Transmission system and intelligent three-dimensional warehousing system with same

Abstract

The invention provides a transmission system and an intelligent three-dimensional warehousing system. The transmission system comprises a carrying layer and track transmission equipment. And the carrying layer is used for the storage shelf and is higher than the ground. The track transmission equipment comprises a transverse track, a stand column and a task module. The transverse track horizontally extends along the performance operation surface of the storage shelf; the stand column is vertically arranged on the transverse rail and can slide along the transverse rail. The task module is arranged on the stand column and can slide along the stand column; the task module is used for carrying out article storing and taking operation on the storage shelf and carrying out article handover operation with the load processing equipment of the carrying layer, and articles comprise containers and / or goods. The carrying layer is arranged in the middle and / or at the top of the storage shelf, so that the space in the air can be utilized, and the processing efficiency of the storage system can be improved. As the storage shelf occupies the space of the ground layer, compared with the prior art, the space of the carrying layer can be wider, too many obstacles do not exist, and structures such as rails can be conveniently arranged.

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 stereoscopic warehousing system having the transmission 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 multi-layer warehousing 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 item loading and unloading efficiency of the warehousing system, most warehousing systems are equipped with automated robots. These robots can include freight robots walking on the ground floor, or can include loading and unloading robots installed on the warehousing shelves.

[0004] Since the warehousing shelves are installed on the ground floor, there are many obstacles on the ground floor. When planning the walking path of the freight robot, the logic is relatively complex. Moreover, the obstacles on the ground and the working freight robots will affect the activities of personnel, and vice versa, the personnel activities will also affect the freight robots, resulting in a reduction in the efficiency of the warehousing system. Summary of the Invention

[0005] 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, including: a handling layer for the warehousing shelf, and the handling layer is higher than the ground; and a rail transmission device, which includes a transverse rail, a column, and a task module. The transverse rail extends horizontally along the fulfillment operation surface of the warehousing shelf; the column is vertically arranged on the transverse rail and is slidable along the transverse rail; the task module is arranged on the column and is slidable along the column; the task module is used for performing item access operations on the warehousing shelf and performing item handover operations with the load handling device on the handling layer, and the items include containers and / or goods.

[0006] Exemplarily, the task module can move to a predetermined position directly below the handling layer, and the load handling device includes a lifting component for lifting the items on the task module directly below the predetermined position to the handling layer, or lowering the items on the handling layer to the task module directly below the predetermined position.

[0007] Exemplarily, the load handling device further includes a handling component that can move on the handling layer, and the lifting component is arranged on the handling component.

[0008] Exemplarily, the load handling device further includes a receiving space component for accommodating items, the receiving space component is arranged on the handling component, and the lifting component is used for lifting the items into the receiving space component.

[0009] Exemplarily, the lifting assembly is arranged around a predetermined position. The load handling device further includes a freight robot that can move on the handling layer. The lifting assembly is further configured to place the items thereon on the freight robot or pick up items from the freight robot.

[0010] Exemplarily, the task module can slide along the column to the handling layer.

[0011] Exemplarily, the load handling device further includes a freight robot, and the freight robot directly performs handover operations with the task module that has slid to the handling layer.

[0012] Exemplarily, the handling layer is used to be installed in the middle of the end face of the storage rack, and the end face is perpendicular to the fulfillment operation surface.

[0013] Exemplarily, the task module is further configured to perform item handover operations with the ground freight robot operating on the ground layer.

[0014] Exemplarily, the transmission system includes multiple rows of storage racks. The multiple rows of storage racks are spaced apart to form aisles. The fulfillment operation surface is the side of the storage rack facing the aisle. A passage for the ground freight robot to move is provided below the multiple rows of storage racks, and the passage is connected to the aisle.

[0015] Exemplarily, the handling layer includes a plurality of openings arranged in a grid. The task module can move to directly below at least one of the plurality of openings to perform item handover operations with the load handling device on the handling layer via the openings.

[0016] Exemplarily, the handling layer is provided with tracks for the load handling device and / or the freight robot to move. The tracks include a first set of parallel tracks parallel to the transverse track and a second set of parallel tracks perpendicular to the first set of parallel tracks. The plurality of openings are located at the intersection of the first set of parallel tracks and the second set of parallel tracks.

[0017] Exemplarily, the load handling device further includes a task picking component, and the task picking component is configured to: pick items on the task module to complete item handover operations; and / or pick items on the load handling device.

[0018] Exemplarily, the handling layer has one or more of the following structures: the handling layer is formed by the top surface of the storage rack; the handling layer is arranged above the storage rack; and the handling layer is arranged in the middle of the storage rack.

[0019] The present application also provides a transmission system based on warehousing, which is applied to a stereoscopic warehouse. The stereoscopic warehouse is provided with multiple rows and multiple layers of storage shelves. The storage shelves are provided with multiple layers of storage spaces, and storage boxes are placed in the storage positions of the storage spaces. A track transmission device is installed on the storage shelves. The device includes: a transverse track, a first column, a first movable member, and a connection mechanism of the task module. Among them: the transverse track is on the shelf; the first column is vertically arranged on the transverse track and can slide horizontally; the first movable member is arranged on the first column and can slide along the first column; a connection mechanism of the task module is arranged on the first movable member; the task module stores and retrieves storage boxes and / or goods under the drive of the first movable member, and places them into or takes them out from the connection component of the storage box robot running at the bottom and / or top of the storage shelf; a space for the freight robot to travel is provided below the shelf; the task module of the track transmission device can extend from the top of the stereoscopic warehouse.

[0020] Exemplarily, track transmission devices are arranged on the fulfillment operation surfaces of the storage shelves.

[0021] Exemplarily, an opening is provided at the top of the stereoscopic warehouse, and the shape of the opening matches that of the task module to provide the task module to extend for fulfillment connection actions.

[0022] Exemplarily, the stereoscopic warehouse can be disassembled or is a mobile stereoscopic warehouse.

[0023] Exemplarily, the specific implementation of providing an opening at the top of the stereoscopic warehouse is as follows: the task module extends through the opening provided at the top of the stereoscopic warehouse, stores and retrieves storage boxes under the drive of the first movable member, and places them into the connection component of the freight robot running at the top of the storage shelf at the opening.

[0024] Exemplarily, the task module includes a goods picking device, and the goods picking device places the goods into or takes them out from the connection component or connection box of the freight robot running at the bottom of the shelf and places them into the storage box.

