Workbin storage system, warehouse shelf, and workbin warehousing and ex-warehouse method and device

Abstract

The embodiment of the invention provides a workbin storage system, a warehouse shelf and a workbin warehousing and ex-warehouse method and device. The system comprises the warehouse shelf, a first carrying vehicle, a second carrying vehicle and a work station. The warehouse goods shelf comprises a carrying vehicle moving space and a material box storage space which are arranged from bottom to top. The material box storage space is provided with a bin position and a well. The first carrying vehicle can move in all directions in the carrying vehicle moving space and carry the material box between the work station and the temporary storage bin position. And the second carrying vehicle can move in all directions in the carrying vehicle moving space, and can carry the material box between the temporary storage bin and the target storage bin through the hoistway. The material box storage system is a dense storage box type warehouse system and is high in storage density; and moreover, any material box on any layer can be directly taken and placed through the hoistway, the overall operation efficiency is high, and the device is very suitable for being applied to the field of logistics storage.

Description

Technical Field

[0001] This application relates to the field of logistics and warehousing technology, and in particular to a bin storage system, warehouse racks, bin receiving and receiving methods and apparatus. Background Technology

[0002] Currently, there are various types of container warehouse structures, among which the cubic high-density storage container warehouse has the largest storage capacity. The cubic high-density storage container warehouse has an actuator for handling goods installed at the top of the warehouse. Because the actuator is installed on top of the racks, there is no need for aisles inside the warehouse area. The horizontal space can be filled with boxes, and the boxes are directly stacked in the vertical space, resulting in extremely high space utilization. Therefore, it has the highest storage capacity among related technologies currently available.

[0003] However, because the actuator is installed on top of the shelf, it can only directly pick up and put down the topmost bins. Other bins can only be picked up and put down one by one, or the top bins can be picked up first and then the bottom bins can be picked up, which makes the operation less efficient.

[0004] It is evident that this type of box-type warehouse is more suitable for manufacturing enterprises, used to store similar types of goods, where only the top layer of boxes needs to be retrieved. However, in the logistics and warehousing field, the types of goods stored on each layer of a warehouse may be different, requiring retrieval from a designated target location. If this type of box-type warehouse is used, the boxes on the top layer at the target location must be retrieved first, resulting in very low operational efficiency. Summary of the Invention

[0005] The purpose of this application is to provide a bin storage system, warehouse racking, bin inbound and outbound method and apparatus, so as to improve the operational efficiency of storing and retrieving goods within a certain warehouse capacity. The specific technical solution is as follows:

[0006] This application provides a bin storage system, including: a warehouse rack, a first transport vehicle, a second transport vehicle, and a workstation; the warehouse rack includes: a transport vehicle movement space and a bin storage space arranged from bottom to top;

[0007] The material bin storage space includes: a three-dimensional storage frame; the three-dimensional storage frame includes: arrayed storage columns and shafts, with each storage column adjacent to a shaft;

[0008] Each storage column includes multiple storage compartments arranged sequentially along the vertical direction of the three-dimensional storage frame, and each storage compartment is used to store a material box; the storage compartment at the bottom of each storage column is configured as a temporary storage compartment; each shaft runs vertically through the three-dimensional storage frame and its bottom is connected to the moving space of the transport vehicle.

[0009] The transport vehicle's moving space has a preset height and includes: multiple support columns set at the bottom of the three-dimensional storage frame; the multiple support columns extend from the bottom of the three-dimensional storage frame to the ground to support the three-dimensional storage frame and form the transport vehicle's moving space;

[0010] The first transport vehicle is capable of omnidirectional movement within the transport vehicle's movement space, and is used to retrieve and place target material boxes in temporary storage locations through the shaft; to transport target material boxes from the workstation to an empty temporary storage location, or to transport target material boxes from their current temporary storage location to the workstation;

[0011] The second transport vehicle is capable of omnidirectional movement within the transport vehicle's movement space, and is used to retrieve and place target material boxes through the shaft; to transport the target material boxes from their temporary storage location to the target storage location, or to transport the target material boxes from the target storage location to an empty temporary storage location.

[0012] In some embodiments, the three-dimensional storage frame may include: multiple vertical beams, multiple horizontal beams, and multiple compartment partition beams that are connected in a preset staggered manner to form the array-arranged compartment storage columns and shafts; wherein, the cross-sectional shape and size of each compartment storage column and each shaft are the same;

[0013] The multiple support columns of the transport vehicle's moving space are formed by a predetermined number of vertical beams extending downwards to the ground from the three-dimensional storage frame.

