Transmission system and intelligent three-dimensional warehousing system

Abstract

The invention provides a transmission system and an intelligent three-dimensional warehousing system.The transmission system comprises multiple transmission subsystems located at different heights, the multiple transmission subsystems correspond to multiple storage areas, located at different heights, of a warehousing shelf, and each transmission subsystem comprises a shelf section and a task module, the task modules are arranged on the goods shelf sections and can move in operation planes parallel to the storing and taking faces of the storage goods shelves, the task modules are used for carrying goods in the corresponding storage areas, and at least one task module in each set of adjacent conveying subsystems in the height direction is further used for executing goods handover operation; the cargo handover operation comprises carrying cargos from the storage areas corresponding to the adjacent transmission subsystems. The multiple subsystems with the short strokes are arranged for carrying goods in a relay mode, the design difficulty and production cost of the conveying system can be greatly reduced, reliability is higher, and maintenance and replacement are easier.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing logistics, and in particular, to a transmission system and an intelligent three-dimensional warehousing system. Background Art

[0002] With the increase in logistics demand, the requirements for warehousing systems have gradually increased. Taking common shelf warehousing as an example, items can be placed on multiple layers of shelves, so as to utilize the storage space in the height direction and effectively reduce the floor area of the warehousing system.

[0003] To improve the loading and unloading efficiency of goods in the warehousing system, most warehousing systems are equipped with automated robots. These robots can include freight robots walking on the ground, or can include loading and unloading robots installed on the shelves. The loading and unloading robots can carry items between different heights of the shelves, and between the freight robots and the shelves. The loading and unloading robots can walk on the lateral tracks fixed to the shelves, so as to achieve relatively accurate positioning with a relatively simple positioning logic.

[0004] Considering the force condition of the loading and unloading robots and the convenience of installing the lateral guide rails comprehensively, it is a more reasonable choice to install at least one lateral guide rail on the upper part of the shelf. However, as the height of the shelf increases, the height of such loading and unloading robots also increases significantly, greatly increasing the installation and maintenance costs, and the reliability of the loading and unloading robots is also affected. Summary of the Invention

[0005] In order to at least partially solve the problems existing in the prior art, some embodiments of the present invention provide a transmission system for a warehousing shelf. The transmission system includes a plurality of transmission subsystems located at different heights. The plurality of transmission subsystems correspond to a plurality of storage areas at different heights of the warehousing shelf. Each transmission subsystem includes: a shelf section; and a task module. The task module is movable on the shelf section in an operation plane parallel to the access surface of the warehousing shelf, and is used for carrying items in the corresponding storage area, wherein: at least one task module in each group of adjacent transmission subsystems in the height direction is further used to perform an item handover operation. The item handover operation includes carrying items from the corresponding storage area of the adjacent transmission subsystem.

[0006] Exemplarily, in each group of at least one group of adjacent transmission subsystems, the adjacent task modules are configured to perform the item handover operation by transferring items between each other.

[0007] Exemplarily, each of the adjacent task modules includes: a carrying mechanism; and a handling mechanism for handling articles between the storage area of the shelf and the carrying mechanism, wherein: when the adjacent task modules transfer articles to each other, the carrying mechanisms of the adjacent task modules are at the same height, and the handling mechanism is further configured to transfer articles horizontally between the carrying mechanisms of the adjacent task modules.

[0008] Exemplarily, the carrying mechanism is rotatable in the horizontal plane so that the carrying mechanism has a loading / unloading position and a handover position, wherein: the carrying mechanism has a docking end for docking with the storage area on the shelf. When the carrying mechanism is in the loading / unloading position, the docking end faces the storage area on the shelf; and when the carrying mechanisms of the adjacent task modules are respectively in their respective handover positions, the docking ends of the carrying mechanisms of the adjacent task modules face each other.

[0009] Exemplarily, in each of at least one set of adjacent transfer subsystems: at least one task module is configured to perform article handover operations by performing picking and placing operations through a transfer storage position adjacent to the corresponding storage area of the task module and adjacent to the adjacent storage area of the task module.

[0010] Exemplarily, in each of at least one set of adjacent transfer subsystems: the adjacent task modules are all configured to perform article handover operations by performing picking and placing operations through a transfer storage position provided between the corresponding adjacent storage areas of the set.

[0011] Exemplarily, in at least one set of adjacent transfer subsystems: the adjacent shelf segments of the adjacent transfer subsystems have an overlapping part along the height direction; the adjacent task modules on the adjacent shelf segments perform task handover operations on the overlapping part.

[0012] Exemplarily, at least one of the adjacent shelf segments is adjustable in size in the height direction to form an overlapping part.

[0013] Exemplarily, the sizes of the adjacent shelf segments in the height direction are not adjustable, and the adjacent shelf segments are completely staggered along the direction perpendicular to the access surface.

[0014] Exemplarily, the shelf section includes: a lateral track extending along a horizontal direction parallel to the operation plane; and a column connected to the lateral track and slidable along the lateral track, and a task module connected to the column and slidable along the column, wherein: the bottom end of the column of the upper shelf section among adjacent shelf sections includes a first extension module having a first retracted position and a first extended position, wherein: when the first extension module is in the first retracted position, the first extension module is spaced apart from the top end of the column of the lower shelf section among adjacent shelf sections in the height direction; and when the first extension module is in the first extended position, the first extension module extends below the top end of the column of the lower shelf section among adjacent shelf sections to form an overlapping portion.

[0015] Exemplarily, the top end of the column of the lower shelf section among adjacent shelf sections includes a second extension module having a second retracted position and a second extended position, wherein: when the second extension module is in the second retracted position, the second extension module is spaced apart from the bottom end of the column of the upper shelf section among adjacent shelf sections in the height direction; and when the second extension module is in the second extended position, the second extension module extends above the bottom end of the column of the upper shelf section among adjacent shelf sections to form an overlapping portion.

[0016] Exemplarily, each group of at least one set of adjacent transfer subsystems is respectively located on the shelves on both sides of the same aisle.

[0017] Exemplarily, each group of at least one set of adjacent transfer subsystems is respectively located on the shelves on the same side of the same aisle.

[0018] Exemplarily, at least one of the task modules of the multiple transfer subsystems is a picking task module.

[0019] Exemplarily, at least one of the task modules of the multiple transfer subsystems is a storage and retrieval transfer task module.

[0020] Exemplarily, the task module of the bottom transfer subsystem among the multiple transfer subsystems is a picking task module, and the task modules of the other transfer subsystems among the multiple transfer subsystems are storage and retrieval transfer task modules.

[0021] Exemplarily, the transfer system includes a first transfer subsystem corresponding to a first storage area of the storage shelves. The first transfer subsystem includes: a first shelf section; and a first task module movable on the first shelf section within an operation plane parallel to the access surface of the storage shelves for handling items in the first storage area, wherein: the first task module is further configured to handle the items in the first storage area to the top storage position of the second storage area, and / or transfer the items in the first storage area to the corresponding second task module of the second storage area, and the first storage area is higher than the second storage area.

[0022] Exemplarily, the first shelf section includes: a first horizontal track extending along a horizontal direction parallel to the operation plane; and a first upright column connected to the first horizontal track and slidable along the first horizontal track, with a first task module connected to the first upright column and slidable along the first upright column, wherein: the bottom end of the first upright column includes a first extension module having a first retracted position and a first extended position, where: when the first extension module is in the first retracted position, the first extension module is located above the second storage area; and when the first extension module is in the first extended position, the first extension module extends to the top storage position of the second storage area, such that the first task module can slide onto the first extension module and carry items to the top storage position.

[0023] The present application also provides a transmission system for a stereoscopic warehouse. The stereoscopic warehouse at least includes multiple columns of shelves, and the shelves include: a first shelf section and a second shelf section. The shelves are provided with multiple layers of storage spaces, and storage bins are placed at the storage positions of the storage spaces; the first shelf section and the second shelf section can be in the same shelf or in the shelves on both sides of the same aisle; the first shelf section and the second shelf section can be equipped with task modules, where at least one task module is used to access several bin positions of adjacent shelf sections; the task module can be a picking task module or a storage and retrieval transmission task module.

[0024] Exemplarily, the setting of adjacent shelf sections is specifically implemented as: two shelf sections in the z-axis direction of the same shelf, with the height direction of the shelf denoted as the z-axis.

[0025] Exemplarily, the setting of adjacent shelf sections is specifically implemented as: two shelf sections in the y-axis direction on both sides of the aisle. The aisle direction of multiple columns of shelves is denoted as the x-axis, and the direction perpendicular to the x-axis in the horizontal plane is denoted as the y-axis.

[0026] Exemplarily, it further includes: an extension module slidably mounted on the movable part of the task module, so that the task module can extend in the height direction to access more bin positions of adjacent shelf sections.

[0027] Exemplarily, the extension module is one or more stacked sliders, and the extension distance is obtained by stacked arrangement.

[0028] Exemplarily, access to several storage locations in adjacent shelf sections is achieved through a rail transmission device, which includes: a transverse rail, a column, a movable part, and a connecting mechanism for a second task module; when the task module is a cargo box storage and retrieval module, the connecting mechanism for the second task module is provided with: a supporting structure for supporting the cargo box module; and a conveying component for the cargo box storage and retrieval module; the first shelf section and the second shelf section may be equipped with task modules, wherein at least one task module may access several storage locations in adjacent shelf sections, which is specifically implemented as follows: the cargo box storage and retrieval module of the rail transmission device installed on the first shelf section may access one or more storage locations at the end of the second shelf section in the z-axis direction, or may access one or more storage locations in the second shelf section in the y-axis direction, the aisle direction of the multi-row shelves is denoted as the x-axis, and the direction perpendicular to the x-axis in the horizontal plane is denoted as the y-axis.

