of the present application, the sorting robot 20 drives the second support frame 25 and the third picking mechanism 26 to move on the ground through the third motion chassis 24, without the need to set up an additional support frame, thereby simplifying the storage system setting. The third picking mechanism 26 is movably mounted on the second support frame 25, and can move vertically along the second support frame 25, and move horizontally driven by the third motion chassis 24, so as to pick up and place goods 60 at different positions on the shelf 110.

[0180] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A storage system, characterized in that: include: A storage area (10), a tallying robot (20), a transport track (30) and a track robot (40); A plurality of shelves (110) are arranged at intervals in the storage area (10); the shelves (110) include a storage space (111) and a docking space (112) arranged from top to bottom; at least one storage layer (1111) is arranged in the storage space (111); and a cache layer (1121) is arranged in the docking space (112); The sorting robot (20) is movably arranged outside the shelf (110) in the length direction, and is used to carry goods (60) between the storage layer (1111) and the cache layer (1121) of the shelf (110); The transmission track (30) is arranged in the docking space (112) along the length direction of the shelf (110) and is arranged parallel to the cache layer (1121); The track robot (40) is movably arranged on the transfer track (30) and is used to move along the transfer track (30) to move the goods (60) on the cache layer (1121) of the shelf (110) out of the shelf (110), or to move the goods (60) outside the shelf (110) to the cache layer (1121).

2. The storage system according to claim 1, characterized in that: The shelf (110) is a multi-depth shelf, the depth of the cache layer (1121) is less than the depth of the shelf (110), and is arranged from one side in the length direction of the shelf (110) toward the inside of the shelf (110); The transmission track (30) in the docking space (112) is arranged on the other side of the shelf (110) in the length direction, so that the transmission track (30) and the cache layer (1121) are arranged in parallel; Alternatively, the shelf (110) is composed of two single-depth shelves connected back to back, the cache layer (1121) is single-depth and is arranged in the docking space (112) at the bottom of one of the single-depth shelves, and the transmission track (30) is arranged in the docking space (112) at the bottom of the other single-depth shelf.

3. The storage system according to claim 2, characterized in that: The track robot (40) comprises a first moving chassis (41) and a first picking mechanism (42); The first moving chassis (41) is used for moving on the transfer track (30); the first picking mechanism (42) is arranged on the first moving chassis (41) and is used for extending toward the cache layer (1121) to pick up and place the goods (60) on the cache layer (1121).

4. The storage system according to claim 1, characterized in that: The transmission track (30) in the docking space (112) includes two parallel columns of sub-tracks, and the two columns of sub-tracks are lower than the cache layer (1121); The track robot (40) comprises a second motion chassis, a lifting mechanism and a carrying platform; The second moving chassis is used to move on the two columns of sub-tracks of the transmission track (30) and switch tracks; the lifting mechanism and the carrying platform are arranged on the top of the second moving chassis, and are used to pick up and place the goods (60) on the cache layer (1121) in a lifting manner after the second moving chassis moves to the bottom of the cache layer (1121).

5. The storage system according to claim 1, characterized in that: Also included: a picking station (50); A conveyor line (70) is also provided between the shelf (110) and the picking station (50); one end of the conveyor line (70) is connected to the transmission track (30), and the other end is connected to the picking station (50), and is used to convey goods to be shipped out (60) toward the picking station (50), or to convey goods to be shipped in (60) toward the shelf (110); The track robot (40) is used to move unloaded along the transmission track (30) to a position docking with the conveyor line (70) when entering the warehouse, pick up the goods (60) to be entered on the conveyor line (70), and then move along the transmission track (30) to place the goods (60) to be entered at a target position on the cache layer (1121); When out of the warehouse, the goods (60) to be out of the warehouse are received on the buffer layer (1121), moved along the transmission track (30) to a position docking with the conveying line (70), and the goods (60) to be out of the warehouse are placed on the conveying line (70).

6. The storage system according to claim 5, characterized in that: There are a plurality of shelves (110), and every two rows of shelves (110) are spliced ​​together on one side in the length direction to form a shelf unit (11); An aisle (12) is provided between adjacent shelf units (11), and the sorting robot (20) is movably provided in the aisle (12) for picking up and placing goods (60) on shelves (110) on one side or both sides of the aisle (12); The cache layers (1121) of the first shelf (110A) and the second shelf (110B) of the shelf unit (11) are respectively arranged on both sides of the shelf unit (11); a first transfer track (30A) is arranged at the bottom of the first shelf (110A); and a second transfer track (30B) is arranged at the bottom of the second shelf (110B); The first transfer track (30A) extends out of the end of the first shelf (110A) and is connected to the end of the second transfer track (30B) extending out of the second shelf (110B), so as to allow the track robot (40) to switch between the first transfer track (30A) and the second transfer track (30B) to pick up and place goods (60) on the cache layer (1121) of the first shelf (110A) or the second shelf (110B).

7. The storage system according to claim 6, characterized in that: The conveyor line (70) comprises an inbound conveyor line (71) and an outbound conveyor line (72); the inbound conveyor line (71) is arranged on one side of the first transmission track (30A) and docked with the first transmission track (30A) to convey the goods (60) to be inbound at the picking station (50) to the shelf (110); The outbound conveyor line (72) is arranged on one side of the second transmission track (30B), docked with the second transmission track (30B), and used to convey the goods (60) to be outbound from the shelf (110) to the picking station (50); The track robot (40) is used to move to the position where the first transmission track (30A) and the storage conveyor line (71) are connected during storage, and receive the goods to be stored (60); when leaving the warehouse, it is used to move to the position where the second transmission track (30B) and the storage conveyor line (72) are connected to place the goods to be stored (60).