[0014] In some embodiments, each of the storage bins is formed by four adjacent vertical beams and top and bottom crossbeams; each of the storage bins is formed by a section of the four adjacent vertical beams and two bin partition beams; the two bin partition beams are arranged opposite each other at the bottom of the storage bin, so that the bottom of each storage bin forms a conveying channel toward the adjacent shaft; and the inner sides of the two bin partition beams extend inward to form a material box support structure for supporting the material box;

[0015] The first transport vehicle is used to pick up and place target material boxes in the temporary storage compartment through the shaft and the conveying channel;

[0016] The second transport vehicle is used to pick up and place target material boxes through the shaft and the conveying channel.

[0017] In some embodiments, the first transport vehicle includes: a first chassis capable of omnidirectional movement, a first lifting mechanism disposed on the first chassis, and a first lifting platform disposed on top of the first lifting mechanism;

[0018] The first transport vehicle moves to the shaft adjacent to the temporary storage compartment using the first chassis, and the first lifting mechanism lifts the first lifting platform. The first chassis then moves to the temporary storage compartment via the conveying channel, and the target material box on the first lifting platform is placed in the temporary storage compartment; or, the first chassis moves to the bottom of the temporary storage compartment, and the first lifting mechanism lifts the first lifting platform, and the target material box on the temporary storage compartment is taken out onto the first lifting platform.

[0019] In some embodiments, the second transport vehicle includes: a second chassis capable of omnidirectional movement, a second lifting mechanism disposed on the second chassis, a second lifting platform disposed on top of the second lifting mechanism, a hopper loading and unloading mechanism disposed on top of the second lifting platform, and a carrying platform;

[0020] The second transport vehicle moves to the bottom of the shaft adjacent to the target storage compartment using the second chassis; the second lifting mechanism lifts the second lifting platform along the shaft to the height corresponding to the target storage compartment; the material box picking and placing mechanism moves the target material box from the carrying platform to the target storage compartment, or moves the target material box from the target storage compartment to the carrying platform, through the conveying channel.

[0021] In some embodiments, each of the shafts is formed by four adjacent vertical beams and top and bottom crossbeams; each vertical beam forming the shaft has a track on its inner side along the vertical beam;

[0022] The second lifting platform is provided with guide wheels at its four corners that cooperate with the track, so that the second lifting platform can move up and down along the track during the lifting process.

[0023] In some embodiments, the size of each storage compartment is larger than the size of a hopper, such that there is a first pick-and-place gap between the hoppers stored in the storage column, or a second pick-and-place gap between each hopper and the edge of the storage compartment it belongs to.

[0024] The first transport vehicle uses the first or second pick-up / placement gap to pick up or place material boxes from the temporary storage bins in the storage bin column.

[0025] The second transport vehicle uses the first or second pick-up / placement gap to pick up or place material boxes from the storage bins of the storage bin column.

[0026] In some embodiments, the storage bay columns are arranged around the shaft in the horizontal direction of the three-dimensional storage frame; and any shaft has a maximum of four storage bay columns surrounding it.

[0027] In some embodiments, the workstation is located at the edge of the warehouse shelf; the workstation is equipped with an operating table for temporarily storing the material boxes that the first transport vehicle transports from the warehouse shelf, or for temporarily storing the material boxes to be stored on the warehouse shelf.

[0028] In some embodiments, the bin storage system further includes: a control device; the control device is communicatively connected to the first transport vehicle and the second transport vehicle; controls the first transport vehicle to move omnidirectionally in the transport vehicle movement space to transport the target bin from the workstation to an idle temporary storage location, or to transport the target bin from its temporary storage location to the workstation; and controls the second transport vehicle to move omnidirectionally in the transport vehicle movement space to transport the target bin from its temporary storage location to a target storage location, or to transport the target bin from the target storage location to an idle temporary storage location.

[0029] This application embodiment also provides a warehouse rack, including: a transport vehicle movement space and a bin storage space arranged from bottom to top; the bin storage space includes: a three-dimensional storage frame; the three-dimensional storage frame includes: arrayed storage columns and shafts, and each storage column is adjacent to a shaft;

[0030] Each storage column includes multiple storage compartments arranged sequentially along the vertical direction of the three-dimensional storage frame, and each storage compartment is used to store a material box; the storage compartment at the bottom of each storage column is configured as a temporary storage compartment; each shaft runs vertically through the three-dimensional storage frame and its bottom is connected to the moving space of the transport vehicle.