[0029] Exemplarily, cargo picking equipment is used to place cargo into a docking assembly or docking box of a freight robot running at the bottom of the shelf, or to take cargo out of the docking assembly or docking box and place it in a cargo box; the arrangement of cargo picking equipment on the shelf is specifically implemented as: a transverse track, a column, a movable part and a connecting mechanism of a first task module, wherein: the transverse track is on the shelf; the column is vertically arranged on the transverse track and can slide transversely; the movable part is arranged on the column and can slide along the column; the connecting mechanism of the first task module is arranged on the movable part.

[0030] The present application also provides an intelligent three-dimensional warehousing system, including: storage shelves; and the above-mentioned transmission system.

[0031] Exemplarily, a freight robot and / or a load handling device is disposed on the top of a storage shelf. The load handling device is disposed in conjunction with a lifting device, which is used to grab items. The load handling device is configured to move on the top of the storage shelf and to lift and move items in the storage shelf. The load handling device includes: a receiving space component for accommodating items; and a lifting component, which is configured to lift and lower the lifting device relative to the receiving space component.

[0032] For example, a ground freight robot AGV walking surface may be deployed on the top of the storage shelf, and / or a first set of parallel tracks and a second set of parallel tracks may be arranged, wherein the second set of parallel tracks extends transversely to the first set of parallel tracks on a substantially horizontal plane to form a grid structure including a plurality of grid spaces.

[0033] A series of simplified concepts are introduced in the summary of the invention, which will be further described in detail in the detailed description. The summary of the invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0034] The advantages and features of the present invention will be described in detail below with reference to the accompanying drawings. Description of the Drawings

[0035] The following drawings of the present invention are used as a part of the present invention to understand the present invention. The embodiments of the present invention shown in the drawings and their descriptions are used to explain the principles of the present invention. In the drawings,

[0036] Figure 1 is a schematic structural diagram of a shelf in an embodiment of the present application;

[0037] Figure 2 is a schematic structural diagram of a freight robot in an embodiment of the present application;

[0038] Figure 3 is a schematic structural diagram of a transmission system in an embodiment of the present application;

[0039] Figure 4 is a schematic structural diagram of a transmission system in an embodiment of the present application;

[0040] Figure 5 is a front view structural diagram of a transmission system in an embodiment of the present application;

[0041] Figure 6 is a side view structural diagram of a transmission system in an embodiment of the present application;

[0042] Figure 7 is a schematic structural diagram of a track transmission device of a storage shelf in an embodiment of the present application;

[0043] Figure 8 is a schematic structural diagram of a track transmission device of a storage shelf in an embodiment of the present application;

[0044] Figure 9 is a schematic structural diagram of a track transmission device of a storage shelf in an embodiment of the present application;

[0045] Figure 10 is a schematic partial structural diagram of a shelf in a transmission system in an embodiment of the present application;

[0046] Figure 11 is a schematic structural diagram of a goods picking device in an embodiment of the present application;

[0047] Figure 12 is a schematic structural diagram of a transmission system in an embodiment of the present application;

[0048] Figure 13 is a schematic structural diagram of a transmission system in an embodiment of the present application;

[0049] Figure 14 is a schematic structural diagram of a transmission system in an embodiment of the present application;

[0050] Figure 15 It is a schematic structural diagram of the transmission system in the embodiment of the present application;

[0051] Figure 16 It is a schematic structural diagram of the intelligent three-dimensional warehousing transmission system in the embodiment of the present application;

[0052] Figure 17 It is a schematic structural diagram of the intelligent three-dimensional warehousing transmission system in another embodiment of the present application. Detailed implementation manners

[0053] In the following description, a large number of details are provided to enable a thorough understanding of the present invention. However, those skilled in the art can understand that the following description only exemplarily shows the preferred embodiments of the present invention, and the present invention can be implemented without one or more such details. In addition, in order to avoid confusion with the present invention, some well-known technical features in the art are not described in detail.

[0054] In order to thoroughly understand the embodiments of the present invention, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present invention are described in detail below. However, in addition to these detailed descriptions, the present invention can also have other embodiments.

[0055] The transmission system provided by the embodiment of the present application can improve the utilization rate of the warehousing space, the goods in-and-out speed, and the sorting efficiency of the existing transmission system, and greatly reduce the input cost of warehousing deployment.

[0056] First of all, it should be clear that the internal height of the warehouse usually has different grade classifications according to the storage capacity and design. These grades mainly depend on the design of the warehouse, the type of the shelf system or other handling equipment used, and the type of goods stored. The following are some common warehouse height classifications:

[0057] Low-Bay warehouse: Generally, the height is below 6 meters. This type of warehouse is suitable for manual handling or using basic forklift operations.

[0058] Medium-Bay warehouse: The height is usually between 6 meters and 12 meters. It is suitable for using three-dimensional forklifts and some automated storage systems.

[0059] High-Bay warehouse: The height of these warehouses exceeds 12 meters, and sometimes even reaches 20 meters or higher. They are usually used together with highly automated storage and retrieval systems (AS / RS) to maximize the space utilization rate.

[0060] Ultra-High-Bay Warehouse: This is a relatively rare type, with a height that may exceed 30 meters. These warehouses highly rely on highly automated and sophisticated logistics management systems.

[0061] The height of traditional warehouses is often only 10 meters. When the height of the warehouse reaches a higher level, that is, when the warehouse meets the standards of high-bay warehouses or even ultra-high-bay warehouses, the transmission and exchange efficiency of the warehouse is restricted by the warehouse height, and a dedicated and customized transmission system or picking system is required to participate, with high deployment complexity and extremely high configuration costs. To solve this problem, the present invention discloses a transmission system.

[0062] The warehouse to which the transmission system is applied may include a plurality of storage racks arranged at intervals, and aisles may be formed between adjacent storage racks. Freight robots, forklifts, or personnel can walk in the aisles. On this basis, the coordinate system in the present invention is defined: the aisle direction of multiple rows of racks is denoted as the x-axis, the direction perpendicular to the x-axis in the horizontal plane is denoted as the y-axis, and the height direction of the racks is denoted as the z-axis.

[0063] The transmission system includes a plurality of transmission subsystems at different heights, and the plurality of transmission subsystems correspond to a plurality of storage areas at different heights of the storage racks. Each transmission subsystem may include a rack section and a task module. It should be noted that in some embodiments, the transmission system of the present application may not include storage racks and only includes a plurality of transmission subsystems. These transmission subsystems can be applied to existing storage racks. In some embodiments, the transmission system of the present application may also include storage racks.

[0064] Such as Figure 1As shown, optionally, a rack section of a transfer subsystem may correspond to a part or all of the storage areas of a separate storage rack. Each storage area may include multiple layers of storage spaces 101 arranged along the height direction, and multiple items may be placed side by side in the horizontal direction on each layer of storage space 101. The items described herein may include goods stored in whole boxes in their original packaging boxes, or may include separately stored goods, or goods placed in a unified bin, or may also include bins for containing goods, such as the above-mentioned bins. In some embodiments, empty bins may be stored on the storage rack. In some embodiments with goods picking equipment mentioned below, empty bins may be used to receive the scattered goods picked out by the goods picking equipment. Unless otherwise specified, the items described herein may be stored in any form. Optionally, the items may be placed side by side along the x-axis direction on each layer of storage space 101, and only one row of items is placed on each layer of storage space 101 in the y direction. In other words, in the x direction, each layer of storage space 101 may include multiple storage positions 103, and only one storage position 103 is included in the y direction. Optionally, two or more rows of items may also be placed along the y direction. The transfer subsystem may extend into the rack along the y direction to pick up and place items, or after removing the outermost items, the inner items may be replenished to the outermost layer. The transfer system may be generally arranged in the aisle and may deposit or retrieve items from the side of the aisle facing the storage rack. The side of the storage rack for accessing items is the access side, and the access side may be perpendicular to the y direction. And optionally, adjacent storage racks may have opposite access sides. Figure 1 The storage rack is shown from the side of the access side.

[0065] Figure 1 The structure diagram of the storage rack is shown. As shown, the transfer system may include a storage rack 10. The storage rack 10 is provided with multiple layers of storage spaces 101, and items are placed at the storage positions 103 of the storage spaces 101. The rack may be laterally supported for the items 104 by partitions 102.

[0066] It should be noted that a general rack may include columns, crossbeams and shelves. An independent set of storage racks 10 may include at least four columns and several crossbeams (shelves). If several sets of storage racks 10 are assembled into a column, the adjacent storage racks 10 may share columns. This can not only save space but also reduce costs.

[0067] Reference Figure 2, the transportation system may further include multiple freight robots 105, which can connect to items. As an implementable embodiment, the freight robot can be an AGV, i.e., Automated Guided Vehicle, usually also called an AGV cart; or an AMR, i.e., Autonomous Mobile Robot. The specific form is not limited, and reference can be made to Figure 2 the illustration.

[0068] The top of the three-dimensional warehouse can be provided with freight robots and / or load handling devices. In some embodiments, the load handling device is arranged in cooperation with a lifting device, and the lifting device is used to grasp and lift the items. Optionally, the load handling device is arranged to be movable on the top of the three-dimensional warehouse and is used to lift and transport the items in the three-dimensional warehouse. In some embodiments, the load handling device may further include a receiving space component for accommodating the items. The lifting device is configured to lift and lower the items relative to the receiving space component.

