Tray three-dimensional warehouse system and warehouse-in and warehouse-out method for tray three-dimensional warehouse

Abstract

The invention provides a three-dimensional tray warehouse system and a warehouse-in and warehouse-out method for the three-dimensional tray warehouse. The three-dimensional tray warehouse system comprises the three-dimensional tray warehouse, an elevator, a first tray robot and a control system. A first mechanical arm of the first tray robot is used for a first unstacking clamp arranged in a manner of moving at least three degrees of freedom, and the control system is connected with the tray three-dimensional warehouse, the elevator and the first tray robot and used for controlling the first tray robot to shuttle back and forth in the tray three-dimensional warehouse and storing and taking trays or material boxes from the tray three-dimensional warehouse. And the clamped material box is placed on an elevator, or the material box is clamped from the elevator and placed on a tray. The first tray robot can directly complete disassembly from the tray warehouse, so that the tray three-dimensional warehouse system can be directly connected with a sorting system in a butt joint mode, in addition, the first tray robot can carry the corresponding number of material boxes to be delivered out of the warehouse, the situation that the tail trays are put into the warehouse is avoided, and therefore the sorting efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of logistics and warehousing picking technology, and in particular to a pallet three-dimensional warehouse system and a method for entering and exiting the pallet three-dimensional warehouse. Background Art

[0002] Pallet warehouse is a storage system that can store goods stacked on pallets. The smallest unit of transportation and storage in this system is the pallet, so the traditional pallet warehouse system needs to use a four-way pallet truck and a pallet conveyor to carry the whole pallet of goods in and out. Specifically, a four-way pallet truck is needed to carry the whole pallet of goods to the pallet conveyor, and the pallet conveyor conveys the whole pallet of goods, so that the whole pallet of goods can be shipped out of the warehouse, and vice versa.

[0003] However, the minimum picking unit of the sorting system is a material box, so the pallets of the pallet warehouse cannot directly enter the sorting system. The existing method is generally equipped with a stocking system, which converts the whole pallet of goods into a whole box, and then transports it to the sorting system. This form not only increases the relevant equipment, but also increases the logistics links. Therefore, the solution given in the existing scheme is to set up a pallet conveying system outside the pallet warehouse, and the pallet conveying system is provided with a depalletizing device, so as to realize the conversion of the whole pallet of goods into a whole box.

[0004] However, there are some problems with the existing method. For example, if the number of boxes to be picked does not reach the number of full pallets, the existing method is to drag the full pallet of goods out of the pallet warehouse by a trolley, transport the full pallet of goods to the pallet conveyor system, depalletize the boxes on the pallet through the depalletizing device on the pallet conveyor system, and transport the boxes to the number of boxes to be picked to the sorting system, and then re-palletize the remaining boxes to form a tail pallet. The pallet conveyor system transports the tail pallet to the trolley, and the trolley puts the tail pallet back into the warehouse. Therefore, the minimum unit for entering and exiting the pallet warehouse in the existing solution is still a full pallet of goods. In addition, if the number of goods to be picked is not a full pallet, the tail pallet will be generated and put into the warehouse, so there is a problem of low picking efficiency. Summary of the invention

[0005] The present application provides a whole-piece entry and exit method for a pallet warehouse and a pallet warehouse system, which can be used to solve the problem.

[0006] A first aspect of the present application provides a pallet three-dimensional warehouse system, the system comprising a pallet three-dimensional warehouse, a hoist, a first pallet robot and a control system;

[0007] The first pallet robot comprises a first robot body, a first control device, a first lifting device and a first depalletizing arm;

[0008] The first depalletizing arm comprises a first mechanical arm and a first depalletizing clamp, wherein the first mechanical arm is used to move the first depalletizing clamp with at least three degrees of freedom, so as to complete the first depalletizing clamp clamping a material box from a pallet, or stacking the clamped material box onto a pallet;

[0009] The first control device is connected to the first robot body and the first depalletizing arm, and is used to control the first robot body and the first depalletizing arm so that the first pallet robot walks along a specified path, and controls the first depalletizing arm to complete clamping or stacking of material boxes;

[0010] The first lifting device is used to lift and lower the pallet to store and retrieve the pallet;

[0011] The control system is connected to the pallet warehouse, the elevator and the first pallet robot, and is used to control the pallet warehouse, the elevator and the first pallet robot, so that the first pallet robot shuttles in the pallet warehouse, accesses pallets or material boxes from the pallet warehouse, and places the clamped material boxes on the elevator, or clamps the material boxes from the elevator and places them on the pallet.

[0012] Preferably, the system further comprises a second pallet robot, wherein the second pallet robot comprises a second robot body, a second control device and a second lifting device;

[0013] The second lifting device is used to lift and lower the pallet to store and retrieve the pallet;

[0014] The second control device is connected to the second robot body and is used to control the second pallet robot to walk along a specified path.

[0015] Preferably, a second depalletizing arm is provided on the upper part of the column of the elevator, and the second depalletizing arm includes a second robotic arm and a second depalletizing clamp. The second robotic arm is used to move the second depalletizing clamp with at least three degrees of freedom, so as to complete the second depalletizing clamp clamping the material box from the pallet, or stacking the clamped material box on the pallet.

[0016] Preferably, the system further includes a temporary storage table and a third depalletizing arm, wherein the third depalletizing arm is fixed at the temporary storage table, and the elevator is docked with the temporary storage table to obtain a material box from the temporary storage table;

[0017] The third depalletizing arm includes a third robotic arm and a third depalletizing clamp. The third robotic arm moves the third depalletizing clamp with at least three degrees of freedom to complete the third depalletizing clamp clamping the material box from the pallet and placing it on the temporary storage table.

[0018] The second aspect of the present application provides a method for removing goods from a warehouse as described in the first item, which is applied to the above-mentioned pallet stereoscopic warehouse system. The method comprises the following steps:

[0019] S1. Obtain the location and quantity of the material boxes that need to be shipped out;

[0020] S2, controlling the first pallet robot to move to the pallet position where the material box is located;

[0021] S3, controlling the first depalletizing arm to clamp the material box on the pallet and place it on the first robot body, and repeating this step until the number of material boxes on the first robot body meets a preset threshold, or controlling the first pallet robot to lift the pallet to obtain the pallet;

[0022] S4, controlling the first pallet robot in S3 to move to the elevator;

[0023] S5, controlling the first depalletizing arm to clamp the material box on the first robot body, and placing the material box on the elevator, and repeating this step until the number of material boxes placed on the elevator reaches a preset threshold;

[0024] S6. Repeat steps S2-S5 until the number of bins to be shipped out reaches the requirement, and the shipping out step is completed.

[0025] Preferably, the step S1 comprises:

[0026] S11. Obtain the number of boxes that need to be shipped out, and calculate the number of full pallets shipped out and the number of single boxes shipped out according to the number of boxes that need to be shipped out;

[0027] S12, obtaining the pallet position of the whole pallet out of the warehouse and the material box position of the single material box out of the warehouse;

[0028] S13. Formulate the bin outbound rules based on the number of full pallets outbound, the number of single bins outbound, the pallet locations and the bin locations.

[0029] Preferably, the step S2 comprises:

[0030] S21, obtaining the number and operation status of the first pallet robots;

[0031] S22. Select one or more of the first pallet robots according to the outbound rules, the number and the operating status of the first pallet robots, and formulate corresponding control rules for the first pallet robots;

[0032] S23. According to the control rules, control the corresponding first pallet robot to move to the pallet position where the material box is located.