8. The storage system according to claim 7, characterized in that: The conveyor line (70) further comprises a transfer conveyor line (73); the input end of the inbound conveyor line (71) and the output end of the outbound conveyor line (72) are both connected to one side of the transfer conveyor line (73); The picking station (50) comprises a picking conveyor line (51); the other side of the transfer conveyor line (73) is connected to the picking conveyor line (51); The transfer conveyor line (73) is used to transfer the goods to be stored (60) transported from the picking conveyor line (51) to the input end of the storage conveyor line (71), and to transfer the goods to be shipped out (60) transported from the output end of the shipping conveyor line (72) to the picking conveyor line (51).

9. The storage system according to claim 6, characterized in that: The storage system further comprises a ground robot (80); A storage docking position (91) is also provided on one side of the first transport track (30A) extending out of the first shelf (110A); A side of the second transport track (30B) extending out of the second shelf (110B) is also provided with a warehouse-out docking position (92); During storage, the ground robot (80) is used to move the goods (60) to be stored at the picking station (50) to the storage docking position (91), and the track robot (40) is used to move the goods (60) to be stored on the storage docking position (91) to the cache layer (1121); When out of the warehouse, the track robot (40) is used to move the goods (60) to be out of the warehouse on the cache layer (1121) to the out of the warehouse docking position (92), and the ground robot (80) is used to move the goods (60) to be out of the warehouse on the out of the warehouse docking position (92) to the picking station (50).

10. The storage system according to any one of claims 6 to 9, characterized in that: The transmission tracks (30) inside the plurality of shelf units (11) extend toward an end away from the picking station (50) and are connected via a main transmission track (31); The track robot (40) is used to move to the transmission track (30) inside different shelf units (11) through the main transmission track (31) to pick up and place goods (60) from different shelf units (11).

11. The storage system according to claim 6, characterized in that: The first transfer track (30A) extends out of the end of the first shelf (110A), and is connected to the end of the second transfer track (30B) extending out of the second shelf (110B) via a switching track (32); The switching track (32) is arranged in a direction perpendicular to the first transmission track (30A) and is flush with the height of the first transmission track (30A) and the second transmission track (30B); The first moving chassis (41) of the track robot (40) comprises a first chassis (411), a first running wheel set (412) and a second running wheel set (413); The first running wheel set (412) is arranged on both sides of the first chassis (411) parallel to the transmission track (30), and is used to drive the first chassis (411) to move along the first transmission track (30A) or the second transmission track (30B); The second running wheel set (413) is arranged on the other two sides of the first chassis (411) and is used to drive the first chassis (411) to move along the switching track (32) so as to switch between the first transmission track (30A) and the second transmission track (30B).

12. The storage system according to claim 1, characterized in that: The first moving chassis (41) of the track robot (40) comprises a second chassis and a running wheel set; The running wheel set is arranged on both sides of the second chassis parallel to the transmission track (30), and is used to drive the second chassis to move along the transmission track (30).

13. The storage system according to claim 3, characterized in that: The first cargo picking mechanism (42) of the track robot (40) comprises at least one set of telescopic cargo picking components (421); The at least one group of telescopic picking components (421) are arranged side by side along the length direction of the shelf (110) and are used to be telescopic toward the cache layer (1121) to pick up and place the goods (60).

14. The storage system according to claim 13, characterized in that: The telescopic cargo picking assembly (421) is a clamping assembly, comprising: a cargo platform (4211) and telescopic arms (4212) arranged on both sides of the cargo platform (4211); The telescopic arm (4212) is used to, when picking up goods, extend toward the goods (60) and clamp the goods (60), and then retract to move the goods (60) to the cargo platform (4211); when releasing goods, clamp the goods (60) on the cargo platform (4211) and extend toward the cache layer (1121), and then release the goods (60) to place the goods (60) on the cache layer (1121).

15. The storage system according to claim 1, characterized in that: The number of the sorting robots (20) is multiple, and the multiple sorting robots (20) are movably arranged on one side or both sides of the length direction of the shelf (110), and are used to move goods (60) to be stored (60) from the buffer layer (1121) to the storage layer (1111), or to move goods (60) to be shipped out (60) from the storage layer (1111) to the buffer layer (1121).

16. The storage system according to claim 15, characterized in that: The sorting robot (20) is movably mounted on one side or both sides of the shelf (110) in the length direction, and comprises: at least one horizontal track (21), a first support frame (22) and a second picking mechanism (23); The at least one horizontal track (21) is arranged at intervals along the vertical direction and is fixedly connected to the shelf (110) in the length direction; The first support frame (22) is movably connected to the horizontal track (21) and can move horizontally along the horizontal track (21); The second picking mechanism (23) is movably mounted on the first support frame (22), and can move vertically along the first support frame (22) to pick up and place different goods (60) in the height direction of the shelf (110); it can also move horizontally along the horizontal track (21) following the first support frame (22) to pick up and place different goods (60) in the length direction of the shelf (110).

17. The storage system according to claim 15, characterized in that: The cargo handling robot (20) comprises: a third motion chassis (24), a second support frame (25) and a third cargo picking mechanism (26); The third moving chassis (24) is used to drive the second support frame (25) and the third cargo-picking mechanism (26) to move on the ground; The second support frame (25) is installed on the third moving chassis (24) in a vertical direction; The third picking mechanism (26) is movably mounted on the second support frame (25), and can move vertically along the second support frame (25) to pick up and place different goods (60) in the height direction of the shelf (110); and can also move horizontally driven by the third moving chassis (24) to pick up and place different goods (60) in the length direction of the shelf (110).

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