[0069] The top of the three-dimensional warehouse can deploy an AGV walking surface for freight robots. Optionally, the top of the three-dimensional warehouse can also be arranged with a first set of parallel tracks and a second set of parallel tracks. The second set of parallel tracks extends transversely to the first set of parallel tracks on a substantially horizontal plane, forming a grid structure including multiple grid spaces. The lifting device can lift and lower the items through the opening in the middle of the grid structure. Optionally, the AGV walking surface and the tracks can also be arranged simultaneously.

[0070] Exemplarily, the freight robot may include: a mobile base, a vertical frame disposed on the mobile base, and a storage and retrieval device disposed on the frame and capable of vertically lifting and lowering.

[0071] Optionally, multiple transportation subsystems can be set corresponding to multiple different storage areas of a storage rack. Optionally, one transportation subsystem can also correspond to multiple storage racks. As Figure 3 shown, the transportation system at least includes a first transportation subsystem for transporting items within a first height range H1 and a second transportation subsystem for transporting items within a second height range H2. The first transportation subsystem includes a first shelf section 1001, and the second transportation subsystem includes a second shelf section 1002. Among them, the highest point of the first height range H1 is higher than the highest point of the second height range H2. Optionally, the transportation system may further include other height ranges higher than the highest point of the first height range H1 or lower than the lowest point of the second height range H2. Optionally, the transportation system may further include transportation subsystems for transporting items within these height ranges. In other words, in an embodiment not shown, a storage rack can be provided with three or more transportation subsystems arranged along the z-axis direction. Among them, Figure 3The first transmission subsystem and the second transmission subsystem shown in the figure may represent two adjacent transmission subsystems. For the sake of brevity hereinafter, the principles of the present application will be mainly described by taking this group of adjacent transmission subsystems (i.e., the first transmission subsystem and the second transmission subsystem) as an example.

[0072] The task modules 1003 and 1004 are movable in an operation plane parallel to the access surface of the storage rack 10 on their respective rack sections 1001 and 1002 for handling articles in the corresponding storage spaces. Via the access surface of the storage rack 10, the task modules can access articles. Specifically, the task modules can move in an operation plane at a certain distance from the access surface of the storage rack 10 through structures such as guide rails and columns. Taking the operation of the task module 1003 to pick up an article as an example, when the task module 1003 moves on the operation plane, the task module 1003 will not interfere with the structures such as the shelves and columns of the storage rack 10. At the same time, when it reaches the position where the article is located, the article can be transferred to the carrying mechanism (to be described hereinafter) of the task module 1003 through, for example, a push-pull mechanism provided on the task module 1003. Optionally, the push-pull mechanism can also be provided inside the storage rack 10 instead of on the task module 1003. Optionally, the task module 1003 can also be configured to pick up an article from the storage rack 10 or place an article on the storage rack 10 by means of a clamping mechanism, a vacuum chuck, an electromagnetic chuck, etc. As shown in the figure, the task module 1003 can place the article A from the upper storage position along the path shown by the arrow to the target storage position B. The task module 1004 can place the article on the freight robot 105. For ease of understanding, hereinafter, an embodiment in which the push-pull mechanism is provided on the task modules 1003 and 1004 and the task modules 1003 and 1004 have a carrying surface for placing articles will be described in detail. It should be noted that the carrying surface does not necessarily include a complete supporting surface. Optionally, the carrying surface can include one or more spaced-apart planes as long as it can support the article.

[0073] Among them, at least one task module in each group of adjacent transfer subsystems in the height direction is further configured to perform an item handover operation. The item handover operation includes carrying items from the storage area corresponding to the adjacent transfer subsystem. As described above, taking a group of transfer subsystems adjacent in the height direction, i.e., the first transfer subsystem and the second transfer subsystem as an example, the task module of any one of these two transfer subsystems can carry the items of the task module of the other. Specifically, for example, the task module of the first transfer subsystem can transfer the items at any storage position within the first height range H1 to its bearing surface, and these storage positions can be higher than the highest point of the second height range H2. Subsequently, the task module of the first transfer subsystem can place the items on its bearing surface into the storage positions not higher than the highest point of the second height range H2. The task module of the second transfer subsystem can transfer the items at this storage position to its bearing surface and further place them into any storage position within the second height range H2. These storage positions can be lower than the lowest point of the first height range H1. In another exemplary embodiment, the task module 1003 of the first transfer subsystem can also cooperate with the task module 1004 of the second transfer subsystem to directly hand over the items between the task modules of the two transfer subsystems.

[0074] In the above technical solution, item handover can be achieved between adjacent transfer subsystems in the height direction. Thus, the transfer subsystem capable of carrying items within a relatively high height range can transfer the items at a height that the other transfer subsystem cannot reach to a height that the transfer subsystem capable of carrying items within a relatively low height range can reach, and then the latter transfer subsystem can carry the items to a height that the transfer subsystem capable of carrying items within a relatively high height range cannot reach, so as to carry the items between different heights in a relay manner. Compared with setting a single transfer subsystem capable of carrying items between sufficient heights, by setting multiple subsystems with shorter travel distances to carry items in a relay manner, the design difficulty and production cost of the transfer system can be significantly reduced, the reliability is higher, and the maintenance and replacement are also simpler.

[0075] Optionally, for the already constructed storage rack 10, in the application scenario of heightening and reconstructing the existing storage rack 10, the transfer subsystem can be provided only in the heightened part of the storage rack 10, without replacing the transfer subsystem of the original part of the storage rack 10.

[0076] As described above, exemplarily, in each of at least one set of adjacent transport subsystems, adjacent task modules are configured to perform an item handover operation by passing items between each other. When there are multiple sets of transport subsystems, the ways of handing over items between task modules of different sets can be different. For example, one or more of the sets can adopt a "direct transfer" handover mode. Compared with controlling a task module to place an item at a storage location on a certain layer of the storage rack 10 and then having another task module take out the item from that storage location, by directly transferring an item from a task module of one transport subsystem to a task module of another transport subsystem, the time required for handover can be shortened. Optionally, the task modules of the two transport subsystems can both stop at a position at the same height as a storage space on a certain layer of the storage rack 10 and hand over the item at this position. Optionally, the task modules of the two transport subsystems can also stop at a position that is not at the same height as any storage space of the storage rack, and only the task modules of the two transport subsystems are aligned with each other and hand over the item. Thereby, the flexibility of the system is increased. In some embodiments, the scheduling device controlling the two transport subsystems can calculate the distance between the task modules of the two transport subsystems and determine the height at which the time required for the two to hand over the item is the shortest. Optionally, sensors for alignment or detectors for preventing collisions can also be provided on the task modules of the transport subsystem. For the transport subsystems of some embodiments, optionally, when the items are passed between the task modules, they can also be at different heights. For example, the task module of one transport subsystem can be at a higher position, and the task module of another transport subsystem can be at a lower position, and the items are handed over to each other by means such as vacuum suction cups and electromagnetic suction cups. Optionally, two adjacent transport subsystems can have different task modules. For example, the transport subsystem for transporting items in a higher range can have a task module for grasping and sucking the item from above the item, and the transport subsystem for transporting items in a lower range can have a task module for supporting the item from below the item. Optionally, the task module can include a manipulator with multiple degrees of freedom, and can hand over the item with the manipulator of another task module from any direction. In short, by controlling at least one set of adjacent transport subsystems to directly transfer items between each other, the time for item handling can be reduced and the logistics efficiency can be improved.

[0077] Exemplarily, in at least one set of adjacent transport subsystems, adjacent shelf segments of the adjacent transport subsystems have an overlapping part along the height direction, and adjacent task modules on the adjacent shelf segments perform a task handover operation on the overlapping part. Thereby, the adjacent task modules can be flush with each other, creating a prerequisite for passing items by translation.

[0078] Exemplarily, each of the adjacent task modules includes a carrying mechanism and a handling mechanism. The aforementioned carrying surface may be located on the carrying mechanism. The handling mechanism is used to carry items between the storage area of the shelf and the carrying mechanism. Among them, when adjacent task modules transfer items to each other, the carrying mechanisms of the adjacent task modules are at the same height, and the handling mechanism is also used to transfer items horizontally between the carrying mechanisms of the adjacent task modules. Compared with the above embodiments that do not use the carrying mechanism to carry items, the task module using the carrying mechanism can be applicable to a wider range of item types. It is easy to understand that items that can be stored in the storage area of the shelf can be stably placed when there is a support at the bottom. For the task module provided with a carrying mechanism, it can be applicable to almost all items that can be stored in a storage shelf. In contrast, for task modules using, for example, vacuum suction cups and electromagnetic suction cups, they can only be applicable to goods with a smooth surface or ferromagnetic goods, or it is necessary to set up smooth or ferromagnetic containers for the goods. In short, the task module using the carrying mechanism has a wide range of applications and reduces the logistics cost. By transferring items at the same height, there is no risk of the items tipping, skewing, or even falling from a height during the horizontal transfer process. Moreover, compared with one task module grasping or sucking an item above and another task module receiving the item below, transferring the item horizontally does not require considering the height of the item, simplifying the handover process.

[0079] Exemplarily, the carrying mechanism is rotatable in the horizontal plane, so that the carrying mechanism has a loading / unloading position and a handover position. For example, the carrying mechanism can be rotated by 90 degrees. The carrying mechanism has a docking end for docking with the storage area on the shelf. Through this docking end, the handling mechanism can transfer items between the carrying mechanism and the shelf. When the carrying mechanism is in the loading / unloading position, the docking end faces the storage area on the storage shelf 10. When the carrying mechanisms of adjacent task modules are respectively in their respective handover positions, the docking ends of the carrying mechanisms of the adjacent task modules face each other.