[0033] The third aspect of the present application provides a method for removing goods from a warehouse as described in the second item, which is applied to the above-mentioned pallet stereoscopic warehouse system. The method comprises the following steps:

[0034] S1. Obtain the number of boxes that need to be shipped out, and calculate the number of full pallets and single boxes that need to be shipped out based on the number of boxes that need to be shipped out;

[0035] S2. Obtain the pallet position of the whole pallet out of the warehouse and the box position of the single box out of the warehouse

[0036] S3, control the first pallet robot to move to the pallet position where the single-piece material box is out of the warehouse, and control the second pallet robot to move to the pallet position where the whole pallet is out of the warehouse;

[0037] S4, controlling the first depalletizing arm to clamp the material box on the pallet and place it on the first robot body, repeating this step until the number of material boxes on the first robot body meets a preset threshold, and controlling the second pallet robot to lift the pallet to obtain the pallet;

[0038] S5, controlling the first pallet robot and the second pallet robot carrying the material box in S4 to walk to the elevator;

[0039] S6, controlling the first pallet robot in an idle state to walk to the second pallet robot carrying the whole pallet box to perform unloading operations, controlling the first depalletizing arm to clamp the box on the first robot body, and placing the box on the elevator, until the first pallet robot and the second pallet robot carrying the goods in S4 complete unloading;

[0040] S7. Repeat steps S3-S6 until the number of bins to be shipped out reaches the requirement, and the shipping out step is completed.

[0041] Preferably, the step S3 comprises:

[0042] S31, obtaining the number and operation status of the first pallet robot and the second pallet robot;

[0043] S32: According to the outbound rules, the number and operation status of the first pallet robots and the second pallet robots, select one or more of the first pallet robots and formulate corresponding control rules for the first pallet robots; select one or more of the second pallet robots and formulate corresponding control rules for the second pallet robots;

[0044] S33. According to a preset walking rule, control the corresponding first pallet robot and second pallet robot to walk to their respective corresponding pallet positions.

[0045] A fourth aspect of the present application provides a method for removing goods from a warehouse as described in the third or fourth item and applied to the above-mentioned pallet stereoscopic warehouse system, the method comprising the following steps:

[0046] S1. Obtain the number of boxes that need to be shipped out, and calculate the number of full pallets and single boxes that need to be shipped out based on the number of boxes that need to be shipped out;

[0047] S2. Obtain the pallet position of the whole pallet out of the warehouse and the box position of the single box out of the warehouse

[0048] S3, control the first pallet robot to move to the pallet position where the single-piece material box is out of the warehouse, and control the second pallet robot to move to the pallet position where the whole pallet is out of the warehouse;

[0049] S4, controlling the first depalletizing arm to clamp the material box on the pallet and place it on the first robot body, repeating this step until the number of material boxes on the first robot body meets a preset threshold, and controlling the second pallet robot to lift the pallet to obtain the pallet;

[0050] S5. When the pallet warehouse system is equipped with a second depalletizing arm, the first pallet robot and the second pallet robot carrying the goods in S3 are controlled to walk to the elevator according to a preset walking rule;

[0051] When the pallet warehouse system is equipped with a third depalletizing arm, according to a preset walking rule, the first pallet robot carrying the goods in S3 is controlled to walk to the elevator, and the second pallet robot is controlled to walk to the temporary storage platform;

[0052] S6. When the pallet warehouse system is equipped with a second depalletizing arm, the second depalletizing arm is controlled to perform unloading operations on the material boxes on the first tray robot and the material boxes on the second pallet robot according to a preset unloading rule; or the second depalletizing arm is controlled to perform unloading operations on the material boxes on the second pallet robot, and the first depalletizing arm is controlled to perform unloading operations on the material boxes on the first robot body;

[0053] When the pallet warehouse system is equipped with a third depalletizing arm, the third depalletizing arm is controlled to perform unloading operations on the material boxes on the first tray robot and the material boxes on the second pallet robot according to the preset unloading rules; or the third depalletizing arm is controlled to perform unloading operations on the material boxes on the second pallet robot, and the first depalletizing arm is controlled to perform unloading operations on the material boxes on the first robot body;

[0054] S7. Repeat steps S3-S6 until the number of bins to be shipped out reaches the requirement, and the shipping out step is completed.

[0055] Preferably, the step S3 comprises:

[0056] S31, obtaining the number and operation status of the first pallet robot and the second pallet robot;

[0057] S32: According to the outbound rules, the number and operation status of the first pallet robots and the second pallet robots, select one or more of the first pallet robots and formulate corresponding control rules for the first pallet robots; select one or more of the second pallet robots and formulate corresponding control rules for the second pallet robots;

[0058] S33. According to a preset walking rule, control the corresponding first pallet robot and second pallet robot to walk to their respective corresponding pallet positions.

[0059] The fifth aspect of the present application provides a storage method applied to the above-mentioned pallet three-dimensional storage system.

[0060] S1. Obtain the number of material boxes that need to be stored;

[0061] S2, controlling the first pallet robot to acquire the pallet and walk to the elevator;

[0062] S3, controlling the first depalletizing arm to clamp the material box on the lifting machine and place it on the pallet, and repeating this step until the material boxes placed on the pallet reach a preset threshold;

[0063] S4, obtaining a storage position in the pallet stereoscopic warehouse, controlling the first pallet robot in S3 to move to the storage position, and placing the pallet in the storage position;

[0064] S5. Repeat steps S2-S4 until the number of bins to be stored reaches the requirement, and the storage step is completed.

[0065] The solution provided in this application has the following beneficial effects:

[0066] 1. The first pallet robot in the present application is equipped with a first depalletizing arm, which can walk into the warehouse to depalletize the whole pallet of materials, so as to complete the depalletizing directly from the pallet warehouse. Therefore, the first pallet robot can directly carry the material box out of the warehouse, so that the pallet warehouse system can be directly connected to the sorting system.

[0067] 2. If the quantity picked in this application is not a whole pallet of goods, the first pallet robot can split the number of boxes that need to be shipped out and carry the corresponding number of boxes out of the warehouse, thereby avoiding the last pallet warehousing step and improving the picking efficiency.

[0068] 3. In some cases, there may be tail pallets of multiple materials. Compared with the prior art in which each variety occupies a pallet, the present application can stack boxes of several varieties on a pallet through the first pallet robot. When the tail pallet boxes of some varieties need to be shipped out, they can be disassembled and shipped out by the first pallet robot, thereby saving the storage space occupied by the tail pallets.

[0069] 4. In some solutions provided by the present application, the cooperation of the first pallet robot, the second pallet robot, and the second depalletizing arm; or the cooperation of the first pallet robot, the second pallet robot, and the third depalletizing arm can improve the efficiency of warehouse delivery and save warehouse delivery time. For example, when the number of material boxes to be delivered includes non-full pallet quantities, the full pallet portion can be directly dragged out of the warehouse by the second pallet robot, and clamped on the hoist by the second depalletizing arm or the third depalletizing arm, and the material boxes of non-full pallet quantity are depalletized by the first pallet robot and then dragged out of the warehouse, thereby utilizing the depalletizing time of the first pallet robot to first control the material boxes that are delivered by the second pallet robot to improve efficiency and save warehouse delivery time. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 This is a schematic diagram of the first pallet robot of the present application cooperating with the elevator to complete the entry and exit of a single material box into and out of the pallet three-dimensional warehouse;

[0071] Figure 2 This is a schematic diagram of the present application in which a hoist equipped with a second depalletizing mechanical arm is used to realize the entry and exit of a single material box into and out of a pallet stereoscopic warehouse;

[0072] Figure 3 This is a schematic diagram of the temporary storage table provided with a third depalletizing robot arm in the present application to realize the entry and exit of a single material box into and out of a pallet stereoscopic warehouse;

[0073] Figure 4 This application applies to Figure 1 A schematic diagram of a method for outbound storage of a pallet three-dimensional storage system;

[0074] Figure 5 This application applies to Figure 1 Schematic diagram of another outbound method of the pallet three-dimensional warehouse system of the scheme;

[0075] Figure 6 This application applies to Figure 2 A schematic diagram of a method for outbound storage of a pallet three-dimensional storage system;

[0076] Figure 7 This application applies to Figure 3 A schematic diagram of a method for outbound storage of a pallet three-dimensional storage system;

[0077] Figure 8It is a schematic diagram of a warehousing method applicable to a pallet stereoscopic warehouse system of the present application. DETAILED DESCRIPTION

[0078] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0079] The implementation environment described in the embodiments of the present application is intended to more clearly illustrate the technical solutions of the embodiments of the present application, and does not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can appreciate that the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems in different implementation environments.

