Disassembling and sorting system and method based on three-dimensional storage robot and fluent goods shelf

Abstract

According to the system, the goods shelf comprises at least two layers of warehouse bodies, the warehouse body, close to the ground, of the goods shelf is a bottom-layer warehouse body, and the warehouse body, away from the ground, of the bottom-layer warehouse body is a high-layer warehouse body; in the first direction, the bottom-layer warehouse body comprises a goods shelf, a replenishment area and a fluent goods shelf which are arranged in sequence. The high-rise warehouse body comprises a goods shelf; each layer of warehouse body is provided with a plane track; the goods shelf further comprises a vertical type three-dimensional storage robot communicating with any two layers of warehouse bodies. And the horizontal three-dimensional storage robot slides along the plane track. The sliding goods shelf is arranged in a partial area of the bottom-layer warehouse body, so that extra space is not occupied; the sliding goods shelf stores various kinds of goods, manual sorting is facilitated, an automatic guide vehicle does not need to be arranged, the cost is saved, the goods carrying period can be shortened, and the goods sorting efficiency is improved. Each goods shelf is provided with a sliding goods shelf, the sorting area is large, and the sorting efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing logistics, and more specifically, to a piece-picking system and method based on a three-dimensional warehousing robot and a gravity flow rack. Background Art

[0002] A three-dimensional warehousing robot refers to an automated device used for operations such as cargo handling, sorting, and picking in a logistics warehousing environment. The three-dimensional warehousing robot is applied to the technical field of warehousing logistics, which can reduce manual operations and improve work efficiency and safety.

[0003] In the prior art, it is usually adopted that a three-dimensional warehousing robot is paired with an automatic guided vehicle (AGV) for connection to transport goods to a designated location, and then manual picking is carried out at a fixed point. However, this method has the following deficiencies: 1. This method requires the first-layer shelf in the warehouse to be the activity area of the automatic guided vehicle, and some additional areas need to be set aside for manual picking operations, resulting in a large waste of space; 2. Each time the automatic guided vehicle transports goods, it needs to move to a designated location, and the types of goods transported each time are single, and manual workers wait for goods for a long time, resulting in slow picking efficiency; 3. The moving distance of the automatic guided vehicle for transporting goods each time is relatively long. After the goods are taken away, the automatic guided vehicle still needs to return with the remaining goods or an empty pallet, resulting in a relatively long overall transportation cycle; 4. The procurement, installation, and commissioning of the automatic guided vehicle require a huge cost input, with high investment and consumption; 5. The working intensity of the automatic guided vehicle is high, and it needs regular maintenance and troubleshooting. Regular maintenance and troubleshooting require professional technicians, increasing the complexity of technical management.

[0004] In view of this, the present invention provides a piece-picking system and method based on a three-dimensional warehousing robot and a gravity flow rack. Summary of the Invention

[0005] In view of this, the present invention provides a piece-picking system and method based on a three-dimensional warehousing robot and a gravity flow rack.

[0006] On the one hand, the present invention provides a piece-picking system based on a three-dimensional warehousing robot and a gravity flow rack, including:

[0007] A group of shelves arranged along a first direction, each of the group of shelves includes at least one shelf, the shelf extends along a second direction, and the second direction is perpendicular to the first direction; the shelf includes at least two layers of storage bodies, the storage body on the side of the shelf close to the ground is the bottom-layer storage body, and the storage bodies on the side of the bottom-layer storage body away from the ground are all high-layer storage bodies; along the first direction, the bottom-layer storage body includes a goods shelf, a replenishment area, and a gravity flow rack arranged in sequence; the high-layer storage body includes the goods shelf; each layer of the storage body is provided with a planar track; the shelf further includes a vertical three-dimensional warehousing robot connecting any two layers of the storage bodies;

[0008] The horizontal three-dimensional storage robot slides along the plane track.

[0009] Optionally, the plane track includes a mother track extending along the second direction;

[0010] Or the plane track includes a sub-track extending along the first direction and the mother track extending along the second direction. Along the second direction, there is a gap between two adjacent sub-tracks, and at least one end of the sub-track is connected to the mother track.