[0080] As described above, for a common transmission subsystem, its handling mechanism is only used to carry items between the storage area of the shelf and the carrying mechanism, and the direction of its movement is restricted. In some embodiments, the length and width of the carrying mechanism may also be different, so as to carry standard containers with inconsistent length and width, such as turnover boxes. By rotating the carrying mechanism in the horizontal plane, the handling mechanism thereon can change the movement direction, thereby allowing the task module to transfer the items thereon to another task module. For items with different lengths and widths, the rotating carrying mechanism can stably transfer the items along their length direction to the carrying mechanism of another task module. For an embodiment of the carrying mechanism whose carrying surface is not a complete plane but is formed by one or more planes spaced apart from each other, by rotating the carrying mechanism, the items can be smoothly transferred without getting stuck at the intervals between the multiple planes.

[0081] Exemplarily, in each of at least one set of adjacent transmission subsystems: the corresponding adjacent storage areas of the set have an overlapping area in the height direction, and there are transfer storage positions within the overlapping area. The adjacent task modules are all configured to perform item handover operations by performing pick-up operations and put-down operations on the transfer storage positions. Taking the above-mentioned adjacent set of transmission subsystems, i.e., the first transmission subsystem and the second transmission subsystem, as an example, the task module of the first transmission subsystem can place the item in the storage space that the task module of the second transmission subsystem can pick up and place, realizing the handover of the item. This method can be called "indirect handover". Whether it is the aforementioned "direct handover" or the "indirect handover" here, at least one task module in each set of adjacent transmission subsystems is allowed to carry the item from the storage area corresponding to the adjacent transmission subsystem. It can be understood that when there are multiple sets of adjacent transmission subsystems, some sets can adopt "direct handover", and some other sets can adopt "indirect handover". Of course, all sets can also adopt "direct handover", or all sets can adopt "indirect handover". It is easy to understand that the more the overlapping part of the storage areas of the two transmission subsystems, the smaller the total storage area range of the storage space 101 that the two transmission subsystems can cover. For the storage space 101 in the overlapping area, a part of the storage positions therein can be used as transfer storage positions. For the sake of easy understanding, the following takes using all the storage positions in one or more layers of the storage space as transfer storage positions as an example for detailed description, but the present application does not exclude embodiments in which only a part of the storage positions in one or more layers of the storage space 101 are used as transfer storage positions.

[0082] For example, among the storage spaces 101 that the first transmission subsystem can reach, two layers of the storage spaces 101 can also be reached by the second transmission subsystem. In other words, the storage area corresponding to the first transmission subsystem and the storage area corresponding to the second transmission subsystem form an overlapping area including two layers of storage spaces 101. In this case, the storage positions in the bottommost layer of the storage space 101 of the first transmission subsystem can be used as transfer storage positions. For the first transmission subsystem, only when the item needs to be transferred from the storage positions in the storage spaces 101 of other layers to the transfer storage positions, or the item in the transfer storage positions needs to be transferred to the storage positions in the storage spaces 101 of other layers, will the first transmission subsystem make the task module reach the storage space 101 where the bottommost transfer storage position is located. In this case, the second transmission subsystem only reaches the storage space 101 where the transfer storage position is located when picking up items from the transfer storage position or putting items into the transfer storage position, and walks below this layer of storage space 101 during other time periods. This can enable the two transmission subsystems to work without interfering with each other during normal operation and can transfer items in a relay manner.

[0083] For another embodiment in which the storage areas corresponding to the first transfer subsystem and the second transfer subsystem form an overlapping area including two layers of storage spaces 101, the uppermost layer of the second transfer subsystem can also be used as the storage space 101 where the transfer storage position is located, that is, the storage position in the second-to-last layer of the storage space 101 below the first transfer subsystem is set as the transfer storage position. In this case, in addition to handing over items, the task module of the first transfer subsystem only walks in the storage space 101 above the transfer storage position; in addition to handing over items, the task module of the second transfer subsystem only walks in the storage space 101 below the transfer storage position. For embodiments in which there are more layers of storage spaces 101 in the overlapping area, the above method can also be adopted, using one or more layers of storage spaces 101 as the transfer storage position. In addition to handing over items, the task module of the transfer subsystem with a relatively higher position only walks above the storage space 101 where the transfer storage position is located, and the task module of the transfer subsystem with a relatively lower position only walks below the storage space 101 where the transfer storage position is located.

[0084] Exemplarily, the task module can be telescopic, so as to transfer the item to an adjacent transfer subsystem. Thus, the adjacent transfer subsystems can achieve the handover of items without having overlapping shelf segments.

[0085] Since the first transmission subsystem and the second transmission subsystem can overlap in height, if they are installed on the same operating surface, when the horizontal spacing is too small, collision interference may occur. In an exemplary embodiment, the first shelf section 1001 of the first transmission subsystem and the second shelf section 1002 of the second transmission subsystem may have a minimum spacing in the horizontal direction. Optionally, when the first shelf section 1001 of the first transmission subsystem moves in the direction of the second shelf section 1002 of the second transmission subsystem, when the spacing between them is less than or equal to a preset spacing threshold, the second shelf section 1002 of the second transmission subsystem moves synchronously with the first shelf section 1001 of the first transmission subsystem, so that the spacing between them is not less than the spacing threshold. The spacing threshold can be the minimum value at which the two will not collide, or a certain safety margin can be added on this basis. Optionally, the scheduling device can determine whether the spacing between the first shelf section 1001 of the first transmission subsystem and the second shelf section 1002 of the second transmission subsystem will be less than the spacing threshold when the first shelf section 1001 of the first transmission subsystem moves in the direction of the second shelf section 1002 of the second transmission subsystem. And, in the case where the spacing will be less than the spacing threshold, the second shelf section 1002 of the second transmission subsystem can be controlled to move until the spacing between the first shelf section 1001 of the first transmission subsystem and the second shelf section 1002 of the second transmission subsystem is not less than the spacing threshold when the first shelf section 1001 of the first transmission subsystem reaches the end point. Conversely, when the second shelf section 1002 of the second transmission subsystem moves in the direction of the first shelf section 1001 of the first transmission subsystem, the first shelf section 1001 of the first transmission subsystem can be controlled to move in the same way. Thus, the first shelf section 1001 of the first transmission subsystem and the second shelf section 1002 of the second transmission subsystem will not cross each other, and the spacing between them always remains not less than the spacing threshold, thereby preventing collision interference.

[0086] As described above, to avoid collisions between adjacent transmission subsystems, the shelf sections of adjacent transmission subsystems can always be kept at a spacing not less than the spacing threshold. However, this will limit the movement range of each of the adjacent transmission subsystems. Exemplarily, the size of at least one of the adjacent shelf sections can be adjusted in the height direction to form an overlapping part. In other words, when the transmission subsystem does not pick up or place items at the transfer storage position, the storage space 101 that its shelf section can reach is small, and all are above the storage space 101 where the transfer storage position is located, and there is no possibility of collision with adjacent transmission subsystems. When and only when the transmission subsystem needs to put an item into the transfer storage position or take an item out of the transfer storage position, the transmission subsystem will extend to increase the size of its corresponding shelf section. As Figure 5As shown, taking the first transmission subsystem and the second transmission subsystem as examples, optionally, the first shelf section 1001 of the first transmission subsystem can be extended, while the second shelf section 1002 of the second transmission subsystem cannot be extended. When the first transmission subsystem is extended, it can pick and place items at the transfer storage positions within the storage space 101 corresponding to the second shelf section 1002 of the second transmission subsystem. When not extended, their movements do not interfere with each other. Specifically, for example, Figure 5 the original position of item A is within the storage area of the first transmission subsystem, and the target storage position B can only be reached after the shelf section of the first transmission subsystem is extended. Thus, within the storage space 101 of the layer where this storage position is located, each storage position can serve as a transfer storage position. The second shelf section 1002 of the second transmission subsystem can pick and place items at storage position B through the task module 1004 without the need for extension. Optionally, the second shelf section 1002 of the second transmission subsystem can be extended, while the first transmission subsystem cannot be extended. In this case, the transfer storage position can be set within the storage space 101 corresponding to the first shelf section 1001 of the first transmission subsystem. Optionally, both the first shelf section 1001 of the first transmission subsystem and the second shelf section 1002 of the second transmission subsystem can be extended, and the transfer storage position can be set within the storage space 101 between the two corresponding shelf sections in their non-extended states. After both are extended, they can both access the items in the transfer storage space 101. By using the transfer storage position to access items, the transmission subsystems do not need to directly transfer items, resulting in a lower risk of collision, a simpler control logic, and a lower precision requirement. However, the time consumed for item transfer may be longer than that for direct transfer between adjacent transmission subsystems.

[0087] It should be noted that the above-mentioned adjacent transmission subsystems still refer to a group of transmission subsystems adjacent in the height direction, rather than two transmission subsystems adjacent in the horizontal direction and walking at approximately the same height.

[0088] In some other exemplary embodiments, the sizes of adjacent shelf segments in the height direction are non-adjustable, and adjacent shelf segments can be completely staggered along a direction perpendicular to the access surface. Specifically, two adjacent transfer subsystems can be arranged on the same shelf. When moving, it is necessary to avoid the task modules of the two from colliding with the shelf segments of the adjacent transfer subsystem. Specifically, for example, the first shelf segment 1001 of the first transfer subsystem is arranged on the outside, and the second shelf segment 1002 of the second transfer subsystem can be arranged on the inside. The overlapping area of the two is the height of a storage space 101. The task module 1003 of the first transfer subsystem and the task module 1004 of the second transfer subsystem can only extend in the direction towards the access surface and will not intersect with the plane where the shelf segment of the first transfer subsystem is located in the direction opposite to the access surface. In this case, the task module 1004 of the second transfer subsystem can move arbitrarily. When the task module 1003 of the first transfer subsystem reaches the height of the bottommost storage space 101, the distance between the second shelf segment 1002 of the second transfer subsystem and the first shelf segment 1001 of the first transfer subsystem cannot be too small, otherwise the task module 1003 extending towards the access surface of the first transfer subsystem may collide with the second shelf segment 1002 of the second transfer subsystem. When the task module 1003 of the first transfer subsystem is at other heights, the first transfer subsystem and the second transfer subsystem can be in any shape and are allowed to cross each other. When the task modules 1004 of the first transfer subsystem and the second transfer subsystem extend in the direction towards the access surface and the direction opposite to the access surface, the task module 1004 of the second transfer subsystem may collide with the shelf segment of the first transfer subsystem located on the outside. Therefore, it is also necessary to control the distance between the first transfer subsystem and the second transfer subsystem when the task module 1004 of the second transfer subsystem is at the topmost storage space 101. Of course, this application does not exclude embodiments in which the task modules will not interfere with the movement of the two transfer subsystems at any time.