[0080] The following first introduces the pallet three-dimensional warehouse system of this application. Figure 1 , which shows a pallet stereoscopic warehouse system of an embodiment of the present application, the system includes a pallet stereoscopic warehouse, a hoist, a first pallet robot and a control system; the first pallet robot includes a first robot body, a first control device, a first lifting device and a first depalletizing arm; the first depalletizing arm includes a first robotic arm and a first depalletizing fixture, and the first robotic arm is used to move the first depalletizing fixture with at least three degrees of freedom. The first robotic arm is a 3-6 axis robotic arm, wherein the movement of the first depalletizing fixture in three degrees of freedom can be achieved by using a 3-axis first robotic arm. Next, this application introduces a possible implementation method of the 3-axis first robotic arm, and its structure can refer to the patents previously applied for by the applicant with the numbers "2023102849178" and "2023205761709", and its specific structure is as follows: the first robotic arm is arranged on the first robot body, and the first robotic arm includes a first robotic arm, a second robotic arm and a third robotic arm. The first robot arm is vertically arranged, fixedly connected to the first robot body, and can be lifted and lowered in the vertical direction; the second robot arm is horizontally arranged, fixedly connected to the first robot arm, and can be moved horizontally; the third robot arm is horizontally arranged, fixedly connected to the second robot arm, and can be moved in the front-back direction. The first destacking fixture is arranged at the end of the third robot arm of the first robot arm, and can move in at least three degrees of freedom directions of up, down, left, right, front, and back along with the movement of the first robot arm, the second robot arm, and the third robot arm.

[0081] In addition, in some preferred embodiments, the first depalletizing fixture includes a first hook, a second hook and a swing arm. The swing arm is horizontally arranged, and its center is rotatably connected to the end of the third mechanical arm, that is, the center of the swing arm can rotate in the horizontal direction relative to the end of the third mechanical arm. The first hook and the second hook are respectively arranged at both ends of the swing arm. The first hook and the second hook cooperate with each other to hook the material box. The hooking opening directions of the first hook and the second hook are opposite. The first depalletizing fixture also includes a first driving unit and a first executing unit arranged in the swing arm. The first executing unit is used for rotating the swing arm, the first hook and the second hook. The first hook, the second hook and the swing arm are respectively connected to the first executing unit. The first executing unit is arranged in the inner cavity of the swing arm. The first executing unit is connected to the first driving unit and is arranged to be driven by the first driving unit to drive the first hook, the second hook and the swing arm to rotate, so as to adjust the angles between the first hook and the second hook and the swing arm in the horizontal direction, and adjust the angle between the swing arm and the mechanical arm device in the horizontal direction. The first execution part includes a synchronous belt transmission mechanism, a shaft, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a fifth bevel gear, and a sixth bevel gear. The synchronous belt transmission mechanism includes a driving wheel, a driven wheel, and a synchronous belt. The driving wheel is connected to the first driving part and is configured to be driven by the first driving part to drive the driven wheel to rotate. The driven wheel, the first bevel gear, the third bevel gear, and the fifth bevel gear are respectively sleeved on the shaft. The second bevel gear is meshed with the first bevel gear at 90 degrees. The fourth bevel gear is meshed with the third bevel gear at 90 degrees. The sixth bevel gear is meshed with the fifth bevel gear at 90 degrees. The first hook is fixedly connected to the end face of the second bevel gear. The second hook is fixedly connected to the end face of the fourth bevel gear. The center of the swing arm is fixedly connected to the end face of the sixth bevel gear. The first driving part drives the driving wheel of the synchronous belt transmission mechanism to rotate; the movement of the synchronous belt drives the driven wheel to rotate; the rotation of the driven wheel drives the shaft to rotate; the rotation of the shaft drives the first bevel gear, the third bevel gear and the fifth bevel gear mounted thereon to rotate; the rotation of the first bevel gear, the third bevel gear and the fifth bevel gear drives the second bevel gear, the fourth bevel gear and the sixth bevel gear to rotate; the rotation of the second bevel gear drives the first hook fixedly connected to its end face to rotate in the horizontal direction; the rotation of the fourth bevel gear drives the second hook fixedly connected to its end face to rotate in the horizontal direction; the rotation of the sixth bevel gear drives the swing arm fixedly connected to it to rotate in the horizontal direction around the rotation center.

[0082] Therefore, the first pallet robot can be used to complete the first depalletizing clamp to clamp the material box from the pallet, or to stack the clamped material box on the pallet; the first control device is connected to the first robot body and the first depalletizing arm, and is used to control the first robot body and the first depalletizing arm, so that the first pallet robot walks according to a specified path, and controls the first depalletizing arm to complete the clamping of the material box or the stacking of the material box; the first lifting device is used to lift and lower the pallet to store and retrieve the pallet; the control system is connected to the pallet warehouse, the elevator and the first pallet robot, and is used to control the pallet warehouse, the elevator and the first pallet robot, so that the first pallet robot shuttles in the pallet warehouse, stores and retrieves pallets or material boxes from the pallet warehouse, and places the clamped material box on the elevator, or clamps the material box from the elevator and places it on the pallet.

[0083] A method for removing goods from the warehouse that is suitable for the above-mentioned pallet three-dimensional warehouse system. The steps of this method can be referred to Figure 4 The schematic diagram shown may specifically include the following steps:

[0084] S1. Obtain the location and quantity of the material boxes that need to be shipped out;

[0085] The location of the material box that needs to be shipped out can be obtained from the warehouse management system. The warehouse management system usually uses wireless radio frequency (RFID) technology to collect the in and out information, and can also be collected through visual systems, radar systems, photoelectric systems and other technologies. The number of material boxes that need to be shipped out is generally generated by order information, and of course it can also be specified according to the situation. Therefore, the order system sends the number of material boxes that need to be shipped out to the pallet three-dimensional warehouse system according to the preset rules, or specifies the number of material boxes that need to be shipped out through the control terminal and sends it to the pallet three-dimensional warehouse system, wherein the preset rules here.

[0086] In order to improve the efficiency of the material box out of the warehouse, the present application also provides an improved implementation scheme, wherein the step S1 of obtaining the position and quantity of the material boxes that need to be out of the warehouse specifically includes the following steps:

[0087] S11. Obtain the number of boxes that need to be shipped out, and calculate the number of full pallets shipped out and the number of single boxes shipped out based on the number of boxes that need to be shipped out. Assuming that a pallet can hold up to 9 boxes, and these boxes are stacked in a 3×3 pattern on the pallet, if 12 boxes need to be shipped out, the number of full pallets that need to be shipped out is 1, and the number of single boxes that need to be shipped out is 3.

[0088] S12, obtain the pallet position for the whole pallet out of the warehouse and the box position for the single-piece box out of the warehouse. The number of boxes that are shipped out of the whole pallet and the number of boxes that are shipped out of the warehouse are calculated through step S11. In order to ship out faster and more efficiently, the whole pallet is generally required to be shipped out first. Therefore, if they are in the same storage position, the position of the whole pallet that needs to be shipped out is closer to the shipping direction than the position of the single-piece box that needs to be shipped out. When shipping out, control one of the first pallet robots to move to the position of the whole pallet box, and then lift the whole pallet box out, and then control another of the first pallet robots to move to the pallet corresponding to the single-piece box that needs to be shipped out, depalletize it, and then ship it out.