[0011] Optionally, it further includes a warehouse operation subsystem, which is respectively connected to the vertical three-dimensional storage robot and the horizontal three-dimensional storage robot, and is used to control the movement of the vertical three-dimensional storage robot and / or the horizontal three-dimensional storage robot.

[0012] Optionally, the vertical three-dimensional storage robot includes a cargo platform, and the cargo platform is used to carry the horizontal three-dimensional storage robot.

[0013] Optionally, one shelf group includes two shelves arranged at intervals along the first direction. In one shelf group, the flow-through shelves of the two shelves are adjacent.

[0014] Optionally, a transportation device is provided between the two shelves in one shelf group.

[0015] Optionally, the transportation device is a picking trolley. The picking trolley includes a processor and an electronic label. The processor is connected to the warehouse operation subsystem and is used to communicate with the warehouse operation subsystem and obtain order information; the electronic label is connected to the processor and is used to obtain and display the order information.

[0016] Optionally, a pallet folding machine is provided at the inlet and outlet of the shelf, and the pallet folding machine is used to automatically stack and store pallets.

[0017] On the other hand, the present invention also provides a piece-picking method based on a three-dimensional storage robot and a flow-through shelf, which is applied to the piece-picking system based on a three-dimensional storage robot and a flow-through shelf described in any one of the above, and includes:

[0018] Obtain order information, where the order information includes the goods to be picked, the quantity of the goods to be picked, and the position of the goods to be picked on the flow-through shelf;

[0019] The picking personnel search for the goods to be picked according to the position of the goods to be picked on the flow-through shelf, pick according to the quantity of the goods to be picked, and complete the picking task.

[0020] Optionally, the piece-picking and sorting system based on the three-dimensional storage robot and the gravity flow rack further includes a warehouse operation subsystem, which is respectively connected to the vertical three-dimensional storage robot and the horizontal three-dimensional storage robot;

[0021] When the picker locates the goods to be picked according to the position of the goods to be picked on the gravity flow rack, it further includes: if the inventory of the goods to be picked on the gravity flow rack is less than the quantity of the goods to be picked, the warehouse operation subsystem determines the position of the goods to be picked in the high-level storage body, controls the horizontal three-dimensional storage robot and the vertical three-dimensional storage robot to cooperate, so that the horizontal three-dimensional storage robot reaches the position of the goods to be picked in the high-level storage body, and transports at least part of the goods to be picked in the high-level storage body to the low-level storage body, and the picker replenishes the goods to be picked transported to the low-level storage body to the position of the goods to be picked on the gravity flow rack.

[0022] Compared with the prior art, the piece-picking and sorting system and method based on the three-dimensional storage robot and the gravity flow rack provided by the present invention at least achieve the following beneficial effects:

[0023] The piece-picking and sorting system and method based on the three-dimensional storage robot and the gravity flow rack provided by the present invention utilize part of the area of the low-level storage body to set up the gravity flow rack without occupying extra space; by setting up the gravity flow rack in part of the area of the low-level storage body, the gravity flow rack stores various types of goods, which is convenient for manual picking, eliminating the need to set up an automated guided vehicle, saving investment costs and maintenance costs, shortening the goods handling cycle, and improving the goods picking efficiency; each shelf is provided with a gravity flow rack, with a large picking surface and high picking efficiency.

[0024] Of course, it is not necessary for any product implementing the present invention to achieve all the above-mentioned technical effects simultaneously.

[0025] Through the following detailed description of the exemplary embodiments of the present invention with reference to the accompanying drawings, other features and advantages of the present invention will become clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings incorporated in the specification and constituting a part of the specification illustrate embodiments of the present invention and, together with the description, are used to explain the principles of the present invention.

[0027] Figure 1 is a schematic structural diagram of a piece-picking and sorting system based on a three-dimensional storage robot and a gravity flow rack.

[0028] Figure 2 is a schematic structural diagram of a low-level storage body.