[0025] Exemplarily, the track transmission device further includes: a second column and a second movable member. The second column is vertically arranged on the transverse track and can slide horizontally; the second movable member is arranged on the second column and can slide along the second column; a connection mechanism of the second task module is arranged on the second movable member.

[0026] Exemplarily, a load handling device is provided at the top of the stereoscopic warehouse. The load handling device is configured to move at the top of the stereoscopic warehouse and is used to lift and move the storage boxes or goods in the stereoscopic warehouse. The load handling device includes: a lifting component; and a receiving space component for accommodating the storage boxes or goods. The lifting component is configured to grab the storage boxes or goods and lift and lower the lifting device relative to the receiving space component.

[0027] Exemplarily, a walking surface for a freight robot AGV can be deployed on the top of the stereoscopic warehouse.

[0028] Exemplarily, a first set of parallel tracks and a second set of parallel tracks are arranged on the top of the stereoscopic warehouse. The second set of parallel tracks extends transversely to the first set of parallel tracks, forming a grid structure including a plurality of grid spaces.

[0029] This application also provides an intelligent stereoscopic warehousing system, including: a warehousing shelf; and the above-mentioned transmission system.

[0030] In the embodiments provided by this application, by setting up handling layers in the middle and / or on the top of the warehousing shelf, the air space can be utilized, thereby improving the processing efficiency of the warehousing system. For example, freight robots and / or load handling devices can be arranged on both the ground layer and the handling layer. Alternatively, optionally, the number of freight robots on the ground layer can be reduced, or the ground layer can be without freight robots, thus leaving enough ground space, which can reduce the path planning difficulty for the freight robots walking on the ground. The sufficient ground space also facilitates the movement of personnel on the ground layer. Since the warehousing shelf occupies the space on the ground layer, in contrast, the space on the handling layer can be relatively open without too many obstacles, and it is also convenient to set up structures such as tracks.

[0031] A series of simplified concepts are introduced in the summary of the invention, which will be further described in detail in the detailed implementation section. 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 protection scope of the claimed technical solution.

[0032] The following will, with reference to the accompanying drawings, elaborate on the advantages and features of the present invention in detail. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The following drawings of the present invention are part of the present invention for understanding the present invention. The embodiments and descriptions of the present invention shown in the drawings are used to explain the principles of the present invention. In the drawings,

[0034] Figure 1 is a schematic diagram of the warehousing shelf in the embodiment of this application;

[0035] Figure 2 is a schematic diagram of the freight robot in the embodiment of this application;

[0036] Figure 3 is a top view schematic diagram of the warehousing-based transmission system in the embodiment of this application;

[0037] Figure 4 is a side view schematic diagram of the warehousing-based transmission system in the embodiment of this application;

[0038] Figure 5 Schematic diagram of the track transmission device of the transmission system in the embodiment of the present application;

[0039] Figure 6 Schematic diagram of the handling layer of the transmission system in the embodiment of the present application;

[0040] Figure 7 Side view schematic diagram of the storage-based transmission system in the embodiment of the present application;

[0041] Figure 8 Schematic diagram of the structure of the storage-based track transmission device in the embodiment of the present application;

[0042] Figure 9 Schematic diagram of the structure of the storage-based track transmission device in the embodiment of the present application;

[0043] Figure 10 Schematic diagram of the structure of the storage-based track transmission device in the embodiment of the present application;

[0044] Figure 11 Partial schematic diagram of the storage rack in the embodiment of the present application;

[0045] Figure 12 Schematic diagram of the goods picking device in the embodiment of the present application;

[0046] Figure 13 Schematic diagram of the structure of the storage-based transmission system in the embodiment of the present application;

[0047] Figure 14 Schematic diagram of the structure of the storage-based transmission system in the embodiment of the present application;

[0048] Figure 15 Schematic diagram of the structure of the storage-based transmission system in the embodiment of the present application;

[0049] Figure 16 Schematic diagram of the structure of the storage-based transmission system in the embodiment of the present application;

[0050] Figure 17 Schematic diagram of the structure of the intelligent three-dimensional storage transmission system in the embodiment of the present application. Detailed implementation manners

[0051] 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.

[0052] In order to fully 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, but in addition to these detailed descriptions, the present invention may also have other embodiments.

[0053] The embodiment of the present application provides a transmission system for storage shelves, which can greatly improve the utilization rate of existing storage shelves and the speed of goods entering and exiting, and effectively reduce the deployment cost. Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0054] In some embodiments, the transmission system provided by the present application can be used for a three-dimensional shelf. In other embodiments, the transmission system can be used for multiple storage shelves arranged at intervals. Lanes are formed between adjacent storage shelves, and freight robots, forklifts or personnel can walk in the lanes. On this basis, the coordinate system in the present invention is clarified: the lane direction of the multi-row shelf is recorded as the x-axis, the direction perpendicular to the x-axis in the horizontal plane is recorded as the y-axis, and the height direction of the shelf is recorded as the z-axis.

[0055] The articles described herein may include goods stored in original packaging boxes, goods stored separately, or goods placed in a unified container, and may also include containers for containing goods, such as the above-mentioned containers. In some embodiments, empty containers may be stored on storage shelves. In some embodiments mentioned below with cargo picking equipment, empty containers may be used to receive scattered goods picked by the cargo picking equipment. Figure 1 As shown, optionally, each layer of storage space 101 can place items side by side along the x-axis direction, while only one row of items can be placed in each layer of storage space 101 in the y-direction. In other words, in the x-direction, each layer of storage space 101 can include multiple storage locations 103, while only one storage location 103 can be included in the y-direction. Optionally, two or more rows of items can also be placed along the y-direction. The track transmission equipment can extend into the shelf along the y-direction to pick up and place items, or after taking away the outermost layer of items, the items in the inner layer can be replenished to the outermost layer. The track transmission equipment can be generally arranged in the alley, and items can be deposited into the storage shelf from the side where the alley is located, or items can be taken out from it. The surface of the storage shelf used for storing and retrieving items is the fulfillment operation surface, and the fulfillment operation surface can be perpendicular to the y-direction. And optionally, adjacent storage shelves can have relative fulfillment operation surfaces. Figure 1 The storage racks are shown from the fulfillment operation side.

[0056] Figure 1The structure diagram of a storage rack is shown. As shown in the figure, the transmission 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. Horizontally, the rack may be supported by partitions 102 for the items 104.