[0089] For the transfer systems of the above several embodiments, exemplarily, each group of at least one group of adjacent transfer subsystems can be respectively located on the storage shelves on the same side of the same aisle. Optionally, as Figure 4 shown, each group of at least one group of adjacent transfer subsystems is respectively located on the storage shelves on both sides of the same aisle. In this case, any one of the two transfer subsystems can pick and place items in the storage positions of the storage shelf where it is located and the storage positions of the adjacent storage shelves within its corresponding height range.

[0090] As Figure 6 shown, exemplarily, the shelf segment can include a transverse track 11, and the transverse track 11 extends along a horizontal direction parallel to the operation plane. Optionally, the transverse track can be one or more. When there are multiple transverse tracks, the multiple transverse tracks can be arranged at intervals. See Figure 9 and Figure 10, which shows the case where two horizontal rails 11 and 31 are provided. The upright posts can also be one or more. When there are multiple upright posts, the multiple upright posts can be arranged at intervals. Refer to Figures 8 to 10 , which shows the case where two upright posts 12 and 21 are provided. Optionally, one horizontal rail can cooperate with one or more upright posts; optionally, multiple horizontal rails can also cooperate with one upright post. Or multiple horizontal rails cooperate with multiple upright posts. The upright posts are connected to the horizontal rails and can slide along the horizontal rails, and the task module 14 is connected to the upright posts and can slide along the upright posts. Among them, the bottom end of the upright post of the upper shelf section in adjacent shelf sections includes a first extension module C (as Figure 5 shown), the first extension module C has a first retracted position and a first extended position, where: when the first extension module C is in the first retracted position, the first extension module C is spaced apart from the top end of the upright post of the lower shelf section in the adjacent shelf section in the height direction; and when the first extension module C is in the first extended position, the first extension module C extends below the top end of the upright post of the lower shelf section in the adjacent shelf section to form an overlapping part. Optionally, a transmission mechanism including, for example, a synchronous belt, a chain, a motor, etc. can be provided on the horizontal rails and the upright posts to drive the upright posts to move on the horizontal rails and the task module 14 to move on the upright posts. The first extension module C includes, but is not limited to, a structure limited by a slide rail, an optical axis, etc. and driven by a linear motor, a lead screw, a cylinder, a hydraulic cylinder, an electric cylinder, etc., and can move between the first extended position and the first retracted position in a straight line direction. This application does not exclude embodiments in which the first extension module C moves on a curve. When the first extension module C is in the first extended position, the task module 14 can reach the upright post section formed by the first extension module C, thereby increasing the travel of the task module 14. When the task module 14 is in the upright post section formed by the first extension module C, it may collide with the upright posts of the adjacent shelf section. Therefore, in this case, it is necessary to limit the positions of the adjacent shelf sections to prevent the adjacent shelf sections from colliding with the task module 14. In addition, it may also be necessary to avoid the influence of the horizontal rails on the movement of the task module 14 on the upright posts during design. Figure 17 shows a schematic diagram of a transmission system of another exemplary embodiment.

[0091] Exemplarily, the top end of the upright post of the lower shelf section in adjacent shelf sections includes a second extension module, the second extension module has a second retracted position and a second extended position, where: when the second extension module is in the second retracted position, the second extension module is spaced apart from the bottom end of the upright post of the upper shelf section in the adjacent shelf section in the height direction; and when the second extension module is in the second extended position, the second extension module extends above the bottom end of the upright post of the upper shelf section in the adjacent shelf section to form an overlapping part. The structure of the second extension module and the first extension module C can be the same, which will not be elaborated here.

[0092] As Figure 11 shown, exemplarily, at least one of the task modules of the multiple transfer subsystems is the picking task module 2. The picking task module 2 can pick specific types of items from the goods. For example, if the goods are a large number of small items stored in bins, the picking task module 2 can identify one or several of the items and grab them. Exemplarily, at least one of the task modules of the multiple transfer subsystems is the access transfer task module. The access transfer task module is, for example Figure 3 shown, capable of overall transfer of items, such as transporting the goods contained in bins between storage spaces 101 at different heights, or placing the goods contained in bins onto the freight robot 105, or transporting empty bins between the above-mentioned several positions.

[0093] Exemplarily, the task modules of other transfer subsystems among the multiple transfer subsystems are access transfer task modules. Thus, the goods in boxes that are not frequently used can be stored in the high storage space 101 as a whole. The task modules of the bottom transfer subsystem among the multiple transfer subsystems are picking task modules, so as to pick the items among the frequently used goods. When the goods that are not frequently used need to be used, they can be transferred to the lower storage space 101 through the higher transfer subsystem and the adjacent transfer subsystem, and then picked by the transfer subsystem with the picking task module set at the lower layer.

[0094] The present application also provides a transfer system for a storage rack. The transfer system includes a first transfer subsystem corresponding to a first storage area of the storage rack. The first transfer subsystem includes a first rack section and a first task module. The first task module is movable on the first rack section within an operation plane parallel to the access surface of the storage rack for transporting the items in the first storage area. The first task module is also used to transport the items in the first storage area to the top storage position of the second storage area, and / or transfer the items in the first storage area to the second task module corresponding to the second storage area. The first storage area is higher than the second storage area. Thus, the first transfer subsystem can transfer the items in the first storage area at a higher position of the storage rack to the second storage area at a lower height. The items in the second storage area can be transported by other transfer subsystems, such as the second transfer subsystem, or directly by manual handling, forklift handling, freight robot handling, etc.

[0095] Exemplarily, the first shelf section includes a first horizontal track that extends in a horizontal direction parallel to the operation plane; and a first upright column that is connected to the first horizontal track and is slidable along the first horizontal track. The first task module is connected to the first upright column and is slidable along the first upright column. Wherein: the bottom end of the first upright column includes a first extension module that has a first retracted position and a first extended position. Wherein: when the first extension module is in the first retracted position, the first extension module is located above the second storage area; and when the first extension module is in the first extended position, the first extension module extends to the top storage position of the second storage area, so that the first task module can slide onto the first extension module and carry items to the top storage position of the second storage area.

[0096] Reference Figure 3 , the shelf 10 includes: a first shelf section 1001 and a second shelf section 1002. The first shelf section 1001 and the second shelf section 1002 can be on the same shelf or on the shelves 10 on both sides of the same aisle. The first shelf section 1001 and the second shelf section 1002 can be equipped with task modules 1003 and 1004. Among them, at least one of the task modules can access several bin positions of the adjacent shelf section. The task module can be a picking task module or a storage and transfer task module.

[0097] It should be noted that the setting of the adjacent shelf section is specifically implemented as: two shelf sections in the z-axis direction of the same shelf; or two shelf sections in the y-axis direction on both sides of the aisle.

[0098] Reference Figure 3 , the positions of the first shelf section 1001 and the second shelf section 1002 are on the same side of the same shelf. After the first shelf section 1001 is equipped with the task module 1003, it can reach one or more bin positions at the upper end of the second shelf.

[0099] When the task module transfers the target container A, when the target container is located on a higher shelf layer of a high-meter shelf, the task module 1003 on the first shelf section 1001 extracts the target container A and descends to the lower end of the first shelf section 1001. At this time, the z-axis height of the target container A corresponds to the upper end of the second shelf section 1002. Then, the task module 1003 of the first shelf section can actually place the target container A in the target bin position B at the upper end of the second shelf section 1002. When the target container A participates in the fulfillment and outbound operation, the task module 1004 of the second shelf section 1002 can directly extract the target container A from the target bin position.

[0100] Reference Figure 4The positions of the first shelf section 1001 and the second shelf section 1002 are on both sides of the aisle. After the task module 1003 is installed on the first shelf section 1001, it can reach one or more bin locations at the upper end of the second shelf. When the task module transfers the target container A, when the target container is located on a higher shelf layer of a high-meter shelf, the task module 1003 on the first shelf section 1001 extracts the target container A and descends to the lower end of the first shelf section 1001. At this time, the z-axis height of the target container A corresponds to the upper end of the second shelf section 1002. Then, the task module 1003 of the first shelf section can actually place the target container A at the target bin B at the upper end of the second shelf section 1002. When the target container A participates in fulfillment and outbound, the task module 1004 of the second shelf section 1002 can directly extract the target container A from the target bin.

[0101] In the picking scenario, the task module 1003 on the first shelf section 1001 extracts the target container A and descends to the lower end of the first shelf section 1001. At this time, the position of the target container A is the upper end of the second shelf section 1002. When the target container A participates in fulfillment picking and outbound, the target item D of the target container A can be directly extracted from the target bin by the task module 1004 on the second shelf section 1002 that can complete picking.