[0029] Figure 3 It is a process schematic diagram of a piece-picking method based on a three-dimensional storage robot and a gravity flow rack.

[0030] In the figure: 1. Shelf group; 2. Shelf; 3. Goods shelf; 4. Replenishment area; 5. Gravity flow rack; 6. Bottom layer library body; 7. High-rise library body; 8. Plane track; 9. Vertical three-dimensional storage robot; 10. Horizontal three-dimensional storage robot; 11. Mother rail; 12. Sub-rail; 13. Transportation equipment; 14. Picking trolley; X. First direction; Y. Second direction. Detailed implementation manners

[0031] Now, various exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that: Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0032] The following description of at least one exemplary embodiment is actually merely illustrative and in no way restricts the present invention and its application or use.

[0033] Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said techniques, methods, and devices should be regarded as part of the description.

[0034] In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0035] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0036] Combined with Figure 1 and Figure 2 , Figure 1 It is a structural schematic diagram of a piece-picking system based on a three-dimensional storage robot and a gravity flow rack. Figure 2 It is a structural schematic diagram of the bottom layer library body to illustrate a specific embodiment of the piece-picking system based on a three-dimensional storage robot and a gravity flow rack provided by the present invention, including:

[0037] A group of shelves 1 arranged along the first direction X, each group of shelves 1 includes at least one shelf 2, the shelf 2 extends along the second direction Y, and the second direction Y is perpendicular to the first direction X; the shelf 2 includes at least two layers of storage bodies, the storage body on the side of the shelf 2 close to the ground is the bottom storage body 6, and the storage bodies on the side of the bottom storage body 6 away from the ground are all high-level storage bodies 7; along the first direction X, the bottom storage body 6 includes a goods shelf 3, a replenishment area 4 and a flow-through shelf 5 arranged in sequence; the high-level storage body 7 includes a goods shelf 3; a flat track 8 is provided on each layer of the storage body; the shelf 2 further includes a vertical three-dimensional warehousing robot 9 that connects any two layers of the storage body;

[0038] A horizontal three-dimensional warehousing robot 10 slides along the flat track 8.

[0039] It should be noted that the goods shelf 3 and the flow-through shelf 5 include multiple storage locations, goods are stored in the storage locations, there is a pallet below the goods, and each storage location is provided with a unique identifier, and the unique identifier helps the horizontal three-dimensional warehousing robot 10 to determine the position. After the horizontal three-dimensional warehousing robot 10 reaches the designated storage location, the horizontal three-dimensional warehousing robot 10 carriers the pallet and the goods above the pallet from below the pallet. The vertical three-dimensional warehousing robot 9 is arranged inside or at the edge of the shelf 2 and can be set according to actual needs. This embodiment does not make specific restrictions on this. The vertical three-dimensional warehousing robot 9 moves in a direction perpendicular to the ground to realize the connection of any two layers of the storage body. The vertical three-dimensional warehousing robot 9 moves in a direction perpendicular to the ground to the storage body where the designated goods are located, the horizontal three-dimensional warehousing robot 10 moves along the flat track 8 to above the vertical three-dimensional warehousing robot 9, and the vertical three-dimensional warehousing robot 9 drives the horizontal three-dimensional warehousing robot 10 to move in a direction perpendicular to the ground, and the goods are transferred to different positions inside the shelf 2 through the horizontal three-dimensional warehousing robot 10 and the vertical three-dimensional warehousing robot 9. Of course, for the convenience of transporting goods, the flat tracks 8 between the high-level storage bodies 7 located on different shelves 2 and at the same height can also be connected to facilitate the horizontal three-dimensional warehousing robot 10 to quickly reach the designated goods position. When the goods are transported to the bottom storage body 6, the goods can be stocked and cached in the flow-through shelf 5 of the bottom storage body 6. Specifically, manual labor or a manipulator can be set in the replenishment area 4 to replenish the goods transported to the ground to the flow-through shelf 5.