[0057] 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 row, the adjacent storage racks 10 may share columns. This can save space and reduce costs.

[0058] Reference Figure 2 , the transmission system may further include multiple freight robots 105, which can connect to items. As an implementable embodiment, the freight robot may be an AGV, that is, Automated Guided Vehicle, usually also called an AGV cart; or an AMR, that is, Autonomous Mobile Robot. The specific form is not limited, and reference can be made to Figure 2 the illustration. The transmission system provided by the present application can be used for storage racks in various types of stereoscopic warehouses, including but not limited to standard warehouses, intensive stereoscopic warehouses, high-rise stereoscopic warehouses, customized stereoscopic warehouses, or container units.

[0059] The transmission system for a storage rack provided by the present application may include a handling layer. The handling layer 18 is for the storage rack 10 and is higher than the ground. Figure 3 and Figure 4In the illustrated embodiment, the handling layer 18 may be disposed above the storage rack 10. The handling layer 18 may be provided with load handling equipment for handling articles on the handling layer 18. Specifically, the handling layer 18 may be formed by a structure installed above the storage rack 10. Optionally, the handling layer 18 may use a laminate as the floor for the load handling equipment to travel on. Optionally, the handling layer 18 may be configured as a frame structure, and tracks for the load handling equipment to travel on are provided on the frame structure; alternatively, the frame structure itself is configured as a track for the load handling equipment to travel on. Exemplarily, the handling layer 18 may be formed by the top surface of the storage rack 10. Exemplarily, the handling layer 18 may also be disposed at any height above the storage rack 10. Exemplarily, the handling layer 18 may also be disposed in the middle of the storage rack 10. The middle of the storage rack 10 does not only refer to the exact middle of the storage rack, but may refer to any suitable height of the storage rack 10 above the ground. The suitable height means that when the handling layer 18 is disposed at this height, there is sufficient height between its lower part and the ground for the freight robot and the staff to walk and work. For the handling layer 18 disposed in the middle of the storage rack 10, optionally, the handling layer 18 may be disposed around the storage rack 10, or only on one side or multiple sides of the storage rack 10. Optionally, in the embodiment where the handling layer 18 is disposed in the middle of the storage rack 10, the handling layer 18 may also extend into the aisle between adjacent storage racks 10. In some embodiments, one or more layers in the middle of the storage rack 10 may also be set to have no storage space 101 or have less storage space 101 for arranging the handling layer 18. In some embodiments, the handling layer 18 may also be disposed both in the middle and above the storage rack 10. For a transmission system with a relatively high storage rack 10, there may be more than one handling layer 18 disposed in the middle of the storage rack 10.

[0060] As Figure 5 shown, the transmission system may further include a rail transmission device. The rail transmission device may include a lateral rail 11, a column 12, and a task module 14, where: the lateral rail 11 extends horizontally along the fulfillment operation surface of the storage rack 10; the column 12 is vertically disposed on the lateral rail 11 and is slidable along the lateral rail 11. The task module 14 is disposed on the column 12 and is slidable along the column 12; the task module 14 is used to perform article access operations on the storage rack 10 and perform article handover operations with the load handling equipment on the handling layer 18.

[0061] Optionally, there may be one or more lateral rails. When there are multiple lateral rails, the multiple lateral rails may be spaced apart, as shown in Figure 9 and Figure 10 which shows the case of setting two lateral rails 11 and 31. There may also be one or more columns. When there are multiple columns, the multiple columns may be spaced apart, as shown inFigures 8 to 10 , which shows the situation where two columns 12 and 21 are provided. Optionally, one transverse rail can cooperate with one or more columns; optionally, multiple transverse rails can also cooperate with one column. Or multiple transverse rails cooperate with multiple columns. Optionally, a transmission mechanism including, for example, a synchronous belt, a chain, a motor, etc. can be provided on the transverse rail and the column, so as to drive the column to slide on the transverse rail 11 and drive the task module 14 to slide on the column. Optionally, the task module 14 can be configured to take out an item from the storage rack 10 or place an item on the storage rack 10 by means of a push-pull mechanism, a clamping mechanism, a vacuum chuck, an electromagnetic chuck, etc.

[0062] In the embodiment provided by the present application, by providing a handling layer 18 in the middle and / or at the top of the storage rack, the air space can be utilized, thereby improving the processing efficiency of the storage system. For example, freight robots and / or load handling devices can be arranged on both the ground layer and the handling layer 18. Or, optionally, the number of freight robots on the ground layer can be reduced, or the ground layer can be provided without freight robots, so as to leave enough ground space, which can reduce the path planning difficulty of the freight robots walking on the ground. The sufficient ground space also facilitates the movement of personnel on the ground layer. Since the storage rack 10 occupies the space on the ground layer, in contrast, the space of the handling layer 18 can be relatively open, without too many obstacles, and it is also convenient to set up structures such as tracks.

[0063] Exemplarily, refer to Figure 3 and Figure 4 , the task module 14 can be moved to a predetermined position directly below the handling layer 18. The load handling device can include a lifting assembly, and the lifting assembly is used to lift the item on the task module 14 located directly below the predetermined position to the handling layer 18 or lower the item on the handling layer 18 to the task module 14 located directly below the predetermined position. Taking the embodiment where the handling layer 18 is above the storage rack 10 as an example, optionally, the lifting assembly can be fixed on the handling layer 18. Exemplarily, the lifting assembly can be provided around the predetermined position. In this case, the load handling device can further include a freight robot 1053 that can move on the handling layer 18. The lifting assembly is also used to place the item thereon on the freight robot 1053 or pick up the item from the freight robot 1053.

[0064] For the sake of distinction, this type of load handling device can be called the first type of load handling device. The task module can take down the item from the storage rack 10 and place it on the lifting assembly or the lifting assembly can pick up the item from the task module 14. Subsequently, the lifting assembly can lift the item to the height of the handling layer 18 and transfer it to the freight robot. The freight robot transports it on the handling layer 18. Optionally, the lifting assembly can include one or more of a lifting platform, a crane, an electric hoist, etc.