[0031] The transport vehicle's moving space has a preset height and includes: multiple support columns set at the bottom of the three-dimensional storage frame; the multiple support columns extend from the bottom of the three-dimensional storage frame to the ground to support the three-dimensional storage frame and form the transport vehicle's moving space.

[0032] In some embodiments, the three-dimensional storage frame includes: multiple vertical beams, multiple horizontal beams, and multiple compartment partition beams that are connected in a preset arrangement to form the array-shaped storage columns and shafts; wherein, the cross-sectional shape and size of each storage column and each shaft are the same.

[0033] The multiple support columns of the transport vehicle's moving space are formed by a predetermined number of vertical beams extending downwards to the ground from the three-dimensional storage frame.

[0034] In some embodiments, each of the storage bins is formed by four adjacent vertical beams and top and bottom crossbeams; each of the storage bins is formed by a section of the four adjacent vertical beams and two bin partition beams; the two bin partition beams are arranged opposite each other at the bottom of the storage bin, so that the bottom of each storage bin forms a conveying channel toward the adjacent shaft; and the inner sides of the two bin partition beams extend inward to form a material box support structure for supporting the material box.

[0035] In some embodiments, each shaft is formed by four adjacent vertical beams and top and bottom crossbeams; each vertical beam forming the shaft has a track on its inner side.

[0036] In some embodiments, in the horizontal direction of the three-dimensional storage frame, the storage bay columns are arranged around the shaft; and any shaft has a maximum of four storage bay columns arranged in a cross-shaped orthogonal configuration.

[0037] This application embodiment also provides a bin storage method, applied to a control device, wherein the control device is communicatively connected to a first transport vehicle and a second transport vehicle in the aforementioned bin storage system; the method includes:

[0038] Obtain the location of the target storage compartment within the three-dimensional storage frame;

[0039] Obtain the location of the available target temporary storage space;

[0040] Control the first idle transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation;

[0041] Control the first transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the workstation to an idle target temporary storage location;

[0042] Control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the target temporary storage location to the target storage location.

[0043] In some embodiments, each storage compartment has a conveying channel at its bottom that faces the adjacent shaft; the first transport vehicle includes: a first chassis, a first lifting mechanism, and a first lifting platform;

[0044] The control of the first transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the workstation to an idle target temporary storage location, includes:

[0045] Control the first transport vehicle carrying the target material box to move to the bottom of the target shaft adjacent to the target temporary storage location using the first chassis;

[0046] Control the first transport vehicle, and the first lifting mechanism will lift the lifting platform along the target shaft to the height corresponding to the target idle temporary storage location;

[0047] Control the first transport vehicle to move to the target temporary storage location via the first chassis through the conveyor channel;

[0048] Control the first transport vehicle, and the first lifting mechanism drives the first lifting platform to lower, so that the target material box of the first lifting platform is placed in the target temporary storage bin.

[0049] In some embodiments, each storage compartment has a conveying channel at its bottom that faces the adjacent shaft; the second transport vehicle includes: a second chassis, a second lifting mechanism, a second lifting platform, a bin loading and unloading mechanism, and a carrying platform;

[0050] The second transport vehicle, which is under control and is idle, moves omnidirectionally within the transport vehicle's movement space to transport the target material bin from the target temporary storage location to the target storage location, including:

[0051] Control the idle second transport vehicle to move to the first target shaft adjacent to the target temporary storage location using the second chassis;

[0052] Control the second transport vehicle, and the material box picking and placing mechanism will take the target material box from the target temporary storage location to the second carrying platform through the conveying channel;

[0053] Control the second transport vehicle and use the second chassis to move it to the second target shaft adjacent to the target storage compartment;

[0054] Control the second transport vehicle, and the second lifting mechanism will lift the second lifting platform along the second target shaft to the height corresponding to the target storage compartment;

[0055] Control the second transport vehicle, and the material box picking and placing mechanism moves the target material box from the carrying platform to the target storage compartment through the conveying channel.

[0056] This application also provides a method for issuing material bins, applied to a control device, wherein the control device is communicatively connected to a first transport vehicle and a second transport vehicle in the aforementioned material bin storage system; the method includes:

[0057] The location of the target storage compartment containing the target bin is obtained within the three-dimensional storage frame.