[0089] S13. Formulate the box outbound rules according to the number of full pallets outbound, the number of single-piece boxes outbound, the pallet position and the box position. The outbound rules include the rules of outbound efficiency priority, order priority, quantity priority, distance priority, etc. For example, if there is no special emergency, outbound is carried out according to the rule of outbound efficiency priority, that is, outbound is carried out in a way that takes the least time to outbound, that is, the first pallet robot and the site in the idle state are used to the maximum extent. For example, assuming that a pallet can hold a maximum of 9 boxes, and these boxes are stacked in a 3×3 form on the pallet, if 20 boxes need to be outbound, the number of full pallets of boxes to be outbound is 2, and the number of single-piece boxes to be outbound is 2. Then, control the two first pallet robots to walk to the corresponding full pallet box positions, and then lift the full pallet boxes out in turn, control the third first pallet robot to walk to the corresponding single-piece box pallet position, depalletize it and outbound it. In addition, when there is no place for temporary storage at the site of the elevator, the first pallet robot is temporarily stored in the lane of the pallet warehouse. When the site at the elevator is available for temporary storage, the first pallet robot temporarily stored in the lane of the pallet warehouse is controlled to fill the vacancy. Among them, the present application can also be shipped out according to the order priority rule. For example, if one of the orders has a higher priority, even if the order requires more types of boxes to be shipped out, and the quantity of each type is relatively small, the box shipment of this order is still given priority. Next, the quantity priority rule is introduced. For orders per unit time or per unit quantity, the types and quantities of boxes of each order are counted. If the quantity of some varieties is a whole pallet, the boxes of this variety are shipped out first, and the boxes of other varieties are shipped out in sequence, or the boxes are shipped out in sequence according to the rule of first shipping out the whole pallet part and then shipping out the single-piece box part. Next, the distance priority rule is introduced. Pallets of various types are shipped out of the warehouse based on their distance from the elevator. When pallets close to the elevator are shipped out, the time it takes for the first pallet robot to shuttle back and forth is shorter. Therefore, if the number of controllable first pallet robots is greater than the number of pallets of various types close to the elevator, some of the first pallet robots are controlled to move to the pallets far away from the elevator, and some of the first pallet robots are controlled to move to the pallets close to the elevator. In this way, pallets close to the elevator and pallets far from the elevator can be shipped out, saving shipping time.

[0090] S2, controlling the first pallet robot to move to the pallet position where the material box is located;

[0091] Usually, each of the pallet warehouse systems is equipped with several first pallet robots. The control system obtains the number and position of the boxes that need to be shipped out, formulates its walking path according to the number and position of the boxes that need to be shipped out, and the number and state of the first pallet robots in the idle state, and controls each of the first pallet robots to shuttle through the pallet warehouse to the pallet position where the box is located. The first pallet robot in the idle state refers to a first pallet robot that has no task, or has completed the task it is executing and is returning, or a first pallet robot that is walking towards the pallet that needs to be shipped out or the box position and is about to complete the task it is executing. If the number of robots in the current idle state is greater than the sum of the number of whole pallet boxes and single-piece boxes that need to be shipped out, several of the first pallet robots can be selected according to factors such as their power, distance, and warehouse-in and warehouse-out efficiency; if the number of robots in the current idle state is less than the sum of the number of whole pallet boxes and single-piece boxes that need to be shipped out, the first pallet robots that can complete the current warehouse-in and warehouse-out task can be selected according to factors such as their power and distance to perform the current warehouse-in and warehouse-out task. According to the preset rules (such as unit time, state feedback mechanism, etc.), the first pallet robots in the new idle state are detected, and the number of the first pallet robots in the idle state that perform this task is updated, and new walking rules are formulated according to the new number of the first pallet robots and the remaining number of pallets and single-piece boxes that need to be shipped in and out. Of course, each of the first pallet robots in the present application can also be equipped with an unmanned driving device and technology of the prior art. The control system is used to send the number and position of the boxes that need to be shipped out to the corresponding first pallet robot, and the first pallet robot relies on the unmanned driving technology to walk to the pallet position where the box is located.

[0092] The present application also provides another improved implementation scheme, wherein step S2 comprises:

[0093] S21. Obtain the number and operating status of the first pallet robots.

[0094] S22. Select one or more of the first pallet robots according to the outbound rules, the number and the operating status of the first pallet robots, and formulate corresponding control rules for the first pallet robots;

[0095] Since a pallet warehouse is generally equipped with several first pallet robots, some of them are performing warehousing and out-of-warehouse tasks and are in task status. If a new out-of-warehouse task is received, the first pallet robot that has completed the warehousing can be given priority to walk directly to the location of the material box that needs to be out-of-warehouse to perform the out-of-warehouse task.

[0096] S23. According to the control rules, control the corresponding first pallet robot to move to the pallet position where the material box is located.

[0097] S3, controlling the first depalletizing arm to clamp the material box on the pallet and place it on the first robot body, and repeating this step until the number of material boxes on the first robot body meets a preset threshold, or controlling the first pallet robot to lift the pallet to obtain the pallet;

[0098] Here, the preset threshold is related to the size of the material box, the size of the loading platform of the first pallet robot, and the channel size of the pallet library. The material box stacked on the loading platform of the first pallet robot cannot exceed the loading platform, nor the channel size of the pallet library. When the first pallet robot walks to the target pallet in the vertical warehouse, the first robot body of the first pallet robot is controlled to be located below the pallet or on one side of the pallet, the first robot arm is controlled to move in three degrees of freedom, and the first depalletizing arm is controlled to move above the pallet. Then, according to the size of the material box and the access hole of the material box, the first driving unit and / or the second driving unit are controlled to adjust the position of the first hook and the second hook in the horizontal direction and / or adjust the distance between the first hook and the second hook so that the first hook and the second hook enter the access hole of the material box to be taken. Then, the first driving unit is driven to fine-tune the position of the first hook and the second hook in the horizontal direction and the distance between the first hook and the second hook to hook the material box. Finally, the first depalletizing arm is moved upward in the vertical direction to remove the material box from the pallet, and the depalletizing of the material box is completed.

[0099] S4. Control the first pallet robot in S3 to move to the elevator.

[0100] S5. Control the first depalletizing arm to clamp the material box on the first robot body and place the material box on the elevator, and repeat this step until the number of material boxes placed on the elevator reaches a preset threshold. The method of placing the material box on the first pallet robot on the elevator is the reverse process of the method of depalletizing the pallets in the pallet warehouse by the first pallet robot, which will not be described in detail here.

[0101] S6. Repeat steps S2-S5 until the number of bins to be shipped out reaches the requirement, and the shipping out step is completed.

[0102] In summary, the first pallet robot in the present application is equipped with a first depalletizing arm, which can walk into the warehouse to depalletize the whole pallet of materials, so as to realize the depalletizing directly from the pallet warehouse. Therefore, the first pallet robot can directly carry the material boxes out of the warehouse, so that the pallet three-dimensional warehouse system can be directly connected to the sorting system. If the quantity picked in the present application is not a whole pallet of goods, the first pallet robot can depalletize the number of material boxes that need to be shipped out of the warehouse, and carry the corresponding number of material boxes out of the warehouse, thereby avoiding the step of warehousing the last pallet and improving the picking efficiency.

[0103] In another improved embodiment, the system also includes a second pallet robot, which includes a second robot body, a second control device and a second lifting device; the second lifting device is used to lift and lower the pallet to store and access the pallet; the second control device is connected to the second robot body, and is used to control the second pallet robot to walk along a specified path.

[0104] Since the second pallet robot is generally configured in the existing pallet system, when the whole pallet needs to be taken out of the warehouse, the second pallet robot can be used to carry out the whole pallet box and walk to the elevator, and the first pallet robot can depalletize the whole pallet on the second pallet robot and place the box on the elevator. Therefore, there is no need to change the structure of the existing pallet warehouse, and only a few first pallet robots need to be added to achieve efficient depalletizing in the warehouse, or the whole pallet box can be carried out by the second pallet robot and then depalletized by the first pallet robot, so that the pallet warehouse system can be directly connected to the sorting system and save the transformation cost of the pallet warehouse in the prior art.