[0065] Exemplarily, the load handling device may further include a handling component that is movable on the handling layer 18, and a lifting component may be provided on the handling component. For Figure 3 and Figure 4 the illustrated embodiment, the load handling device may use the lifting component thereon to receive the articles of the task module and transport the articles lifted to the handling layer 18 to the target location. The load handling device 1051 may have a lifting component and a handling component. Thus, the load handling device 1051 may use a lifting component such as a hook to lift the articles from the task module 14 to the handling layer 18 and make the bottom surface of the articles higher than the ground of the handling layer 18. Subsequently, the load handling device 1051 may walk on the ground of the handling layer 18 with the articles hanging. In this way, it is not necessary to provide a fixed lifting component for each storage rack 10. Only when the articles of a certain storage rack 10 need to be transported to the handling layer 18, the load handling device provided with the lifting component walks to the corresponding position to receive the articles. The load handling device 1051 may be referred to as a second type of load handling device.

[0066] Exemplarily, the load handling device may further include a receiving space component 1052a for accommodating articles, such as a third type of load handling device 1052, as Figure 6 illustrated. The receiving space component 1052a may be provided on the handling component, and the lifting component is used to lift the articles into the receiving space component 1052a. As shown in the figure, a lifting component such as a hook may be provided on the upper part of the receiving space component 1052a, and the articles may be lifted from the task module 14 into the receiving space component 1052a. After the articles are accommodated in the receiving space component 1052a, the bottom surface of the articles may be higher than the ground of the handling layer 18, and the lifting component of the load handling device 1052 may lift and transport the articles in the receiving space component 1052a inside it.

[0067] In addition to directly handling items on the handling layer 18 or directly transferring items to the freight robot 1053, the load handling device can indirectly transfer items to the freight robot 1053. For indirect transfer, for example: a support plane can be provided on the handling layer 18. The lifting component of the load handling device can lift and place the item on the support plane, and then the freight robot 1053 transports the item from the support plane onto it. Optionally, the load handling device 1051 can lift and place the item on the support plane, and the freight robot 1053 goes to the support plane to transport the item after the load handling device 1051 leaves. In this case, the support plane can be provided with a mechanism such as a push-pull mechanism that can transfer the item to the freight robot 1053, or a driving-in space is provided, and the freight robot 1053 can walk into the driving-in space and lift the freight on its back. Optionally, any form of transfer mechanism is provided on the freight robot, which can transfer the item from the support platform onto it.

[0068] Exemplarily, referring to Figure 4 , the task module 14 can slide along the column to the handling layer 18. Thus, items can be transferred to the handling layer 18 without using the lifting component. In an embodiment where the load handling device includes a freight robot, the freight robot can directly perform a handover operation with the task module 14 that slides to the handling layer 18. This can significantly reduce the time required for handover. This solution is particularly applicable to the embodiment where the handling layer 18 is in the middle of the storage rack 10.

[0069] Exemplarily, the task module 14 is further configured to perform an item handover operation with a ground freight robot running on the ground floor. Taking an exemplary task module 14 as an example, the task module 14 may have a carrying surface and a handling mechanism. The handling mechanism can handle items in the y direction perpendicular to the fulfillment operation surface, so as to handle the items between the carrying surface and the storage position of the storage rack 10. When handing over items with the ground freight robot, the carrying surface of the task module 14 can be flush with the carrying surface of the ground freight robot, and the handling mechanism transfers the items on the carrying surface of the task module 14 to the carrying surface of the ground freight robot. Alternatively, the handling mechanism can transfer the items on the carrying surface of the ground freight robot to the carrying surface of the task module 14. In the case where the handling mechanism can only transfer items in the y direction, the ground freight robot can dock on the side of the task module 14 facing away from the fulfillment operation surface, or as described below, when there is space under the storage rack 10, it can dock under the storage rack 10. In some embodiments, the carrying surface of the task module 14 can rotate 90 degrees, so that the ground freight robot can dock along the x direction on the side of the task module 14. After the carrying surface of the task module 14 rotates, the handling mechanism that changes the transfer direction along with the carrying surface transfers the items to the ground freight robot. In an embodiment not shown, the carrying surface of the task module 14 does not need to be flush with the ground freight robot, and the items can also be placed on the ground freight robot.

[0070] The above solution is a direct handover solution. In some other embodiments, the task module 14 can also place the items on the handling layer 18, and the freight robot and / or load handling device on the handling layer 18 can transfer the items to the target position by itself.

[0071] Figure 7 An embodiment is shown in which the handling layer 18 is provided in the middle of the storage rack 10. As shown in the figure, the handling layer 18 can be installed in the middle of the end face of the storage rack 10. The end face of the storage rack 10 refers to the surface perpendicular to the length direction of the storage rack 10. The end face of the storage rack 10 is perpendicular to the fulfillment operation surface. Optionally, a storage rack, for example, lower than the storage rack 10, can be provided directly below the handling layer 18. In some embodiments, the handling layer 18 can extend to the building main body adjacent to the storage rack 10. For example, it can be connected to the wall of the building to form a structure similar to a balcony. Optionally, the handling layer 18 can be connected to the floor of the building, and manual sorting, automatic sorting, packing stations, etc. can be provided on this floor of the building. Optionally, the handling layer 18 can also extend a short distance only from the main body of the storage rack 10, and only allows freight robots to walk in a single row or side by side on it. Since the task module 14 can reach the shelf area near the end face to pick up and place items. In this area, the task module 14 is relatively close to the handling layer 18. As Figure 7As shown, when the freight robot 1053 is at the handling layer 18, in the transfer system of some embodiments, the task module 14 can directly transfer the item onto the freight robot 1053 or obtain the item from the freight robot 1053. In the transfer system of other embodiments, the task module 14 can rotate 90 degrees and then dock with the freight robot 1053, and then transfer the item onto the freight robot 1053 or transfer the item from the freight robot 1053 to the task module 14. In short, this makes the height of the handling layer 18 lower relative to the handling layer 18 provided at the top of the storage rack 10, and the cooperation with the task module 14 is simpler without a lifting mechanism.

[0072] Optionally, the handling layer 18 located in the middle can be provided with a platform extending into the aisle. The freight robot can walk onto the platform, and the task module 14 can directly hand over the item to the freight robot. When the task module 14 moves along the fulfillment operation surface, it will not touch the platform. When handing over the item to the freight robot on the platform, the task module 14 can directly transfer the item to the freight robot through, for example, a push-pull mechanism, or extend horizontally above the platform to hand over the item to the freight robot.