[0058] Obtain the location of the available target temporary storage space;

[0059] Control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, and remove the target material box from the target storage bin and transport it to the target temporary storage bin;

[0060] Control the first idle transport vehicle to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the target temporary storage location to the workstation.

[0061] In some embodiments, each storage compartment has a conveying channel at its bottom that faces the adjacent shaft; the second transport vehicle includes: a second chassis, a second lifting mechanism, a second lifting platform, a bin loading and unloading mechanism, and a carrying platform;

[0062] The second transport vehicle, which is under control and is idle, moves omnidirectionally within the transport vehicle's movement space to remove the target material box from the target storage location and transport it to the target temporary storage location, including:

[0063] Control the idle second transport vehicle to move to the first target shaft adjacent to the target storage compartment using the second chassis;

[0064] Control the second transport vehicle, and the second lifting mechanism will lift the second lifting platform along the first target shaft to the height corresponding to the target storage compartment;

[0065] Control the second transport vehicle to move the target bin from the target storage location to the carrying platform via the conveying channel using the bin picking and placing mechanism.

[0066] Control the second transport vehicle, and the second lifting mechanism drives the second lifting platform to lower along the first target shaft, so that the overall height of the second transport vehicle is lower than the height of the transport vehicle movement space;

[0067] Control the second transport vehicle and use the second chassis to move it to the second target shaft adjacent to the target temporary storage location;

[0068] Control the second transport vehicle, and the material box picking and placing mechanism moves the target material box from the carrying platform to the target temporary storage location through the conveying channel.

[0069] In some embodiments, each storage compartment has a conveying channel at its bottom that faces the adjacent shaft; the first transport vehicle includes: a first chassis, a first lifting mechanism, and a first lifting platform;

[0070] The first transport vehicle, which is under control and is idle, moves omnidirectionally within the transport vehicle's movement space to transport the target material box from the target temporary storage location to the workstation, including:

[0071] Control the idle first transport vehicle to move to the second target shaft adjacent to the target temporary storage location using the first chassis;

[0072] Control the first transport vehicle to move to the bottom of the target temporary storage location using the first chassis;

[0073] Control the first transport vehicle to lift the first lifting platform by the first lifting mechanism so that the target material box is taken out onto the first lifting platform and returned to the second target shaft through the conveying channel;

[0074] Control the first transport vehicle, and lower the first lifting platform driven by the first lifting mechanism so that the overall height of the first transport vehicle is lower than the height of the transport vehicle movement space;

[0075] Control the first transport vehicle to move to the workstation using the first chassis.

[0076] This application embodiment also provides a bin receiving device, applied to a control device, wherein the control device is communicatively connected to a first transport vehicle and a second transport vehicle in the aforementioned bin storage system; the device includes:

[0077] The first acquisition module is used to acquire the position of the target storage compartment in the three-dimensional storage frame;

[0078] The second acquisition module is used to obtain the location of the available target temporary storage space;

[0079] The first control module is used to control the idle first transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation.

[0080] The second control module is used to control the first transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the workstation to an idle target temporary storage location;

[0081] The third control module is used to control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the target temporary storage location to the target storage location.

[0082] This application embodiment also provides a bin dispensing device, applied to a control device, wherein the control device is communicatively connected to a first transport vehicle and a second transport vehicle in the aforementioned bin storage system; the device includes:

[0083] The third acquisition module is used to obtain the position of the target storage compartment where the target bin is located in the three-dimensional storage frame;

[0084] The fourth module is used to obtain the location of the available target temporary storage space;

[0085] The fourth control module is used to control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, and to take the target material box from the target storage bin and transport it to the target temporary storage bin;

[0086] The fifth control module is used to control the idle first transport vehicle to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the target temporary storage bin to the workstation.

[0087] This application also provides a control device, including:

[0088] Memory, used to store computer programs;

[0089] The processor, when executing the program stored in the memory, implements the aforementioned bin warehousing method or the aforementioned bin warehousing method.

[0090] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned bin warehousing method or the aforementioned bin warehousing method.