[0040] It can be understood that the picking system based on a three-dimensional warehousing robot and a flow-through shelf provided in this embodiment uses a part of the area of the bottom storage body 6 to set the flow-through shelf 5 without occupying extra space; a flow-through shelf 5 is set in a part of the area of the bottom storage body 6, and the flow-through shelf 5 stores various types of goods, which is convenient for manual picking, no automatic guided vehicle needs to be set, saving investment costs and maintenance costs, and can also shorten the goods handling cycle and improve the goods picking efficiency; each shelf 2 is provided with a flow-through shelf 5, with a large picking surface and high picking efficiency.

[0041] In some alternative embodiments, with continued reference to Figure 1 and Figure 2 , the planar track 8 includes a main track 11 extending along the second direction Y;

[0042] Or the planar track 8 includes a sub-track 12 extending along the first direction X and a main track 11 extending along the second direction Y. Along the second direction Y, adjacent sub-tracks 12 have a gap, and at least one end of the sub-track 12 is connected to the main track 11.

[0043] It can be understood that the orthographic projections of the main track 11 and the sub-track 12 on the ground can be comb-shaped, fishbone-shaped, grid-shaped, etc. The present embodiment does not make specific displays in this regard. The setting of the planar track 8 enables the horizontal three-dimensional storage robot 10 to reach any storage location on each layer of the storage body, ensuring that the goods stored in each storage location can be carried, and improving the reliability of carrying.

[0044] In some alternative embodiments, with continued reference to Figure 1 and Figure 2 , it further includes a warehouse operation subsystem, which is respectively connected to the vertical three-dimensional storage robot 9 and the horizontal three-dimensional storage robot 10, and is used to control the movement of the vertical three-dimensional storage robot 9 and / or the horizontal three-dimensional storage robot 10.

[0045] It can be understood that the cooperation between the vertical three-dimensional storage robot 9 and the horizontal three-dimensional storage robot 10 is automatically controlled by the warehouse operation subsystem, reducing labor costs and improving the automation level, replenishment efficiency and replenishment accuracy of the overall system.

[0046] In some alternative embodiments, the vertical three-dimensional storage robot 9 includes a load platform, and the load platform is used to carry the horizontal three-dimensional storage robot 10.

[0047] It can be understood that when the horizontal three-dimensional storage robot 10 moves along the planar track 8 towards the vertical three-dimensional storage robot 9, it will directly move above the load platform. The load platform serves as the load platform for the horizontal three-dimensional storage robot 10, which helps to improve the stability of the vertical three-dimensional storage robot 9 when carrying the horizontal three-dimensional storage robot 10.

[0048] In some alternative embodiments, with continued reference to Figure 1 and Figure 2 , a shelf group 1 includes two shelves 2 arranged at intervals along the first direction X. In a shelf group 1, the flow-through shelves 5 of the two shelves 2 are adjacent.

[0049] It can be understood that such a setting can make the flow racks 5 in a rack group 1 more concentrated, facilitating manual picking of goods and further improving the efficiency of goods picking.

[0050] In some alternative embodiments, with continued reference to Figure 1 and Figure 2 , in a rack group 1, a transportation device 13 is provided between two racks 2.

[0051] It can be understood that the transportation device 13 can be a picking trolley 14 or an automated device such as a conveyor line. This embodiment does not make specific limitations on this and can be set according to actual needs. Setting the transportation device 13 between two flow racks 5 can provide a temporary storage location for the picked goods and also help transport the picked goods, improving the efficiency of the overall picking process.

[0052] In some alternative embodiments, with continued reference to Figure 1 and Figure 2 , the transportation device 13 is a picking trolley 14. The picking trolley 14 includes a processor and an electronic tag. The processor is connected to the warehouse business subsystem for communicating with the warehouse business subsystem and obtaining order information; the electronic tag is connected to the processor for obtaining and displaying order information.

[0053] It can be understood that the warehouse business subsystem can be carried on a host computer, that is, the processor is connected to the host computer. Of course, it is not limited to this. By using the flow rack 5 in cooperation with the picking trolley 14 for order picking, the picking trolley 14 can be equipped with an electronic tag to facilitate picking confirmation and reporting to the warehouse business subsystem, thereby efficiently and accurately completing the overall picking process.