[0073] As described above, multiple columns of storage racks 10 spaced apart can form aisles. The fulfillment operation surface is the side of the storage rack 10 facing the aisle. Exemplarily, a passage for the ground freight robot to walk is provided below multiple columns of storage racks 10, and the passage is connected to the aisle. Thus, the freight robot has more routes to walk on the ground. In the embodiment where the task module 14 can only pick up and place items facing the storage rack 10, the freight robot can walk below the storage rack 10, and the task module 14 can thus place the item on the freight robot. In addition, when the freight robot receives the item, it will not block the aisle.

[0074] Exemplarily, the handling layer 18 can include a plurality of openings arranged in a grid. The task module 14 can move to directly below at least one of the plurality of openings to perform item handover operations with the load handling device of the handling layer 18 via the openings. In this case, each task module 14 can go to directly below one of the plurality of openings nearby. Thus, in the case of needing to hand over items to the handling layer 18, multiple task modules 14 can simultaneously hand over items with the load handling device above the openings through the plurality of openings. Each task module 14 may also not need to walk a long path to reach directly below the opening, thereby reducing the requirements for the track transfer device and shortening the time for handing over items.

[0075] Exemplarily, the handling layer 18 may be provided with tracks for the load handling device to travel on. The tracks include a first set of parallel tracks parallel to the transverse track 11 and a second set of parallel tracks perpendicular to the first set of parallel tracks. A plurality of openings are located at the intersections of the first set of parallel tracks and the second set of parallel tracks. One opening may be provided at each intersection. The opening may be located both between the first set of parallel tracks and between the second set of parallel tracks. The tracks can guide the travel of the load handling device, such that the load handling device only needs to perform precise positioning in one direction when traveling, thereby reducing the cost of the load handling device. Moreover, it is possible to more conveniently position the load handling device relative to the opening. Optionally, the tracks may be arranged to span the opening, such that the load handling device can travel above the opening without falling through the opening. Optionally, the tracks provided on the handling layer 18 may be for the cargo robot to travel on. Or the tracks on the handling layer 18 can be for both the load handling device and the cargo robot to travel on.

[0076] Exemplarily, the load handling device may further include a task picking component for picking items on the task module 14 to complete the item handover operation. In some embodiments, the task picking component can directly pick the goods on the task module 14, and the picked goods can be temporarily stored in the load handling device and transported by the load handling device to the target area. Optionally, the load handling device can transport an empty cargo box and place the picked goods from the goods transported from the task module 14 into the transported empty cargo box; or the load handling device can transport the goods and pick the goods, and place the picked goods into the empty cargo box transported by the task module 14. In some embodiments, the load handling device can travel on the handling surface when picking the items thereon.

[0077] As described above, the top of the three-dimensional warehouse may be provided with a cargo robot and / or a load handling device. In some embodiments, the load handling device is arranged in cooperation with a lifting component for grasping and lifting the item. Optionally, the load handling device is arranged to be movable on the top of the three-dimensional warehouse and is used for lifting and transporting the items in the three-dimensional warehouse. In some embodiments, the load handling device may further include a receiving space component for accommodating the item. The lifting component is configured to lift and lower the item relative to the receiving space component.

[0078] The top of the three-dimensional warehouse may deploy a walking surface for the cargo robot AGV, and / or, arrange based on the first set of parallel tracks and the second set of parallel tracks, the second set of parallel tracks extending transversely to the first set on a substantially horizontal plane to form a grid structure including a plurality of grid spaces.

[0079] In addition, the freight robot is a warehousing robot, including: a mobile base, a vertical frame disposed on the mobile base, and a storage and retrieval device disposed on the frame and capable of vertical lifting, that is, a load-carrying robot with a high vertical frame that can move.

[0080] Reference Figures 3 - 4 , the top of the stereoscopic warehouse can be configured as a handling layer 18, on which an opening 5 can be provided. Optionally, the handling layer 18 can be deployed as the walking surface of the freight robot 105. Optionally, the handling layer 18 can also be provided 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 on a substantially horizontal plane, forming a grid structure including a plurality of grid spaces. The opening 5 provided at the top of the stereoscopic warehouse can be a grid unit in the grid structure. The walking surface can be referred to as the upper platform of the warehouse, and the specific form of the walking surface is not limited as an embodiment.

[0081] Reference Figure 4 , the handling layer 18 is provided with an opening 5, and the shape of the opening 5 can match the task module 14.

[0082] Reference Figure 5 , for the sake of clarity of illustration and sufficiency of disclosure, in the present invention, reference Figure 5 is used to illustrate the structure of the track transmission device in the transmission system. However, it should be noted that in different transmission systems, different transmission devices can be adapted to complete Figures 3 - 4 the technical solution. Therefore, the transmission device disclosed in the present invention does not limit the scope of the invention. As an example, the track transmission device disclosed in the present invention includes: a transverse track 11, a first column 12, a first movable member 13, and a connection mechanism for the task module 14, where:

[0083] It should be noted that the transverse track 11 can be provided on the cross beam or column of the storage rack 10. In some embodiments, the transverse track 11 can be formed by the cross beam of the storage rack 10 itself. In other embodiments, the transverse track 11 can also be provided independently of the cross beam of the storage rack 10. Optionally, the transverse track 11 can be provided on only one storage rack. Optionally, the transverse track 11 can also span multiple storage racks 10.

[0084] The first column 12 is vertically disposed on the transverse track 11 and can slide horizontally.

[0085] The horizontal sliding of the column on the transverse track enables the first movable member 13 to be positioned in each column of the storage rack.

[0086] The first movable member 13 is disposed on the first column 12 and can slide along the first column 12.

[0087] 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.

[0088] The first movable member 13 is provided with a connecting mechanism 15 of the task module 14 .

[0089] The task module 14, driven by the first movable part 13, stores and retrieves cargo boxes and / or cargo, and puts them into the docking assembly of the cargo robot 105 running at the bottom 16 and / or top of the storage shelf, or takes them out from the docking assembly.

[0090] The task module 14 may be a component having one or more tasks such as identification, extraction, playback, and grasping. The task module 14 is positioned at a storage slot of the shelf driven by the first movable part 13. At the same time, the connecting mechanism of the task module is a basic structure that can be connected with different task modules.

[0091] When the task module is a cargo box storage and retrieval module, a supporting structure of the cargo box storage and retrieval module, such as a loading and unloading rack;

[0092] And, the conveying components of the storage and retrieval box module, such as the conveying belt, of course, the conveying belt needs to be driven by a conveying motor.