[0091] Beneficial effects of the embodiments in this application:

[0092] The bin storage system, warehouse rack, bin inbound and outbound method and apparatus provided in this application embodiment are provided with a transport vehicle movement space and a bin storage space arranged from bottom to top on the warehouse rack. The bin storage space includes storage bin rows and vertically connected shafts. The storage bin at the bottom of each storage bin row is configured as a temporary storage bin. In this way, the first transport vehicle and the second transport vehicle in the system can move omnidirectionally in the transport vehicle movement space. The first transport vehicle can move the target bin from the workstation to an empty temporary storage bin, or move the target bin from its own temporary storage bin to the workstation; the second transport vehicle can move the target bin from its own temporary storage bin to the target storage bin, or move the target bin from the target storage bin to an empty temporary storage bin.

[0093] As can be seen, the bin storage system provided in this application is a high-density bin storage system. The storage space for the bins, besides the storage columns of the storage compartments, only requires a shaft, eliminating the need for aisles, resulting in high storage density. Because no aisles are required, the first and second transport vehicles can move omnidirectionally within the transport vehicle movement space, without being restricted by aisles. Furthermore, the shafts allow direct access to any bin on any floor, resulting in high overall operating efficiency and making it highly suitable for application in the logistics and warehousing field.

[0094] This application also provides a bin storage system, including: warehouse racks, at least one handling vehicle and a workstation;

[0095] The warehouse rack includes: a transport vehicle movement space and a material bin storage space arranged from bottom to top;

[0096] The material bin storage space includes: a three-dimensional storage frame; the three-dimensional storage frame includes: arrayed storage columns and shafts, with each storage column adjacent to a shaft;

[0097] Each storage column includes multiple storage compartments arranged sequentially along the vertical direction of the three-dimensional storage frame, and each storage compartment is used to store a material box; each shaft runs vertically through the three-dimensional storage frame and its bottom is connected to the moving space of the transport vehicle.

[0098] The transport vehicle's moving space has a preset height and includes: multiple support columns set at the bottom of the three-dimensional storage frame; the multiple support columns extend from the bottom of the three-dimensional storage frame to the ground to support the three-dimensional storage frame and form the transport vehicle's moving space;

[0099] The transport vehicle is capable of omnidirectional movement within the transport vehicle's movement space, and is used to retrieve and place target material boxes through the shaft; to transport target material boxes from the workstation to the target storage bin, or to transport target material boxes from the target storage bin to the workstation.

[0100] In some embodiments, the three-dimensional storage frame includes: a plurality of vertical beams, a plurality of horizontal beams, and a plurality of compartment partition beams that are connected at intervals and staggered in a preset arrangement to form the array-arranged compartment storage columns and shafts; wherein, the cross-sectional shape and size of each compartment storage column and each shaft are the same.

[0101] The multiple support columns of the transport vehicle's moving space are formed by a predetermined number of vertical beams located at the outer edge of the three-dimensional storage frame, extending downwards to the ground.

[0102] In some embodiments, each of the storage bins is formed by four adjacent vertical beams and top and bottom crossbeams; each storage bin is formed by a section of the four adjacent vertical beams and two bin partition beams; the two bin partition beams are arranged opposite each other at the bottom of the storage bin, so that the bottom of each storage bin forms a conveying channel toward the adjacent shaft; and the inner sides of the two bin partition beams extend inward to form a bin support structure for supporting the bin.

[0103] The transport vehicle is used to pick up and place target material boxes through the shaft and the conveying channel.

[0104] In some embodiments, the transport vehicle includes: a chassis capable of omnidirectional movement, a lifting mechanism mounted on the chassis, a lifting platform mounted on top of the lifting mechanism, a hopper loading and unloading mechanism mounted on top of the lifting platform, and a carrying platform.

[0105] The transport vehicle moves to the bottom of the shaft adjacent to the target storage compartment using the chassis; the lifting mechanism lifts the lifting platform along the shaft to the height corresponding to the target storage compartment; the material box picking and placing mechanism moves the target material box from the carrying platform to the target storage compartment, or moves the target material box from the target storage compartment to the carrying platform, through the conveying channel.

[0106] In some embodiments, each shaft is formed by four adjacent vertical beams and top and bottom crossbeams; each vertical beam forming the shaft is provided with a track along the vertical beam on its inner side; the four corners of the lifting platform are provided with guide wheels that cooperate with the track, so that the lifting platform moves up and down along the track during the lifting process.

[0107] In some embodiments, the size of each storage compartment is larger than the size of a hopper, such that there is a first pick-and-place gap between the hoppers stored in the storage column, or a second pick-and-place gap between each hopper and the edge of the storage compartment it belongs to.