[0054] In some alternative embodiments, a pallet folding machine is provided at the inlet and outlet of the rack 2. The pallet folding machine is used for automatically stacking and storing pallets.

[0055] It can be understood that when manually replenishing goods on the flow rack 5, the empty cartons on the flow rack 5 are manually recycled and placed on a pallet. The pallet carrying the empty cartons will be transported by a mobile device to the inlet and outlet of the rack 2. The mobile device can be a horizontal three-dimensional warehousing robot 10. Of course, it is not limited to this. After the empty cartons are out of the warehouse, they are centrally stored, and the empty pallets are automatically stacked and stored by the pallet folding machine.

[0056] Based on the same inventive concept, with reference to Figure 3 , Figure 3 is a flow schematic diagram of a piece-picking method based on a three-dimensional warehousing robot and a flow rack. The present invention also provides a piece-picking method based on a three-dimensional warehousing robot and a flow rack, which is applied to the piece-picking system based on a three-dimensional warehousing robot and a flow rack in any one of the above embodiments, and includes:

[0057] S101: Obtain order information, where the order information includes the goods to be picked, the quantity of the goods to be picked, and the location of the goods to be picked on the gravity flow rack.

[0058] S102: The picker searches for the goods to be picked according to the location of the goods to be picked on the gravity flow rack, picks according to the quantity of the goods to be picked, and completes the picking task.

[0059] In some alternative embodiments, the piece-picking system based on the three-dimensional warehousing robot and the gravity flow rack further includes a warehouse operation subsystem, which is respectively connected to the vertical three-dimensional warehousing robot and the horizontal three-dimensional warehousing robot.

[0060] In step S102, when the picker searches for the goods to be picked according to the location of the goods to be picked on the gravity flow rack, it further includes:

[0061] If the inventory of the goods to be picked on the gravity flow rack is less than the quantity of the goods to be picked, the warehouse operation subsystem determines the location of the goods to be picked in the high-rise warehouse body, controls the cooperation of the horizontal three-dimensional warehousing robot and the vertical three-dimensional warehousing robot, enables the horizontal three-dimensional warehousing robot to reach the location of the goods to be picked in the high-rise warehouse body, transports at least part of the goods to be picked in the high-rise warehouse body to the low-rise warehouse body, and the picker replenishes the goods to be picked transported to the low-rise warehouse body to the location of the goods to be picked on the gravity flow rack.

[0062] It can be understood that the piece-picking method based on the three-dimensional warehousing robot and the gravity flow rack provided by the present invention optimizes the storage and picking processes, can reduce the number of equipment used, has a short moving distance of goods, reduces the use cost, improves the picking effect, can also improve the space utilization rate, simplifies the business process, makes the picking process simpler, and has lower requirements for pickers.

[0063] Through the above embodiments, it can be seen that the piece-picking system and method based on the three-dimensional warehousing robot and the gravity flow rack provided by the present invention have at least achieved the following beneficial effects:

[0064] The piece-picking system and method based on the three-dimensional warehousing robot and the gravity flow rack provided by the present invention utilize part of the area of the low-rise warehouse body to set up gravity flow racks, without occupying extra space; part of the area of the low-rise warehouse body is set up with gravity flow racks, and the gravity flow racks store various types of goods, which is convenient for manual picking, without the need to set up an automatic guided vehicle, saving the investment cost and maintenance cost, and can also shorten the goods handling cycle and improve the goods picking efficiency; each shelf is provided with a gravity flow rack, with a large picking surface and high picking efficiency.