[0102] Reference Figure 5 , it shows that for the task module 1003 on the first shelf section 1001 to extract the target container A, if it needs to descend to more bin locations (in the z-axis direction) at the upper end of the second shelf section 1002, the extension module C shown in the figure can be used. The extension module C can be in the form of stacked sliders, or the form of telescopic columns, or the way of extending segments inside the columns, etc. Here, the stacked sliders are used as an example. With the assistance of the length of the stacked sliders, the task module 1003 on the first shelf section 1001 can move to more bin locations in the z-axis direction at the upper end of the second shelf section 1002, so as to obtain the convenient application of retrieving boxes from high levels and allocating slow-moving containers in high-meter shelves.

[0103] It should be emphasized here that the extension module C can be stacked in multiple layers, sleeved in multiple sections, released in multiple segments, etc. according to actual needs to obtain a longer travel distance and access more bin locations in the z-axis direction. For application to corresponding Figure 3 and Figure 4 implementation manners.

[0104] It should be further explained that the first shelf section 1001, the second shelf end 1002, and the extension module C are all configured according to actual application requirements. The examples listed in the embodiments of the present invention are only used to explain the full disclosure and working principles, and do not mean that the positions and numbers of the first shelf section 1001, the second shelf end 1002, and the extension module C are limited because of the examples.

[0105] For the sake of clarity and disclosure, the present invention refers to Figure 6 To illustrate the structure of the track transmission equipment in the transmission system, however, it should be noted that in different transmission systems, different transmission equipment can be adapted to complete Figures 3 to 5 Therefore, the transmission device disclosed in the present invention cannot limit the scope of the invention. Figure 6 The track transmission equipment disclosed in the present invention includes: a transverse track 11, a first column 12, a first movable part 13 and a connecting mechanism of a task module 14, wherein: the transverse track 11 can be installed on the shelf 10.

[0106] It should be noted that the transverse track 11 is on the beam or column of the shelf 10. When the length of the shelf beam is long, the transverse track needs to rely on the beam and column of the single rack and extend to the adjacent shelf beam.

[0107] The first column 12 is vertically arranged on the transverse track 11 and can slide transversely. The column 12 slides transversely on the transverse track to achieve the positioning of the first movable member 13 in each column of the storage shelf.

[0108] The first movable member 13 is disposed on the first column 12 and can slide along the first column 12. The above arrangement enables the first movable member 13 to move horizontally and vertically, so that the first movable member 13 can be positioned at each tier of the shelf.

[0109] The first movable member 13 is provided with a connecting mechanism 15 of the task module 14 .

[0110] The task module 14 is driven by the first movable member 13 to store and retrieve cargo boxes and / or cargo, and put them into the docking assembly of the cargo robot 105 running at the bottom 16 of the storage shelf.

[0111] This setting ensures that when the task module completes a sorting and / or storage and retrieval action, the storage and retrieval boxes and / or goods can be connected by the freight robot 105, and the goods can be transferred, sorted, and delivered to the destination cargo location or sorting location, or even the transportation location where the sorting is completed.

[0112] The task module 14 can be a component with one or more tasks such as recognition, extraction, playback, grasping, handling, etc. Driven by the first movable part 13, the task module 14 is positioned at the storage slot of the shelf. At the same time, the connection mechanism of the task module is an infrastructure that can be connected to different task modules.

[0113] When the task module is a storage and retrieval bin module, the support structure for supporting the bin module, such as a loading and unloading rack. The conveying component of the storage and retrieval bin module, such as a conveyor belt. Of course, the conveyor belt needs to be driven by a conveying motor.

[0114] However, if it is other task modules, the connecting parts are set according to the specific functions of the task modules, and it is not limited to this.

[0115] Through the above embodiments, a transverse track is provided on the storage shelf for the upright column to move. The movable part arranged on the upright column drives the task module to complete actions such as recognition and storage / retrieval of the bin. This device fundamentally solves the problem of waste of storage space in the existing storage system, and avoids the need for a high counterweight or high requirements for the storage floor by the freight robot or sorting robot, and completes actions such as storage transfer or storage sorting.

[0116] Reference Figure 7 , a track transmission device of a storage shelf is shown. In Figure 6 Based on the illustration and description, the transmission device further includes: a second upright column 21 and a second movable part 22. The second upright column 21 is vertically arranged on the transverse track 11 and can slide horizontally. The second movable part 22 is arranged on the second upright column 21 and can slide along the second upright column. A connection mechanism 23 of the task module 14 is arranged on the second movable part 22. The task module 14 is arranged between the first upright column 12 and the second upright column 21 through the connection mechanism 23. The first movable part 13 and the second movable part 22 drive the task module 14 to be positioned at the storage location 24 or the connection location 25 on the storage shelf 10. The connection location 25 is the position where the task module 14 transfers the goods to / from the freight robot after storing and retrieving the bin and / or goods from the storage location of the shelf.

[0117] Optionally, the bottom partition of the storage shelf is high enough from the ground to provide a matching height to support the ground freight robot to run on the ground and complete the connection action. Optionally, at least one bottom partition between adjacent upright columns of the storage shelf is high enough from the ground to form the connection location 25 for the ground freight robot.

[0118] Reference Figure 8 , a track transmission device of a storage shelf is shown. In Figure 1 And Figure 2Based on the diagram and its corresponding description, Figure 8 In the embodiment, another transverse track 31 is provided at the lower part of the storage shelf 10. Both the transverse track 11 and the other transverse track 31 can be connected to the first column 12 and the second column 21 through a slider. The slider moves on the transverse track driven by a roller, and the roller is driven by a motor.

[0119] It should be noted that the roller is a preferred solution, and actually gears, or a combination of gears and rollers are used to realize the movement of the column on the beam. Then, when gears are used as a transmission method, it is necessary to cooperate with a toothed chain to complete the movement. The specific method can refer to the existing technology, and when the gears and rollers are combined, the gears and the toothed chain are engaged to transmit and drive the rollers to move, thereby realizing the movement of the column on the beam. Furthermore, the motor drives the roller to make the component run, which can be achieved by wired (cables, flexible conductive materials, anti-wear wires) or wirelessly, such as lithium batteries, etc., which support operation after charging. The specific method is not limited.

[0120] In this embodiment, a large shelf system requires a more stable rail transmission device. For this purpose, two upper and lower transverse rails are provided on the rail assembly to fully support the first column 12 and the second column 21, so that tasks such as taking out, putting back, connecting and sorting cargo boxes and goods can be carried out reliably.

[0121] Preferably, the ground freight robot performs path planning under the control of the server, or the ground freight robot performs autonomous path planning, and is provided with a planar moving component and a docking component that supports the storage and placement of cargo boxes. In order to improve transportation efficiency, the ground freight robot can directly operate on the ground where the storage shelves are located, and can cooperate with the storage shelves to remove the bottom partitions. The cargo box, driven by the movable parts, will place the cargo boxes and / or cargo to be stored and accessed on the docking component of the freight robot. The ground freight robot can be a freight robot or a sorting robot. The above coordination makes it possible to complete cargo warehousing, cargo transfer and cargo sorting in the storage space.

[0122] As a feasible method, similar principle, the operation of the movable part on the slide rail of the column can be shown in the following figure. The more specific electrical control method is not limited and is not specifically shown in the figure.

[0123] refer to Figure 9 A synchronous pulley driven by a motor 41 and controlled by a reducer drives a synchronous belt 42 to support the first movable part to move on the slide rail of the first column. A synchronous pulley driven by a motor and controlled by a reducer drives a synchronous belt to support the second movable part to move on the slide rail of the second column.

[0124] The above settings can not only accurately locate the position between the task module and the cargo box, but also greatly improve the storage space utilization, cargo entry and exit speed, and sorting efficiency of the existing warehousing system.

[0125] refer to Figure 10 , shows a part of a storage rack track transmission device. In this embodiment, Figure 5 The connection structure between the transverse rail 11 and the first column 12 and the second column 21 is shown. Figure 10 This can be achieved by driving the slider 52 to move on the transverse track 31 through the roller 51 , where the first column 12 and the second column 21 are sleeved on the slider 52 , and the roller 51 contacts the transverse track 31 to achieve smooth movement.

[0126] The above setting may be one implementation method and is not limited thereto.

[0127] refer to Figure 11 A cargo picking device 1 is installed on the shelf, and the cargo picking device 1 drives the first task module 2 to put cargo 3 into the docking assembly or docking box 4 of the cargo robot 105 running at the bottom of the shelf 10, or to take cargo 3 out of the docking assembly or docking box 4 and put it into the cargo box 104. The first task module 2 at least includes: a first movable part 13 and a picking mechanism 20.

[0128] The cargo picking device 1 may include a transverse track 11, a first column 12, a first movable part 13 and a connecting mechanism of the first task module 2. The transverse track 11 is on the shelf 10. It should be noted that the transverse track 11 is on the beam or column of the shelf 10. When the shelf is transversely longer, the transverse track needs to be extended by the beam and column of the single shelf (rack) and extend to the adjacent shelf beam.

[0129] The first column 12 is vertically arranged on the transverse track 11 and can slide transversely. The column 12 slides along the transverse track 11 to achieve the positioning of the first movable member 13 in each column of the shelf.

[0130] The first movable member 13 is disposed on the first column 12 and can slide along the first column 12. The above arrangement enables the first movable member 13 to move horizontally and vertically, so that the first movable member 13 can be positioned at each tier of the shelf.

[0131] The first movable part 13 is provided with a connecting mechanism 15 of the first task module 2. Driven by the first movable part 13, the first task module 2 uses the picking mechanism to store and retrieve goods 3, and puts and runs the docking assembly or docking box of the freight robot 105 at the bottom of the shelf.