[0093] However, if it is another task module, the connector is set according to the specific function of the task module, but it is not limited to this. This setting enables the task module to complete a sorting and / or access action, and can transfer, sort, and deliver the storage and access boxes and / or goods to the destination cargo position or sorting position, or even the transportation position after sorting.

[0094] A space capable of providing movement for the freight robot is provided under the shelf;

[0095] The bottom partitions of the storage shelves are removed to provide a matching height to support the ground freight robot to run on the ground and complete the docking action, and the bottom partitions between adjacent columns of the storage shelves are removed to form the docking position 25 of the ground freight robot.

[0096] The task module of the track transport equipment can be extended from the top of the high-rise warehouse.

[0097] refer to Figure 6 The transport layer 18 is provided with an opening 5, the shape of the opening 5 matches the task module so as to provide the task module with an extension to perform the fulfillment docking action. The task module is driven by the first movable part 13 to store and retrieve goods, and is placed through the opening into the docking assembly of the freight robot 105 running on the transport layer 18 of the shelf 10.

[0098] The storage rack, the rack rail machine, and the ground freight robot constitute a flying box system. The flying box system is as follows: In a three-dimensional storage environment, for large-batch transmission requirements, the rail machine is mounted on the existing storage rack system and cooperates with the freight robot walking on the ground or at the top. It can accurately locate the storage rack and the cargo box, and with the help of different task modules, it can complete pulling, putting back, accurate identification, and precise sorting of the cargo box. Under the execution logic control of the server and the cargo access and sorting, it subverts the current situation of cargo flow and sorting in traditional storage, bringing an excellent smoothness and extremely high efficiency experience.

[0099] Therefore, in this embodiment, the transmission system is provided with a rail transmission device and a transverse rail for the column to move. By configuring the storage rack and transforming the top and bottom shelf layers of the three-dimensional warehouse, a running channel is provided for the freight robot or the sorting robot, fundamentally solving the problem of waste in the existing three-dimensional warehouse of the storage system. By matching the goods / cargo boxes in the storage with the freight robot or the sorting robot, it makes it possible to complete the storage, transfer, and sorting of goods / cargo boxes in the three-dimensional warehouse. It greatly improves the utilization rate of the existing intelligent three-dimensional warehouse, the speed of goods in and out, and the sorting efficiency.

[0100] Reference Figure 8 , which shows a storage rack rail transmission device, including:

[0101] In Figure 6 Based on the illustration and description, the transmission device further includes: a second column 21 and a second movable member 22. The second column 21 is vertically arranged on the transverse rail 11 and can slide horizontally. The second movable member 22 is arranged on the second column 21 and can slide along the second column. A connecting mechanism 23 of the task module 14 is arranged on the second movable member 22. The task module 14 is arranged between the first column 12 and the second column 21 through the connecting mechanism 23. The first movable member 13 and the second movable member 22 drive the task module 14 to be positioned at the cargo position 24 on the storage rack 10 or the connection position 25.

[0102] The connection position 25 is the position where the task module 14 completes the transfer of goods from the cargo position on the shelf to the freight robot after accessing the cargo box and / or goods.

[0103] Remove the bottom partition of the storage rack to provide a matching height to support the ground freight robot to run on the ground and complete the connection action. Also, remove the bottom partition between adjacent columns of the storage rack to form the connection position 25 for the ground freight robot.

[0104] Reference Figure 9 , which shows a storage rack rail transmission device. In Figure 1 AndFigure 2 Based on the diagram and its corresponding description, Figure 9 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.

[0105] 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.

[0106] 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 and returning, connecting and sorting cargo boxes / cargoes can be carried out reliably.

[0107] Preferably, the ground freight robot performs path planning under the control of a 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 run directly on the ground where the storage shelves are located. The bottom of the storage shelves has a passage. Driven by the movable parts, the cargo box will place the cargo boxes and / or goods 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 box / cargo transfer and cargo box / cargo sorting in the storage space.

[0108] 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.

[0109] refer to Figure 10 , a synchronous pulley driven by a motor 41 and controllable by a reducer, wherein the synchronous pulley drives a synchronous belt 42 to support the first movable part to move on the slide rail of the first column.

[0110] A synchronous pulley driven by a motor and controllable by a reducer drives a synchronous belt to support the second movable member to move on the slide rail of the second column.

[0111] 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.

[0112] refer to Figure 11 , showing a partial view of a storage shelf track transmission device.

[0113] In this embodiment, Figure 10 The connection structure between the transverse rail 11 and the first column 12 and the second column 21 is shown. Figure 11 The first column 12 and the second column 21 can be realized by driving the slider 52 to slide on the transverse track 31 through the roller 51. The first column 12 and the second column 21 are both sleeved with the slider 52, and the roller 51 contacts the transverse track 31 to achieve smooth movement.

[0114] The above setting may be one implementation method and is not limited thereto.

[0115] refer to Figure 12 A cargo picking device 1 is installed on the shelf, and the cargo picking device 1 drives the first task module 2 to put the cargo 3 into the docking assembly or docking box 4 of the freight robot 105 running at the bottom of the storage shelf 10, or take the 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.

[0116] The cargo picking device 1 comprises a transverse track 11, a first column 12, a first movable member 13 and a connecting mechanism of the first task module 2. The transverse track 11 is on a storage shelf 10.

[0117] It should be noted that the transverse rail 11 is on the beam or column of the storage rack 10. When the rack is transversely long, the transverse rail needs to rely on the beam and column of the single rack and extend to the adjacent rack beam.

[0118] The first upright post 12 is vertically disposed on the transverse track 11 and can slide transversely.

[0119] The upright post 12 slides along the transverse track 11 to enable the first movable member 13 to be positioned in each column of the shelf.

[0120] The first movable member 13 is disposed on the first column 12 and can slide along the first column 12 .

[0121] 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.

[0122] The first movable member 13 is provided with a connecting mechanism 15 of the first task module 2 .

[0123] Driven by the first movable member 13 , the first task module 2 utilizes the picking mechanism to store and retrieve the goods 3 , and places and runs the docking assembly or docking box of the freight robot 105 at the bottom of the shelf.

[0124] It should be particularly noted that, in the solution of the present invention, the bottom partitions of the storage shelves are removed. Here, the partitions represent the components that provide storage space support for different types of storage shelves, as well as the surrounding components that provide stability for the beams. Removing the partitions to provide a matching height actually requires blocking the surrounding components that block the freight robot from running on the ground, and the partitions are not limited to the materials and styles set in the storage shelves. The freight robot is supported to run on the ground and complete the docking action. The bottom partitions between adjacent columns of the storage shelves are removed to form the docking position 25 of the freight robot. It should be supplemented that the bottom partitions of the shelves include the partitions themselves and the beams, thereby providing space for the freight robot to move.