[0105] The outbound method applicable to this pallet warehouse can be found in the following process steps: Figure 5 The schematic diagram shown in the figure, the specific steps are as follows:

[0106] S1. Obtain the number of boxes that need to be shipped out, and calculate the number of full pallets and single boxes that need to be shipped out based on the number of boxes that need to be shipped out. Assuming that a pallet can hold up to 9 boxes, and these boxes are stacked in a 3×3 format on the pallet, if 12 boxes need to be shipped out, then the number of full pallets that need to be shipped out is 1, and the number of single boxes that need to be shipped out is 3.

[0107] S2. Obtain the pallet position for whole-pallet delivery and the box position for single-box delivery. The warehouse management system usually manages the position information of pallets stored in the pallet warehouse and records the box information on each pallet. When a pallet or box needs to be delivered, the warehouse management system sends the pallet position information and the single-box position information to the control system of the pallet warehouse.

[0108] S3, control the first pallet robot to move to the pallet position where the single-piece material box is out of the warehouse, and control the second pallet robot to move to the pallet position where the whole pallet is out of the warehouse. The specific steps are as follows:

[0109] S31, obtaining the number and operation status of the first pallet robot and the second pallet robot;

[0110] The control system of the present application can formulate the walking paths of the first pallet robot and the second pallet robot according to the obtained pallet position information and material box position information, as well as the number and state of the first pallet robot in an idle state, and the number and state of the second pallet robot in an idle state. The idle state judgment rules and walking path formulation rules of the first pallet robot and the second pallet robot here are the same as the idle state judgment rules and walking path formulation rules of the first pallet robot described in the first embodiment, and will not be described in detail here.

[0111] S32. According to the outbound rules, the number and operating status of the first pallet robots and the second pallet robots, select one or more of the first pallet robots and formulate corresponding control rules for the first pallet robots, select one or more of the second pallet robots and formulate corresponding control rules for the second pallet robots.

[0112] Since the first pallet robot is equipped with the first mechanical arm, the first pallet robot can realize depalletizing or palletizing in the pallet warehouse, so that a single-piece material box can directly enter and exit the pallet warehouse. Since the second pallet robot is not equipped with a mechanical arm, it can only realize the entry and exit of a whole pallet of material boxes in the pallet warehouse. However, due to the additional depalletizing and palletizing steps, the time required for the first pallet robot to enter and exit the material box in and out of the warehouse is longer than the time required for the second pallet robot to directly enter and exit the whole pallet. Therefore, in order to improve the efficiency of entering and exiting the warehouse, for a single-piece material box entering and exiting the warehouse, the first pallet robot is controlled to move to the pallet position where the single-piece material box is out of the warehouse, and for a whole pallet of material box entering and exiting the warehouse, the second pallet robot is controlled to move to the pallet position where the whole pallet is out of the warehouse.

[0113] S33. According to a preset walking rule, control the corresponding first pallet robot and second pallet robot to walk to their respective corresponding pallet positions.

[0114] S4, control the first depalletizing arm to clamp the material box on the pallet and place it on the first robot body, repeat this step until the number of material boxes on the first robot body meets the preset threshold, and control the second pallet robot to lift the pallet to obtain the pallet. The control principle of the first depalletizing arm is the same as that in the first embodiment, which will not be repeated here. The control principle of the second pallet robot is consistent with that in the prior art, which will not be repeated here.

[0115] S5, controlling the first pallet robot and the second pallet robot carrying the material box in S4 to walk to the elevator;

[0116] S6. Control the first pallet robot in idle state to walk to the second pallet robot carrying the whole material box to perform unloading operations, control the first depalletizing arm to clamp the material box on the first robot body, and place the material box on the elevator until the first pallet robot and the second pallet robot carrying the goods complete unloading in S4.

[0117] Since the second pallet robot only has the ability to transport a whole pallet, when the second pallet robot transports a whole pallet of goods out of the pallet warehouse, the first pallet robot can depalletize the whole pallet box on the second pallet robot, so that the pallet warehouse system can be directly connected to the sorting system.

[0118] Since the existing pallet system is generally equipped with the second pallet robot, when a whole pallet needs to be shipped out of the warehouse, the second pallet robot can be used to carry out the whole pallet box and walk to the elevator, and the first pallet robot will depalletize the whole pallet on the second pallet robot. Therefore, under the same path, the time for the first pallet robot to carry a single box is longer than the time for the second pallet robot to carry out a whole pallet. Therefore, if the whole pallet and single box goods that need to be shipped out are on the same level of the vertical warehouse shelf, the first pallet robot is preferentially controlled to enter the vertical warehouse aisle, and then the second pallet robot is controlled to enter the vertical warehouse aisle. The first pallet robot is located on a pallet farther away from the entrance and exit of the vertical warehouse relative to the second pallet robot, so that the second pallet robot can preferentially carry the whole pallet box out of the pallet warehouse. After the first pallet robot completes the depalletizing step, it can carry the single box out of the warehouse.

[0119] S7. Repeat steps S3-S6 until the number of bins to be shipped out reaches the requirement, and the shipping out step is completed.

[0120] In another improved embodiment, a second destacking arm is provided on the upper part of the column of the elevator. Figure 2As shown in the schematic diagram, the second depalletizing arm includes a second mechanical arm and a second depalletizing clamp, and the second mechanical arm is used to move the second depalletizing clamp with at least three degrees of freedom, so as to complete the second depalletizing clamp clamping the material box from the pallet, or stack the clamped material box on the pallet. The structure and working principle of the second depalletizing arm are consistent with those of the first depalletizing arm, and will not be repeated here.

[0121] Since the second pallet robot is generally configured in the existing pallet system, when the whole pallet needs to be taken out of the warehouse, the second pallet robot can be used to carry out the whole pallet box and walk to the elevator, and the second depalletizing arm of the elevator will depalletize the whole pallet on the second pallet robot. Therefore, there is no need to change the structure of the existing pallet warehouse, and only a few first pallet robots need to be added to achieve efficient depalletizing in the warehouse, or the whole pallet box can be carried out by the second pallet robot and then depalletized by the first pallet robot, thereby saving the modification cost of the pallet warehouse in the prior art.

[0122] A method for removing goods from the warehouse applied to the pallet three-dimensional warehouse system. The steps and procedures can be found in Figure 6 The schematic diagram shown in FIG. 1 comprises the following steps:

[0123] S1. Obtain the number of boxes that need to be shipped out, and calculate the number of full pallets and single boxes that need to be shipped out based on the number of boxes that need to be shipped out. Assuming that a pallet can hold up to 9 boxes, and these boxes are stacked in a 3×3 format on the pallet, if 12 boxes need to be shipped out, then the number of full pallets that need to be shipped out is 1, and the number of single boxes that need to be shipped out is 3.

[0124] S2. Obtain the pallet position for full pallet shipment and the box position for single box shipment. The warehouse management system generally manages the position information of pallets stored in the pallet warehouse and records the box information on each pallet. When a pallet or box needs to be shipped out, the warehouse management system sends the pallet position information and the single box position information to the control system of the pallet warehouse.

[0125] S3, control the first pallet robot to move to the pallet position where the single-piece material box is out of the warehouse, and control the second pallet robot to move to the pallet position where the whole pallet is out of the warehouse. The specific steps are as follows:

[0126] S31, obtaining the number and operation status of the first pallet robot and the second pallet robot;

[0127] The control system of the present application can formulate the walking paths of the first pallet robot and the second pallet robot according to the obtained pallet position information and material box position information, as well as the number and state of the first pallet robot in an idle state, and the number and state of the second pallet robot in an idle state. The idle state judgment rules and walking path formulation rules of the first pallet robot and the second pallet robot here are the same as the idle state judgment rules and walking path formulation rules of the first pallet robot described in the first embodiment, and will not be described in detail here.