[0132] It should be specifically noted that in the solution of the present invention, the partition of the storage shelf represents the components that provide storage position support for different types of storage shelves, as well as the surrounding components that provide stability for each cross beam. For the already built storage shelf, the partition can be removed to provide a matching height, and actually the surrounding components that block the ground operation of the freight robot need to be removed. The partition is not limited to the installation materials and styles in the storage shelf. To support the ground operation of the freight robot and complete the docking action, the bottom partition between adjacent columns of the storage shelf is removed to form the docking position 25 of the freight robot. It should be added that the bottom partition of the shelf includes the partition itself and the cross beam, so as to provide the activity space for the freight robot.

[0133] More specifically, the picking mechanism has: a suction mechanism 201 and / or a picking mechanism. The suction mechanism 201 and / or the picking mechanism (not shown) can be connected through the connecting mechanism 15 of the first task module, that is, the extension member of the suction mechanism 201 and / or the picking mechanism. The extension member can be a multi-segment robotic arm with degrees of freedom and is connected to the first movable member 13. Among them, the suction structure 201 can form contact with the goods through the generated suction force and maintain the contact until the goods 3 are placed into the docking component or docking box of the freight robot running at the bottom of the shelf, or taken out from the docking component and placed into the cargo box.

[0134] Reference Figure 12 , in this embodiment, the setting realizes that when the goods are sorted and / or stored and retrieved, the stored and retrieved goods can be transferred, sorted, and delivered to the destination storage position or sorting position, and the transportation position after sorting is completed through the docking of the freight robot 105.

[0135] In Figure 12 , the roadway where the freight robot 105 walks on the ground between two shelves is also shown.

[0136] Reference Figure 13 , in the case of , when the first task module 2 and / or the second task module 14 are both installed on the first horizontal track, the first column, and the first movable member, the connecting mechanism of the first task module and the connecting mechanism of the second task module can be integrally arranged to drive the first task module to sort the goods and drive the second task module to store the cargo box.

[0137] Reference Figure 14 , in another case, when the first task module and / or the second task module are both installed on the first horizontal track, the first column, and the first movable member, the connecting mechanism of the first task module and the connecting mechanism of the second task module are separately arranged and cooperate according to the current task.

[0138] When the task module is a cargo box storage and retrieval module, it at least includes: a supporting structure of the cargo box storage and retrieval module, such as a loading and unloading rack; and a conveying component of the cargo box storage and retrieval module, such as a conveying belt. Of course, the conveying belt needs to be driven by a conveying motor.

[0139] The rail transport device uses the storage and retrieval cargo box module to pull out the target cargo box at the target storage position of the target shelf, and the picking mechanism of the cargo picking device system picks the target cargo in the target cargo box, so that the cargo picking device drives the first task module to put the cargo into the docking assembly or docking box of the cargo robot running at the bottom of the shelf;

[0140] Alternatively, the picking mechanism of the cargo picking equipment system takes the target cargo out of the docking assembly or docking box of the cargo robot, the track transmission equipment uses the cargo box storage and retrieval module to pull out the target cargo box on the target storage position of the target shelf, and the picking mechanism puts the target cargo into the target cargo box;

[0141] The cargo box storage and retrieval module pushes the target cargo box back.

[0142] It should be noted here that the access module of the storage and access box task module 14 can realize the storage and access operations of cargo boxes that are densely arranged, adjacent or connected in the three-dimensional warehouse. For example, in the depth direction (y-axis), the access arm of the storage and access box task module can be used to realize the storage and access of one of the multiple cargo boxes.

[0143] In actual application, however, as mentioned above, the connecting mechanism of the task module is a basic structure that can be connected with different task modules. If it is other task modules, the connecting parts are set according to the specific functions of the task modules, but it is not limited to this.

[0144] It should be particularly noted that, in this embodiment, by modifying the bottom shelf layer of the shelf configuration, and cooperating with the cargo picking equipment 1, the freight robot 105, or the sorting robot (not shown), the problem of low efficiency in cargo transfer and sorting in existing shelf storage is fundamentally solved, and the application scenarios of the shelves are expanded, so that cargo warehousing, cargo transfer and cargo sorting are completed within the storage space, thereby greatly improving the storage space utilization, cargo entry and exit speed, and sorting efficiency of the existing shelf transmission system.

[0145] For the sake of full disclosure, the freight robot can select a freight robot or a sorting robot from a disclosed text: the freight robot performs path planning under the control of a server, or the freight robot performs autonomous path planning, and is provided with a plane-moving component and a docking component that supports the storage and placement of cargo boxes. In order to improve transportation efficiency, the freight robot can run directly on the ground directly below the shelf, and can cooperate with the storage shelf to remove the bottom partition. The goods are placed on the docking component of the freight robot under the drive of the movable parts of the task module. The freight robot can be a ground freight robot, a freight robot with a bracket or a retractable bracket, or a sorting robot. The above coordination enables cargo warehousing, cargo transshipment and cargo sorting to be completed within the storage space.

[0146] The above settings can all be used as disclosed in the present invention to not only accurately locate the position between the task module and the cargo box, but also greatly improve the storage space utilization, cargo entry and exit speed, and sorting efficiency of the existing transmission system.

[0147] refer to Figure 15 , showing a transmission system, the arrangement of the rail transmission equipment on the shelf also includes: a third column 33, the second task module 14 is arranged between the second column 21 and the third column 33 through a connecting mechanism; driving the second task module 14 to be positioned at the cargo position or docking position on the shelf 10.

[0148] In this embodiment, the rail transport device and the cargo picking device are respectively arranged on different columns. In a large-scale dense storage scenario, such as a warehouse storing more than 100,000 cargo boxes and a flow rate of 5,000 boxes / hour, the rail transport device and the cargo picking device can be installed on the same shelf in multiple units to meet the needs of large-volume orders. When the rail transport device and the cargo picking device system work together, take the order out of the warehouse as an example, the X cargo or a certain SKU (Stock Keeping Unit, i.e., the basic unit of inventory in and out measurement) of a certain A order needs to be out of the warehouse, and the rail transport device uses the second task module, i.e., the cargo box storage and retrieval module, to pull out the target cargo box at the target storage position of the target shelf so that the X cargo can be sucked by the suction mechanism 201 and / or the picking mechanism of the cargo picking device system. Before sucking, the identification module is required to identify the X cargo or a certain SKU, and the identification module can be set on the cargo picking device and / or the rail transport device. The identification module can be set on the cargo picking device and / or the rail transport device. The recognition module can be a monocular camera, a laser camera or a depth-of-field camera.

[0149] After the above picking process is completed, the identification module is used for precise positioning, and the goods picking device is used to place the X goods or a certain SKU indicated by the order on the docking position of the freight robot. The freight robot will drive to the next docking position or workstation.

[0150] In another embodiment, it includes one or more shelves. The structure and working principle of the shelves refer to Figures 11 to 15 , and the shelves can be configured with in-warehouse picking devices and / or track transfer devices. During operation, they are installed on one or more shelves, and can support independent operation under the control of a control chip and software instructions or coordinated operation with the warehouse management software built into the server side. At the same time, the one or more shelves can be ordinary shelves or precision shelves, and are not limited by the shelf height and ground flatness. In addition, the present invention also discloses a transmission system configured as Figure 16 the transmission system and multiple freight robots 105. On this basis, the efficiency of goods storage, transportation and sorting can be further improved, meeting the technical requirements for rapid transfer and transmission in various warehousing scenarios.

[0151] In summary, the transmission system provided by the embodiments of the present application is applied in a high-rise three-dimensional warehouse. In the shelves in the three-dimensional warehouse, by installing a task module on the shelf section, the task module is used to access several bin positions of adjacent shelf sections. The task module can be a picking task module or an access and transfer task module. The task module can cooperate with the horizontal track, sliding on the column, and extension module, so that in a high-rise warehouse, the warehousing task module can reach storage positions outside the current shelf section, thus supporting the fulfillment operations of the high-rise three-dimensional warehouse. Further, through the track transfer device, the storage box is accessed under the drive of the moving part and placed in the docking component or docking box of the freight robot running at the bottom of the shelf, or taken out from the docking component, so that the warehousing goods and storage boxes can be coordinated with the freight robot or sorting robot, enabling the smooth completion of goods warehousing, goods and storage box transfer, and goods and storage box sorting in the warehousing space. Thereby, the utilization rate of the warehousing space of the existing shelf transmission system is achieved, the complexity of deployment and maintenance of high-rise warehousing is reduced, and the deployment investment cost is greatly reduced.

[0152] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by orientation terms such as "front", "rear", "upper", "lower", "left", "right", "lateral", "vertical", "perpendicular", "horizontal", "top", "bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description. Without contrary explanation, these orientation terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present invention; the orientation terms "inner" and "outer" refer to the inside and outside relative to the contour of each component itself.

[0153] For ease of description, regional relative terms such as "above...", "over...", "on the upper surface of...", "upper...", etc. can be used here to describe the regional positional relationship between one or more components or features shown in the drawings and other components or features. It should be understood that the regional relative terms not only include the orientation of the components described in the drawings but also different orientations during use or operation. For example, if the components in the drawings are inverted as a whole, the component "above other components or features" or "over other components or features" will include the situation where the component is "below other components or structures" or "under other components or structures". Thus, the exemplary term "above..." can include both the orientation of "above..." and "below...". In addition, these components or features can also be positioned at other different angles (such as rotated 90 degrees or other angles), and this document intends to cover all such situations.

[0154] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, components, assemblies, and / or combinations thereof.

[0155] It should be noted that the terms "first", "second", etc. in the description, claims, and above-mentioned drawings of the present application are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here.