[0125] More specifically, the picking mechanism comprises: 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: an extension member of the suction structure 201 and / or the picking mechanism, the extension member can be a multi-segment robotic arm with freedom, connected to the first movable part 13, wherein the suction structure 201 can form and maintain contact with the goods through the suction force generated until the goods 3 are placed in the docking assembly or docking box of the freight robot running at the bottom of the shelf, or taken out from the docking assembly and placed in the cargo box.

[0126] refer to Figure 13 The configuration in this embodiment realizes that when the sorting and / or storage and retrieval of goods is completed, the stored and retrieved goods can be docked by the freight robot 105, and the goods can be transferred, sorted, and delivered to the destination cargo position or sorting position, or the transportation position where the sorting is completed.

[0127] The bottom layer of the shelf is provided with a freight robot 105 as a passage. Exemplarily, the shelf removes one or more shelf layers 106 to provide a matching height to support the freight robot 105 to operate on the ground. Figure 13 Also shown is the lane where the freight robot 105 walks on the ground between two shelves.

[0128] refer to Figure 14 In the case where the first task module 2 and / or the second task module 14 are both installed on the first transverse track, the first column, and the first movable part, the connecting mechanism of the first task module and the connecting mechanism of the second task module can be integrated to drive the first task module to sort goods and drive the second task module to store cargo boxes.

[0129] refer to Figure 15 In another case, when the first task module and / or the second task module are both installed on the first transverse track, the first column, and the first movable part, the connecting mechanism of the first task module and the connecting mechanism of the second task module are separately arranged to cooperate according to the current task.

[0130] When the task module is a cargo box storage and retrieval module, it at least includes:

[0131] Support structures for storing and retrieving cargo box modules, such as loading and unloading racks;

[0132] And, a conveying component for storing and retrieving the cargo box module, such as a conveying belt. Of course, the conveying belt needs to be driven by a conveying motor;

[0133] The rail transport device uses the storage and retrieval box module to pull out the target 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 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;

[0134] 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;

[0135] The cargo box storage and retrieval module pushes the target cargo box back.

[0136] 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.

[0137] 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.

[0138] 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 / cargo box transfer and sorting in existing shelf storage is fundamentally solved, and the application scenarios of the shelves are expanded, so that cargo warehousing, cargo / cargo box transfer and cargo / cargo box 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.

[0139] For the sake of full disclosure, the freight robot may be a freight robot or a sorting robot in 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 planar moving component and a docking component that supports the storage and placement of cargo boxes. In order to improve transportation efficiency, the freight robot may run directly on the ground directly below the shelf, and may cooperate with the storage shelf to remove the bottom partition. The cargo is placed on the docking component of the freight robot under the drive of the movable parts of the task module. The freight robot may 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 / cargo box transfer, and cargo / cargo box sorting to be completed within the storage space.

[0140] 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.

[0141] refer to Figure 16 , 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 storage shelf 10.

[0142] In this embodiment, the rail transfer device and the goods picking device are respectively arranged on different columns. In a large-scale intensive warehousing scenario, such as a warehouse storing more than 100,000 containers with a flow rate of 5,000 containers per hour, multiple units of the rail transfer device and the goods picking device can be respectively installed on the same shelf to meet the demand of large-flow orders. When the rail transfer device and the goods picking device system cooperate to work, taking order out of the warehouse as an example, for the X goods of a certain A order or a certain SKU (Stock Keeping Unit, that is, the basic unit for measuring inventory in and out) that needs to be taken out of the warehouse, the rail transfer device uses the second task module, that is, the access container module, to pull out the target container at the target storage location of the target shelf so that the X goods can be sucked by the suction mechanism 201 and / or the picking mechanism of the goods picking device system. Before suction, the identification module needs to identify the X goods or a certain SKU, and the identification module can be arranged on the goods picking device and / or the rail transfer device. The identification module can be a monocular camera, a laser camera or a depth camera.

[0143] 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.

[0144] In another embodiment, it includes one or more shelves, and the structure and working principle of the shelves refer to Figures 12 - 16 , and the shelves can be configured with in-warehouse picking devices and / or rail transfer devices. During operation, they are installed on one or more shelves, and the fulfillment operation surfaces of the storage shelves are all provided with the rail transfer devices, including but not limited to the lane direction, and even the scenario of setting shelves perpendicular to the lane.

[0145] It can support independent operation under the control of a control chip and software instructions or coordinated operation with the warehouse management software built in on 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 the ground flatness. In addition, the present invention also discloses a transmission system, which is configured as Figure 17 the transmission system and multiple freight robots 105. On this basis, the efficiency of goods access, transportation and sorting can be further improved to meet the technical requirements of rapid transfer and transmission in various warehousing scenarios.

[0146] In the description of the present invention, it should be understood that the directional terms such as "front", "rear", "upper", "lower", "left", "right", "lateral", "vertical", "perpendicular", "horizontal" and "top", "bottom", etc. usually indicate the orientation or positional relationship 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 directional terms do not indicate and 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 directional terms "inner" and "outer" refer to the inside and outside relative to the contour of each component itself.

[0147] For convenience of description, regional relative terms such as "above", "over", "on the upper surface", "upper" etc. can be used here to describe the regional positional relationship of one or more components or features shown in the drawings with 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, then the components "above other components or features" or "over other components or features" will include the situation where the components are "below other components or structures" or "under other components or structures". Thus, the exemplary term "above" can include both the orientations 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 is intended to cover all such situations.

[0148] It should be noted that the terms used here are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used here, 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.

[0149] 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 need to describe a specific order or sequence. It should be understood that such used 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.

[0150] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative and explanatory purposes, 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: include: A transport layer, which is used for the storage shelves and is higher than the ground; as well as Track transmission equipment, the track transmission equipment includes a transverse track, a column and a task module, wherein: the transverse track extends horizontally along the fulfillment operation surface of the storage shelf; the column is vertically arranged on the transverse track and can slide along the transverse track; the task module is arranged on the column and can slide along the column; the task module is used to perform item storage and retrieval operations on the storage shelf, and to perform item handover operations with the load handling equipment on the transport layer, the items include cargo boxes and / or goods.