[0128] S32: According to the outbound rules, the number and operation status of the first pallet robots and the second pallet robots, select one or more of the first pallet robots and formulate corresponding control rules for the first pallet robots; select one or more of the second pallet robots and formulate corresponding control rules for the second pallet robots;

[0129] Since the first pallet robot is equipped with the first mechanical arm, the first pallet robot can realize depalletizing or palletizing in the pallet warehouse, so that a single-piece material box can directly enter and exit the pallet warehouse. Since the second pallet robot is not equipped with a mechanical arm, it can only realize the entry and exit of a whole pallet of material boxes in the pallet warehouse. However, due to the additional depalletizing and palletizing steps, the time required for the first pallet robot to enter and exit the material box in and out of the warehouse is longer than the time required for the second pallet robot to directly enter and exit the whole pallet. Therefore, in order to improve the efficiency of entering and exiting the warehouse, for a single-piece material box entering and exiting the warehouse, the first pallet robot is controlled to move to the pallet position where the single-piece material box is out of the warehouse, and for a whole pallet of material box entering and exiting the warehouse, the second pallet robot is controlled to move to the pallet position where the whole pallet is out of the warehouse.

[0130] S33. According to a preset walking rule, control the corresponding first pallet robot and second pallet robot to walk to their respective corresponding pallet positions.

[0131] S4. Control the first depalletizing arm to clamp the material box on the pallet and place it on the first robot body. Repeat this step until the number of material boxes on the first robot body meets the preset threshold, and control the second pallet robot to lift the pallet to obtain the pallet. In order to improve the efficiency of warehousing in and out, different pallet storage layers can be selected for the whole pallet material boxes and the single-piece material boxes for outbound delivery. If the whole pallet material boxes and the single-piece material boxes that need to be outbound are on the same layer, the position close to the exit of the pallet three-dimensional warehouse is selected as the material box for whole pallet outbound delivery, and the position far away from the exit of the pallet three-dimensional warehouse is selected as the single-piece material box outbound delivery. Therefore, first control the first pallet robot to walk to the corresponding pallet to perform the unpacking operation, and then control the second pallet robot to walk to the pallet for whole pallet outbound delivery to perform the whole pallet outbound delivery step. Use the gap between the depalletizing steps of the first pallet robot to complete the whole pallet material box outbound delivery, thereby improving the efficiency of outbound delivery. Conversely, the efficiency of warehousing can also be improved. The principle is the same and will not be repeated here.

[0132] S5. According to a preset walking rule, control the first pallet robot and the second pallet robot carrying the goods in S3 to walk to the elevator.

[0133] S6, according to the preset unloading rules, control the second depalletizing arm to unload the material boxes on the first tray robot and the material boxes on the second pallet robot; or control the second depalletizing arm to unload the material boxes on the second pallet robot, and control the first depalletizing arm to unload the material boxes on the first robot body. Since the second depalletizing arm is provided on the column of the elevator in this scheme, and the first depalletizing arm is provided on the first pallet robot, the second depalletizing arm at the elevator can depalletize the whole pallet of goods on the second pallet robot, and can also grab the single material box on the first pallet robot. Specifically, the first pallet robot places the grabbed single material box on the first robot body and walks to the elevator, and the second depalletizing arm grabs the material box on the first robot body and places it on the elevator. Therefore, the first pallet robot placing the grabbed single material box on the first robot body is conducive to the stable walking of the first pallet robot, and after lowering the center, the walking speed is high. In addition, the second depalletizing arm provided on the lifting machine can be directly powered by a power cabinet, thereby reducing the number of times the first pallet robot is charged and discharged and increasing the walking mileage of the first pallet robot.

[0134] S7. Repeat steps S3-S6 until the number of bins to be shipped out reaches the requirement, and the shipping out step is completed.

[0135] In another improved implementation scheme, the system also includes a temporary storage table and a third depalletizing arm, and its structure can refer to the schematic diagram shown in the figure. Some of the existing pallet systems are equipped with a temporary storage table, and the temporary storage table can also be directly modified to set the third depalletizing arm on the temporary storage table. That is, the third depalletizing arm is fixed to the temporary storage table, and the elevator is connected to the temporary storage table to obtain the material box from the temporary storage table; the third depalletizing arm includes a third mechanical arm and a third depalletizing clamp, and the third mechanical arm moves the third depalletizing clamp with at least three degrees of freedom to complete the third depalletizing clamp to clamp the material box from the pallet and place it on the temporary storage table. The structure and working principle of the third depalletizing arm are consistent with those of the first depalletizing arm, which will not be repeated here.

[0136] In this technical solution, the pallet three-dimensional warehouse system does not need to add the first pallet robot. The second pallet robot can transport the whole pallet box to the temporary storage table, and the third depalletizing arm arranged at the temporary storage table can depalletize the whole pallet box on the second pallet robot and place it on the elevator, so that the pallet three-dimensional warehouse system can be directly connected to the sorting system. If the first pallet robot is added to the pallet three-dimensional warehouse system, the depalletizing of the material boxes in the warehouse can also be realized.

[0137] A method for removing goods from a warehouse in the pallet stereoscopic warehouse system, the steps of which can be found in Figure 7 The schematic diagram shown, the specific steps are as follows:

[0138] S1. Obtain the number of boxes that need to be shipped out, and calculate the number of full pallets and single boxes that need to be shipped out based on the number of boxes that need to be shipped out. Assuming that a pallet can hold up to 9 boxes, and these boxes are stacked in a 3×3 format on the pallet, if 12 boxes need to be shipped out, then the number of full pallets that need to be shipped out is 1, and the number of single boxes that need to be shipped out is 3.

[0139] S2. Obtain the pallet position for full pallet outbound and the material box position for single material box outbound. Generally, the warehouse management system manages the position information of pallets stored in the pallet warehouse and records the material box information on each pallet. When a pallet or material box needs to be outbound, the warehouse management system sends the pallet position information and the position information of a single material box to the control system of the pallet warehouse.

[0140] S3, control the first pallet robot to move to the pallet position where the single-piece material box is out of the warehouse, and control the second pallet robot to move to the pallet position where the whole pallet is out of the warehouse; the specific steps are as follows:

[0141] S31, obtaining the number and operation status of the first pallet robot and the second pallet robot;

[0142] The control system of the present application can formulate the walking paths of the first pallet robot and the second pallet robot according to the obtained pallet position information and material box position information, as well as the number and state of the first pallet robot in an idle state, and the number and state of the second pallet robot in an idle state. The idle state judgment rules and walking path formulation rules of the first pallet robot and the second pallet robot here are the same as the idle state judgment rules and walking path formulation rules of the first pallet robot described in the first embodiment, and will not be described in detail here.

[0143] S32: According to the outbound rules, the number and operation status of the first pallet robots and the second pallet robots, select one or more of the first pallet robots and formulate corresponding control rules for the first pallet robots; select one or more of the second pallet robots and formulate corresponding control rules for the second pallet robots;

[0144] Since the first pallet robot is equipped with the first mechanical arm, the first pallet robot can realize depalletizing or palletizing in the pallet warehouse, so that a single-piece material box can directly enter and exit the pallet warehouse. Since the second pallet robot is not equipped with a mechanical arm, it can only realize the entry and exit of a whole pallet of material boxes in the pallet warehouse. However, due to the additional depalletizing and palletizing steps, the time required for the first pallet robot to enter and exit the material box in and out of the warehouse is longer than the time required for the second pallet robot to directly enter and exit the whole pallet. Therefore, in order to improve the efficiency of entering and exiting the warehouse, for a single-piece material box entering and exiting the warehouse, the first pallet robot is controlled to move to the pallet position where the single-piece material box is out of the warehouse, and for a whole pallet of material box entering and exiting the warehouse, the second pallet robot is controlled to move to the pallet position where the whole pallet is out of the warehouse.

[0145] S33. According to a preset walking rule, control the corresponding first pallet robot and second pallet robot to walk to their respective corresponding pallet positions.