[0156] The present invention has been illustrated by the above embodiments. However, it should be understood that the above embodiments are only for the purpose of exemplification and illustration, and are not intended to limit the present invention to the scope of the described embodiments. In addition, those skilled in the art can understand that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of protection required by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalent scope.

Claims

1. A transmission system for storage shelves, characterized in that: The transmission system includes a plurality of transmission subsystems located at different heights, the plurality of transmission subsystems corresponding to a plurality of storage areas located at different heights of the storage rack, each of the transmission subsystems including: Shelf segments; and A task module, wherein the task module is movable on the shelf segment in an operating plane parallel to the access surface of the storage shelf, and is used to carry items in a corresponding storage area, wherein the items include cargo boxes and / or goods, wherein: At least one task module in each group of adjacent transmission subsystems in the height direction is also used to perform an item handover operation, wherein the item handover operation includes moving items from storage areas corresponding to adjacent transmission subsystems.

2. The transmission system according to claim 1, characterized in that: In each of at least one group of adjacent transport subsystems, adjacent task modules are configured to perform the item handover operation by transferring items between each other.

3. The transmission system according to claim 2, characterized in that: Each of the adjacent task modules comprises: Carrying mechanism; and A transport mechanism, the transport mechanism is used to transport items between the storage area of ​​the shelf and the carrying mechanism, wherein: When the adjacent task modules transfer objects to each other, the supporting mechanisms of the adjacent task modules are located at the same height, and the transport mechanism is also used to transfer objects between the supporting mechanisms of the adjacent task modules in a translational manner.

4. The transmission system according to claim 3, characterized in that: The carrying mechanism is rotatable in a horizontal plane, so that the carrying mechanism has a loading and unloading position and a handover position, wherein: The carrying mechanism has a docking end for docking with a storage area on the shelf, and when the carrying mechanism is in the loading and unloading position, the docking end faces the storage area on the shelf; and When the carrying mechanisms of the adjacent task modules are respectively in their respective handover positions, the butt ends of the carrying mechanisms of the adjacent task modules are opposite to each other.

5. The transmission system according to claim 1, characterized in that: In each of at least one set of adjacent transmission subsystems: The adjacent storage areas corresponding to the group have an overlapping area in the height direction, and the overlapping area has a transfer storage position. Adjacent task modules are all constructed to execute the item handover operation by performing a picking operation and a releasing operation on the transfer storage location.

6. The transmission system according to any one of claims 2 to 5, characterized in that: In the at least one set of adjacent transmission subsystems: Adjacent shelf segments of adjacent transport subsystems have overlapping portions along the height direction; The adjacent task modules on the adjacent shelf segments perform the task handover operation on the overlapping portion.

7. The transmission system according to claim 6, characterized in that: At least one of the adjacent shelf segments has an adjustable height dimension to form the overlapping portion; and / or The dimensions of the adjacent shelf segments in the height direction are not adjustable, and the adjacent shelf segments are completely staggered along a direction perpendicular to the access surface.

8. The transmission system according to claim 7, characterized in that: The shelf segment comprises: a transverse track extending in a horizontal direction parallel to the operating plane; and A column, the column is connected to the transverse track and can slide along the transverse track, the task module is connected to the column and can slide along the column, wherein: The bottom end of the column of the upper shelf section among the adjacent shelf sections comprises a first extension module, and the first extension module has a first retracted position and a first extended position, wherein: when the first extension module is in the first retracted position, the first extension module is spaced apart from the top end of the column of the lower shelf section among the adjacent shelf sections in the height direction; and when the first extension module is in the first extended position, the first extension module extends below the top end of the column of the lower shelf section among the adjacent shelf sections to form the overlapping portion; and / or The top end of the column of the lower shelf section among the adjacent shelf sections includes a second extension module, and the second extension module has a second retracted position and a second extended position, wherein: the second extension module is in the second retracted position, and the second extension module is spaced apart from the bottom end of the column of the upper shelf section among the adjacent shelf sections in the height direction; and the second extension module is in the second extended position, and the second extension module extends above the bottom end of the column of the upper shelf section among the adjacent shelf sections to form the overlapping portion.

9. The transmission system according to any one of claims 1 to 5, characterized in that: Each group of at least one adjacent transport subsystem is located on shelves on both sides of the same aisle; and / or Each group of at least one adjacent transmission subsystem is located on a shelf on the same side of the same aisle.

10. The transmission system according to any one of claims 1 to 5, characterized in that: At least one of the task modules of the plurality of transport subsystems is a picking task module; and / or At least one of the task modules of the plurality of transmission subsystems is an access transmission task module.

11. The transmission system according to claim 10, characterized in that: The task module of the bottom transmission subsystem in the multiple transmission subsystems is a picking task module. The task modules of other transmission subsystems in the multiple transmission subsystems are access transmission task modules.

12. A transmission system for storage shelves, characterized in that: The transmission system includes a first transmission subsystem, the first transmission subsystem corresponds to the first storage area of ​​the storage shelf, and the first transmission subsystem includes: a first shelf segment; and A first task module, the first task module is movable on the first shelf segment in an operation plane parallel to the access surface of the storage shelf, and is used to carry items in the first storage area, wherein: The first task module is also used to move items in the first storage area to the top storage position of the second storage area, and / or hand over items in the first storage area to the second task module corresponding to the second storage area, and the first storage area is higher than the second storage area.

13. The transmission system according to claim 12, characterized in that: The first shelf segment comprises: a first transverse rail extending in a horizontal direction parallel to the operating plane; and a first column, the first column is connected to the first transverse track and is slidable along the first transverse track, the first task module is connected to the first column and is slidable along the first column, wherein: The bottom end of the first column includes a first extension module, and the first extension module has a first retracted position and a first extended position, wherein: the first extension module is in the first retracted position, and the first extension module is located above the second storage area; and the first extension module is in the first extended position, and the first extension module extends to the top storage position of the second storage area, so that the first task module can slide onto the first extension module and move the items to the top storage position.

14. A transmission system, characterized in that: Used in a stereoscopic warehouse, the stereoscopic warehouse comprises at least a plurality of rows of shelves, the shelves comprising: a first shelf section and a second shelf section, the shelves are provided with multiple layers of storage space, and cargo boxes are placed in the storage positions of the storage space; The first shelf section and the second shelf section may be located on the same shelf, or may be located on shelves on both sides of the same aisle; The first shelf segment and the second shelf segment may be equipped with task modules, wherein at least one of the task modules is used to access a number of bins in an adjacent shelf segment; The task module may be a picking task module or an access and transmission task module.

15. The transmission system according to claim 14, characterized in that The setting of the adjacent shelf segments is specifically implemented as follows: For two shelf segments in the z-axis direction of the same shelf, the height direction of the shelf is recorded as the z-axis; or, There are two shelf sections on both sides of the aisle in the y-axis direction, and the aisle direction of the multiple rows of shelves is recorded as the x-axis, and the direction perpendicular to the x-axis in the horizontal plane is recorded as the y-axis.

16. The transmission system according to claim 14, characterized in that Also includes: An extension module is slidably mounted on a movable part of the task module so that the task module can be extended in height direction to access more bins in an adjacent shelf segment.

17. The transmission system according to claim 16, characterized in that The extension module is one or more laminated sliders, and the extension distance is obtained by lamination.

18. The transmission system according to any one of claims 14 to 17, characterized in that: Access to several boxes in adjacent shelf sections is achieved through track transmission equipment. The track transmission equipment includes: a transverse track, a column, a movable part, and a connecting mechanism of the second task module; When the task module is a cargo box storage and retrieval module, the connection mechanism of the second task module is provided with: a support structure for supporting the cargo box module; and A conveyor assembly for storing and retrieving cargo box modules; The first shelf section and the second shelf section may be equipped with task modules, wherein at least one of the task modules may access several box locations of an adjacent shelf section, which is specifically implemented as follows: a cargo box storage and retrieval module of a track transmission device installed on the first shelf section may access one or more storage locations at the end of the second shelf section in the z-axis direction, or may access one or more storage locations of the second shelf section in the y-axis direction. The aisle direction of the multiple-column shelves is denoted as the x-axis, and the direction perpendicular to the x-axis in the horizontal plane is denoted as the y-axis.

19. The transmission system according to any one of claims 14 to 17, characterized in that: The cargo picking device is used to place the cargo into the docking assembly or docking box of the cargo robot running at the bottom of the shelf, or to take the cargo out of the docking assembly or docking box and place it into the cargo box; the arrangement of the cargo picking device on the shelf is specifically implemented as follows: The connection mechanism of the transverse track, the column, the movable part and the first task module, wherein: The transverse track is on the shelf; The upright post is vertically arranged on the transverse track and can slide transversely; The movable member is arranged on the column and can slide along the column; The connecting mechanism of the first task module is arranged on the movable part.

20. An intelligent three-dimensional storage system, characterized in that: include: Storage racks; as well as One or more transmission systems according to any one of claims 1-19.

21. The intelligent three-dimensional storage system according to claim 20, characterized in that: A freight robot and / or a load handling device is arranged on the top of the storage shelf. The load handling device is arranged in conjunction with a lifting device. The lifting device is used to grab items. The load handling device is arranged to move on the top of the storage shelf and is used to lift and move items in the storage shelf. The load handling device includes: a receiving space component for accommodating the item; and A lifting assembly is configured to raise and lower the lifting device relative to the receiving space assembly.

22. The intelligent three-dimensional storage system according to claim 20, characterized in that: A ground freight robot AGV walking surface can be deployed on the top of the storage shelf, and / or a first group of parallel tracks and a second group of parallel tracks can be arranged, wherein the second group of parallel tracks extends transversely to the first group of parallel tracks on a basically horizontal plane to form a grid structure containing multiple grid spaces.

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