[0065] Although some specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration purposes and not for limiting the scope of the present invention. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A piecemeal picking system based on a three-dimensional storage robot and a flow rack, characterized in that: include: A shelf group arranged along a first direction, each of the shelf groups includes at least one shelf, the shelf extends along a second direction, and the second direction is perpendicular to the first direction; the shelf includes at least two layers of storage bodies, the storage body on the side of the shelf close to the ground is the bottom storage body, and the storage body on the side of the bottom storage body away from the ground is the high-rise storage body; along the first direction, the bottom storage body includes sequentially arranged cargo shelves, replenishment areas and flow shelves; the high-rise storage body includes the cargo shelves; each layer of the storage body is provided with a plane track; the shelf also includes a vertical stereoscopic storage robot connecting any two layers of the storage bodies; The horizontal three-dimensional storage robot slides along the planar track.

2. The piece picking system based on a three-dimensional storage robot and a flow rack according to claim 1 is characterized in that: The planar track includes a mother rail extending along the second direction; Alternatively, the planar track includes a sub-track extending along the first direction and the main track extending along the second direction, and along the second direction, two adjacent sub-tracks are spaced apart, and at least one end of the sub-track is connected to the main track.

3. The piece picking system based on a three-dimensional storage robot and a flow rack according to claim 1 is characterized in that: It also includes a warehouse business subsystem, which is connected to the vertical three-dimensional storage robot and the horizontal three-dimensional storage robot respectively, and is used to control the movement of the vertical three-dimensional storage robot and / or the horizontal three-dimensional storage robot.

4. The piece picking system based on a three-dimensional storage robot and a flow rack according to claim 1 is characterized in that: The vertical three-dimensional storage robot comprises a cargo platform, and the cargo platform is used to carry the horizontal three-dimensional storage robot.

5. The piece picking system based on a three-dimensional storage robot and a flow rack according to claim 1 is characterized in that: One shelf group includes two shelves arranged at intervals along the first direction. In one shelf group, the flow shelves of two shelves are adjacent.

6. The piece picking system based on a three-dimensional storage robot and a flow rack according to claim 5 is characterized in that: In one of the shelf groups, a transport device is provided between two of the shelves.

7. The piece picking system based on a three-dimensional storage robot and a flow rack according to claim 6 is characterized in that: The transport equipment is a picking cart, which includes a processor and an electronic tag. The processor is connected to the warehouse business subsystem and is used to communicate with the warehouse business subsystem and obtain order information; the electronic tag is connected to the processor and is used to obtain and display the order information.

8. The piece picking system based on a three-dimensional storage robot and a flow rack according to claim 1 is characterized in that: The storage entrance and exit of the shelf is provided with a pallet unstacking machine, and the pallet unstacking machine is used for automatically stacking and storing pallets.

9. A method for picking items based on a three-dimensional warehouse robot and a flow rack, characterized in that: The piecemeal picking system based on a three-dimensional storage robot and a flow rack applied to any one of claims 1 to 8 comprises: Acquire order information, wherein the order information includes goods to be picked, the quantity of the goods to be picked, and the location of the goods to be picked on the flow rack; The picking personnel search for the goods to be picked on the flow rack according to the positions of the goods to be picked, pick the goods according to the quantity of the goods to be picked, and complete the picking task.

10. The method for picking items by splitting based on a three-dimensional warehouse robot and a flow rack according to claim 9, characterized in that: The split-piece picking system based on the three-dimensional storage robot and the flow-type shelf further includes a warehouse business subsystem, and the warehouse business subsystem is connected to the vertical three-dimensional storage robot and the horizontal three-dimensional storage robot respectively; When the picker searches for the goods to be picked on the flow shelf according to the position of the goods to be picked, it also includes: if the inventory of the goods to be picked on the flow shelf is less than the quantity of the goods to be picked, the warehouse business subsystem determines the position of the goods to be picked in the high-rise warehouse body, controls the horizontal three-dimensional warehouse robot and the vertical three-dimensional warehouse robot to cooperate, so that the horizontal three-dimensional warehouse robot reaches the position of the goods to be picked in the high-rise warehouse body, and transports at least part of the goods to be picked located in the high-rise warehouse body to the bottom warehouse body, and the picker replenishes the goods to be picked transported to the bottom warehouse body to the position of the goods to be picked on the flow shelf.

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