[0146] S4. Control the first depalletizing arm to clamp the material box on the pallet and place it on the first robot body. Repeat this step until the number of material boxes on the first robot body meets the preset threshold, and control the second pallet robot to lift the pallet to obtain the pallet. In order to improve the efficiency of warehousing in and out, the whole pallet material boxes and the single-piece material boxes can choose different pallet storage layers. If the whole pallet material boxes and the single-piece material boxes that need to be shipped out are on the same layer, the position close to the exit of the pallet three-dimensional warehouse is selected as the material box for whole pallet shipment, and the position far from the exit of the pallet three-dimensional warehouse is selected as the single-piece material box for shipment. Therefore, first control the first pallet robot to walk to the corresponding pallet to perform the unpacking operation, and then control the second pallet robot to walk to the pallet for whole pallet shipment to perform the whole pallet shipment step. Use the gap between the depalletizing steps of the first pallet robot to complete the whole pallet material box shipment, thereby improving the efficiency of shipment. Conversely, the efficiency of warehousing can also be improved. The principle is the same and will not be repeated here.

[0147] S5. According to a preset walking rule, control the first pallet robot carrying the goods in S3 to walk to the elevator, and control the second pallet robot to walk to the temporary storage platform;

[0148] S6, according to the preset unloading rules, control the third depalletizing arm to unload the material boxes on the first tray robot and the material boxes on the second tray robot; or control the third depalletizing arm to unload the material boxes on the second tray robot, and control the first depalletizing arm to unload the material boxes on the first robot body. Since the third depalletizing arm is arranged on the temporary storage table in this scheme, and the first depalletizing arm is arranged on the first tray robot, the third depalletizing arm can depalletize the whole pallet of goods on the second tray robot, and can also grab the single material box on the first tray robot. Specifically, the first tray robot places the grabbed single material box on the first robot body and walks to the elevator, and the third depalletizing arm grabs the material box on the first robot body and places it on the elevator. Therefore, the first tray robot placing the grabbed single material box on the first robot body is conducive to the stable walking of the first tray robot, and after lowering the center, the walking speed is high. In addition, the third depalletizing arm can be directly powered by a power cabinet, thereby reducing the number of times the first pallet robot is charged and discharged and increasing the walking mileage of the first pallet robot.

[0149] S7. Repeat steps S3-S6 until the number of bins to be shipped out reaches the requirement, and the shipping out step is completed.

[0150] The present application also provides a storage method for the above-mentioned pallet stereoscopic storage system, the process of which can be found in Figure 8The schematic diagram shown in the figure, the specific steps are as follows:

[0151] S1. Obtain the number of bins that need to be put into storage. In some cases, some tail pallets or tail bins will be generated. For example, in the case of pallet exchange for some orders, there may be single bins of multiple varieties. In the prior art, even if the number of bins does not reach a full pallet, the bins of the same variety must be stacked on the pallet before the storage step is performed. Since the first pallet robot of the present application is provided with a first depalletizing arm, it is possible to perform bin-level entry and exit of the pallet warehouse. In addition, compared with the prior art in which each variety occupies one pallet, the present application can stack bins of several varieties on one pallet through the first pallet robot. When the tail pallet bins of some varieties need to be shipped out, they can be disassembled and shipped out by the first pallet robot, thereby saving the storage space occupied by the tail pallets.

[0152] S2, controlling the first pallet robot to acquire the pallet and walk to the elevator;

[0153] Usually, each of the pallet stereoscopic warehouse systems is equipped with several first pallet robots. The control system obtains the number and type of material boxes that need to be stored, formulates its walking path according to the number and type of material boxes that need to be stored, and the number and state of the first pallet robots in the idle state, and executes the storage step of the single material box. The first pallet robot in the idle state refers to the first pallet robot in the non-task state, or has completed the task being executed and is returning. If the number of robots in the current idle state is greater than the number of single material boxes that need to be stored, several of the first pallet robots can be selected according to factors such as their power, distance, storage efficiency, etc.; if the number of robots in the current idle state is less than the number of single material boxes that need to be stored, the first pallet robot that can complete the current storage task can be selected according to factors such as their power and distance to perform the current storage task. According to the preset rules (such as unit time, state feedback mechanism, etc.), the first pallet robot in the new idle state is detected, and the number of the first pallet robots in the idle state that perform this task is updated, and according to the new number of the first pallet robots and the remaining number of single material boxes that need to be stored, a new walking rule is formulated.

[0154] S3, controlling the first depalletizing arm to clamp the material box on the lifting machine and place it on the pallet, and repeating this step until the material boxes placed on the pallet reach a preset threshold;

[0155] The preset threshold here is related to the size of the material box, the size of the loading platform of the first pallet robot, and the aisle size of the pallet warehouse. The material box stacked on the loading platform of the first pallet robot cannot exceed the loading platform, nor the aisle size of the pallet warehouse. When the first pallet robot walks to the target material box, the first robot body of the first pallet robot is controlled to be located below the elevator platform or on one side of the elevator platform, the first robot arm is controlled to move in three degrees of freedom, the first depalletizing arm is controlled to move above the material box, and then according to the size of the material box and the access hole of the material box, the driving of the first driving unit and / or the driving of the second driving unit is controlled to adjust the horizontal position of the first claw and the second claw and / or adjust the distance between the first claw and the second claw so that the first claw and the second claw enter the access hole of the material box to be taken, and then continue to fine-tune the horizontal position of the first claw and the second claw and the distance between the first claw and the second claw through the driving of the first driving unit to hook the material box, and finally the first depalletizing arm is moved upward in the vertical direction to remove the material box from the elevator platform to complete the grabbing of the material box.

[0156] S4, obtaining a storage position in the pallet stereoscopic warehouse, controlling the first pallet robot in S3 to move to the storage position, and placing the pallet in the storage position;

[0157] S5. Repeat steps S2-S4 until the number of bins to be stored reaches the requirement, and the storage step is completed.

[0158] Finally, it should be noted that in some solutions provided by the present application, the first pallet robot, the second pallet robot, and the second depalletizing arm cooperate; or the first pallet robot, the second pallet robot, and the third depalletizing arm cooperate to improve the efficiency of warehouse delivery and save warehouse delivery time. For example, when the number of material boxes shipped out of the warehouse includes non-full pallet quantities, the full pallet part can be directly dragged out of the warehouse by the second pallet robot, and clamped on the hoist by the second depalletizing arm or the third depalletizing arm, and the material boxes of non-full pallet quantity are depalletized by the first pallet robot and then dragged out of the warehouse, thereby utilizing the depalletizing time of the first pallet robot to first control the material boxes of the second pallet robot shipped out of the warehouse in full pallets, thereby improving efficiency and saving warehouse delivery time.

[0159] In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more than two. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art will understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit them to be different. The above-described embodiments of the present application do not constitute a limitation on the scope of protection of the present application.

Claims

1. A pallet three-dimensional warehouse system, characterized in that: The system includes a pallet warehouse, a hoist, a first pallet robot and a control system; The first pallet robot comprises a first robot body, a first control device, a first lifting device and a first depalletizing arm; The first depalletizing arm comprises a first mechanical arm and a first depalletizing clamp, wherein the first mechanical arm is used to move the first depalletizing clamp with at least three degrees of freedom, so as to complete the first depalletizing clamp clamping a material box from a pallet, or stacking the clamped material box onto a pallet; The first control device is connected to the first robot body and the first depalletizing arm, and is used to control the first robot body and the first depalletizing arm so that the first pallet robot walks along a specified path, and controls the first depalletizing arm to complete clamping or stacking of material boxes; The first lifting device is used to lift and lower the pallet to store and retrieve the pallet; The control system is connected to the pallet warehouse, the elevator and the first pallet robot, and is used to control the pallet warehouse, the elevator and the first pallet robot, so that the first pallet robot shuttles in the pallet warehouse, accesses pallets or material boxes from the pallet warehouse, and places the clamped material boxes on the elevator, or clamps the material boxes from the elevator and places them on the pallet.