2. The transmission system according to claim 1, characterized in that: The task module can be moved to a predetermined position directly below the transport layer. The load handling equipment includes a lifting assembly, which is used to lift items on the task module located directly below the predetermined position to the transport layer, or to drop items on the transport layer onto the task module directly below the predetermined position.

3. The transmission system according to claim 2, characterized in that: The load handling equipment further comprises a transport component, the transport component is movable on the transport layer, and the lifting component is arranged on the transport component.

4. The transmission system according to claim 3, characterized in that: The load handling equipment further comprises a receiving space component for accommodating the articles, wherein the receiving space component is arranged on the transport component, and the lifting component is used to lift the articles into the receiving space component.

5. The transmission system according to claim 2, characterized in that: The lifting component is arranged around the predetermined position, and the load handling equipment also includes a freight robot that can walk on the transport layer. The lifting component is also used to place items on the lifting component on the freight robot, or pick up items from the freight robot.

6. The transmission system according to claim 1, characterized in that: The task module can slide along the column to the transport layer.

7. The transmission system according to claim 6, characterized in that: The load handling equipment also includes a freight robot, which directly performs the handover operation with the task module that slides to the transport layer.

8. The transmission system according to claim 7, characterized in that: The transport layer is used to be installed to the middle of the end surface of the storage shelf, and the end surface is perpendicular to the fulfillment operation surface.

9. The transmission system according to claim 1, characterized in that: The task module is also used to perform item handover operations with the ground freight robot running on the ground layer.

10. The transmission system according to claim 9, characterized in that: The transmission system comprises a plurality of rows of storage shelves, the plurality of rows of storage shelves are spaced apart to form lanes, and the fulfillment operation surface is the side of the storage shelves facing the lanes. A passage for a ground freight robot to walk on is arranged under the multiple rows of storage shelves, and the passage is connected to the lane.

11. The transmission system according to any one of claims 1 to 10, characterized in that: The transport layer includes a plurality of openings arranged in a grid, and the task module can be moved to directly below at least one of the plurality of openings to perform the article handover operation with the load handling equipment of the transport layer through the opening.

12. The transmission system according to claim 11, characterized in that: The transport layer is provided with tracks for the load handling equipment and / or freight robot to walk on, the tracks include a first group of parallel tracks parallel to the transverse tracks and a second group of parallel tracks perpendicular to the first group of parallel tracks, and the multiple openings are located at the intersection of the first group of parallel tracks and the second group of parallel tracks.

13. The transmission system according to claim 1, characterized in that: The load handling device further comprises a task picking component, wherein the task picking component is used to: Picking the items on the task module to complete the item handover operation; and / or Picking items on the load handling equipment.

14. The transmission system according to claim 1, characterized in that: The transport layer has one or more of the following structures: The transport layer is formed by the top surface of the storage shelf; The transport layer is arranged above the storage shelf; and The transport layer is arranged in the middle of the storage shelf.

15. A warehousing-based transmission system, characterized in that: Applied to a stereoscopic warehouse, wherein multiple rows and multiple layers of storage shelves are arranged in the stereoscopic warehouse, wherein the storage shelves are provided with multiple layers of storage space, and cargo boxes are placed in the storage positions of the storage space, and a track transmission device is installed on the storage shelves, wherein the device comprises: A connecting mechanism between the transverse track, the first column, the first movable member and the task module, wherein: The transverse track is on the shelf; The first column is vertically arranged on the transverse track and can slide transversely; The first movable member is disposed on the first column and is slidable along the first column; The first movable member is provided with a connecting mechanism of the task module; The task module, driven by the first movable member, stores and retrieves cargo boxes and / or cargo, and puts them into or takes them out from the docking assembly of the cargo box robot running at the bottom and / or top of the storage shelf; A space capable of providing movement for the freight robot is provided under the shelf; The task module of the track transport equipment can be extended from the top of the high-rise warehouse.

16. The warehousing-based transport system according to claim 15, characterized in that: The fulfillment operation surface of the storage shelves is provided with the track transmission equipment.

17. The warehousing-based transport system according to claim 15 or 16, characterized in that: An opening is provided on the top of the stereoscopic warehouse, and a shape of the opening matches the task module so as to allow the task module to extend and perform contract fulfillment docking actions.

18. The warehousing-based transport system according to claim 15 or 16, characterized in that: The three-dimensional warehouse can be disassembled or can be a mobile three-dimensional warehouse.

19. The warehousing-based transport system according to claim 15 or 16, characterized in that: An opening is provided at the top of the three-dimensional warehouse and is specifically implemented as follows: the task module extends out of the opening provided at the top of the three-dimensional warehouse, stores and retrieves cargo boxes under the drive of the first movable part, and places the docking component of the freight robot running on the top of the storage shelf into the opening.

20. The warehousing-based transport system according to claim 15 or 16, characterized in that: The task module includes a cargo picking device, which places the cargo into a docking assembly or a docking box of a cargo robot running at the bottom of the shelf, or takes the cargo out of the docking assembly or the docking box and places it into the cargo box.

21. The warehousing-based transport system according to claim 15 or 16, characterized in that: The track transmission device further comprises: a second column and a second movable member, wherein the second column is vertically arranged on the transverse track and can slide transversely; The second movable member is disposed on the second column and is slidable along the second column; The second movable member is provided with a connecting mechanism of the second task module.

22. The warehousing-based transport system according to claim 15 or 16, characterized in that: A load handling device is provided on the top of the stereoscopic warehouse. The load handling device is configured to move on the top of the stereoscopic warehouse and is used to lift and move cargo boxes or goods in the stereoscopic warehouse. The load handling device includes: lifting components; and a receiving space component for accommodating the cargo box or cargo, The lifting assembly is configured to grab the cargo box or cargo and raise and lower the lifting device relative to the receiving space assembly.

23. The warehousing-based transport system according to claim 15 or 16, characterized in that: The top of the three-dimensional warehouse can be deployed with a freight robot AGV walking surface, or A first group of parallel tracks and a second group of parallel tracks are arranged on the top of the stereoscopic warehouse. The second group of parallel tracks extends transversely to the first group of parallel tracks to form a grid structure containing a plurality of grid spaces.

24. An intelligent three-dimensional storage system, characterized in that: include: Storage racks; as well as One or more transmission systems as claimed in any one of claims 15 to 23.

Images