2. The pallet three-dimensional warehouse system according to claim 1 is characterized in that: The system also includes a second pallet robot, which includes a second robot body, a second control device, and a second lifting device; The second lifting device is used to lift and lower the pallet to store and retrieve the pallet; The second control device is connected to the second robot body and is used to control the second pallet robot to walk along a specified path.

3. The pallet three-dimensional warehouse system according to any one of claims 1 to 2, characterized in that: A second depalletizing arm is arranged on the upper part of the column of the elevator, and the second depalletizing arm includes a second robotic arm and a second depalletizing clamp. The second robotic arm is used to move the second depalletizing clamp with at least three degrees of freedom, so as to complete the second depalletizing clamp clamping the material box from the pallet, or stack the clamped material box on the pallet.

4. The pallet three-dimensional warehouse system according to any one of claims 1 to 2, characterized in that: The system also includes a temporary storage table and a third depalletizing arm, wherein the third depalletizing arm is fixed at the temporary storage table, and the elevator is docked with the temporary storage table to obtain a material box from the temporary storage table; The third depalletizing arm includes a third robotic arm and a third depalletizing clamp. The third robotic arm moves the third depalletizing clamp with at least three degrees of freedom to complete the third depalletizing clamp clamping the material box from the pallet and placing it on the temporary storage table.

5. A method for removing a pallet from a three-dimensional storage system according to claim 1, characterized in that: The method comprises the following steps: S1. Obtain the location and quantity of the material boxes that need to be shipped out; S2, controlling the first pallet robot to move to the pallet position where the material box is located; S3, controlling the first depalletizing arm to clamp the material box on the pallet and place it on the first robot body, and repeating this step until the number of material boxes on the first robot body meets a preset threshold, or controlling the first pallet robot to lift the pallet to obtain the pallet; S4, controlling the first pallet robot in S3 to move to the elevator; S5, controlling the first depalletizing arm to clamp the material box on the first robot body, and placing the material box on the elevator, and repeating this step until the number of material boxes placed on the elevator reaches a preset threshold; S6. Repeat steps S2-S5 until the number of bins to be shipped out reaches the requirement, and the shipping out step is completed.

6. The method for removing goods from storage according to claim 5, characterized in that: The step S1 comprises: S11. Obtain the number of boxes that need to be shipped out, and calculate the number of full pallets shipped out and the number of single boxes shipped out according to the number of boxes that need to be shipped out; S12, obtaining the pallet position of the whole pallet out of the warehouse and the material box position of the single material box out of the warehouse; S13. Formulate the bin outbound rules based on the number of full pallets outbound, the number of single bins outbound, the pallet locations and the bin locations.

7. The method for removing goods from storage according to claim 6, characterized in that: The step S2 comprises: S21, obtaining the number and operation status of the first pallet robots; S22. Select one or more of the first pallet robots according to the outbound rules, the number and the operating status of the first pallet robots, and formulate corresponding control rules for the first pallet robots; S23. According to the control rules, control the corresponding first pallet robot to move to the pallet position where the material box is located.

8. A method for removing a pallet from a three-dimensional storage system according to claim 2, characterized in that: The method comprises the following steps: S1. Obtain the number of boxes that need to be shipped out, and calculate the number of full pallets and single boxes that need to be shipped out based on the number of boxes that need to be shipped out; S2. Obtain the pallet position of the whole pallet out of the warehouse and the box position of the single box out of the warehouse; S3, control the first pallet robot to move to the pallet position where the single-piece material box is out of the warehouse, and control the second pallet robot to move to the pallet position where the whole pallet is out of the warehouse; S4, controlling the first depalletizing arm to clamp the material box on the pallet and place it on the first robot body, repeating this step until the number of material boxes on the first robot body meets a preset threshold, and controlling the second pallet robot to lift the pallet to obtain the pallet; S5, controlling the first pallet robot and the second pallet robot carrying the material box in S4 to walk to the elevator; S6, controlling the first pallet robot in an idle state to walk to the second pallet robot carrying the whole pallet box to perform unloading operations, controlling the first depalletizing arm to clamp the box on the first robot body, and placing the box on the elevator, until the first pallet robot and the second pallet robot carrying the goods in S4 complete unloading; S7. Repeat steps S3-S6 until the number of bins to be shipped out reaches the requirement, and the shipping out step is completed.

9. The method for removing goods from storage according to claim 8, characterized in that: The step S3 comprises: S31, obtaining the number and operation status of the first pallet robot and the second pallet robot; S32: According to the outbound rules, the number and operation status of the first pallet robots and the second pallet robots, select one or more of the first pallet robots and formulate corresponding control rules for the first pallet robots; select one or more of the second pallet robots and formulate corresponding control rules for the second pallet robots; S33. According to a preset walking rule, control the corresponding first pallet robot and second pallet robot to walk to their respective corresponding pallet positions.

10. A method for removing a pallet from a three-dimensional storage system according to claim 3 or 4, characterized in that: The method comprises the following steps: S1. Obtain the number of boxes that need to be shipped out, and calculate the number of full pallets and single boxes that need to be shipped out based on the number of boxes that need to be shipped out; S2. Obtain the pallet position of the whole pallet out of the warehouse and the box position of the single box out of the warehouse S3, control the first pallet robot to move to the pallet position where the single-piece material box is out of the warehouse, and control the second pallet robot to move to the pallet position where the whole pallet is out of the warehouse; S4, controlling the first depalletizing arm to clamp the material box on the pallet and place it on the first robot body, repeating this step until the number of material boxes on the first robot body meets a preset threshold, and controlling the second pallet robot to lift the pallet to obtain the pallet; S5. When the pallet warehouse system is equipped with a second depalletizing arm, the first pallet robot and the second pallet robot carrying the goods in S3 are controlled to walk to the elevator according to a preset walking rule; When the pallet warehouse system is equipped with a third depalletizing arm, according to a preset walking rule, the first pallet robot carrying the goods in S3 is controlled to walk to the elevator, and the second pallet robot is controlled to walk to the temporary storage platform; S6. When the pallet warehouse system is equipped with a second depalletizing arm, the second depalletizing arm is controlled to perform unloading operations on the material boxes on the first tray robot and the material boxes on the second pallet robot according to a preset unloading rule; or the second depalletizing arm is controlled to perform unloading operations on the material boxes on the second pallet robot, and the first depalletizing arm is controlled to perform unloading operations on the material boxes on the first robot body; When the pallet warehouse system is equipped with a third depalletizing arm, the third depalletizing arm is controlled to perform unloading operations on the material boxes on the first tray robot and the material boxes on the second pallet robot according to the preset unloading rules; or the third depalletizing arm is controlled to perform unloading operations on the material boxes on the second pallet robot, and the first depalletizing arm is controlled to perform unloading operations on the material boxes on the first robot body; S7. Repeat steps S3-S6 until the number of bins to be shipped out reaches the requirement, and the shipping out step is completed.

11. The method for removing goods from storage according to claim 10, characterized in that: The step S3 comprises: S31, obtaining the number and operation status of the first pallet robot and the second pallet robot; S32: According to the outbound rules, the number and operation status of the first pallet robots and the second pallet robots, select one or more of the first pallet robots and formulate corresponding control rules for the first pallet robots; select one or more of the second pallet robots and formulate corresponding control rules for the second pallet robots; S33. According to a preset walking rule, control the corresponding first pallet robot and second pallet robot to walk to their respective corresponding pallet positions.

12. A storage method for the pallet three-dimensional storage system according to claims 1 to 4, characterized in that: S1. Obtain the number of material boxes that need to be stored; S2, controlling the first pallet robot to acquire the pallet and walk to the elevator; S3, controlling the first depalletizing arm to clamp the material box on the lifting machine and place it on the pallet, and repeating this step until the material boxes placed on the pallet reach a preset threshold; S4, obtaining a storage position in the pallet stereoscopic warehouse, controlling the first pallet robot in S3 to move to the storage position, and placing the pallet in the storage position; S5. Repeat steps S2-S4 until the number of bins to be stored reaches the requirement, and the storage step is completed.

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