[0108] The transport vehicle uses the first or second pick-up / placement gap to pick up or place material boxes from the storage bins of the storage bin column.

[0109] In some embodiments, the storage bay columns are arranged around the shaft in the horizontal direction of the three-dimensional storage frame; and any shaft has a maximum of four storage bay columns surrounding it.

[0110] In some embodiments, the workstation is located at the edge of the warehouse shelf; the workstation is equipped with an operating table for temporarily storing the material boxes that the handling vehicle moves from the warehouse shelf, or for temporarily storing the material boxes to be stored on the warehouse shelf.

[0111] In some embodiments, the system further includes: a control device; the control device is communicatively connected to the transport vehicle; the control device controls the transport vehicle to move omnidirectionally within the transport vehicle's movement space, transporting the target bin from the workstation to the target storage location, or transporting the target bin from the target storage location to the workstation.

[0112] This application embodiment also provides a warehouse rack, including: a transport vehicle movement space and a bin storage space arranged from bottom to top; the bin storage space includes: a three-dimensional storage frame; the three-dimensional storage frame includes: arrayed storage columns and shafts, and each storage column is adjacent to a shaft;

[0113] Each storage column includes multiple storage compartments arranged sequentially along the vertical direction of the three-dimensional storage frame, and each storage compartment is used to store a material box; each shaft runs vertically through the three-dimensional storage frame and its bottom is connected to the moving space of the transport vehicle.

[0114] The transport vehicle's moving space has a preset height and includes: multiple support columns set at the bottom of the three-dimensional storage frame; the multiple support columns extend from the bottom of the three-dimensional storage frame to the ground to support the three-dimensional storage frame and form the transport vehicle's moving space.

[0115] In some embodiments, the three-dimensional storage frame includes: multiple vertical beams, multiple horizontal beams, and multiple compartment partition beams that are connected in a preset arrangement to form the array-shaped storage columns and shafts; wherein, the cross-sectional shape and size of each storage column and each shaft are the same.

[0116] The multiple support columns of the transport vehicle's moving space are formed by a predetermined number of vertical beams extending downwards to the ground from the three-dimensional storage frame.

[0117] In some embodiments, each of the storage bins is formed by four adjacent vertical beams and top and bottom crossbeams; each of the storage bins is formed by a section of the four adjacent vertical beams and two bin partition beams; the two bin partition beams are arranged opposite each other at the bottom of the storage bin, so that the bottom of each storage bin forms a conveying channel toward the adjacent shaft; and the inner sides of the two bin partition beams extend inward to form a material box support structure for supporting the material box.

[0118] In some embodiments, each shaft is formed by four adjacent vertical beams and top and bottom crossbeams; each vertical beam forming the shaft has a track on its inner side.

[0119] In some embodiments, in the horizontal direction of the three-dimensional storage frame, the storage bay columns are arranged around the shaft; and any shaft has a maximum of four storage bay columns arranged in a cross-shaped orthogonal configuration.

[0120] This application embodiment also provides a method for storing material bins, applied to a control device, wherein the control device is communicatively connected to a transport vehicle in the aforementioned material bin storage system; the method includes:

[0121] Obtain the location of the target storage compartment within the three-dimensional storage frame;

[0122] Control the idle transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation;

[0123] Control the transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the workstation to the target storage location via the target shaft adjacent to the target storage location.

[0124] In some embodiments, each storage compartment has a conveying channel at its bottom that faces the adjacent shaft; the transport vehicle includes: a chassis, a lifting mechanism, a lifting platform, a bin loading and unloading mechanism, and a carrying platform;

[0125] The control of the transport vehicle carrying the target material box involves omnidirectional movement within the transport vehicle's movement space, transporting the target material box from the workstation to the target storage location via a target shaft adjacent to the target storage location, including:

[0126] Control the transport vehicle to move it from the workstation to the bottom of the target shaft using the chassis;

[0127] Control the transport vehicle, and the lifting mechanism will lift the lifting platform along the target shaft to the height corresponding to the target storage compartment;

[0128] The transport vehicle is controlled so that the material box picking and placing mechanism moves the target material box from the carrying platform to the target storage location through the conveying channel.

[0129] This application embodiment also provides a method for issuing material bins, applied to a control device, wherein the control device is communicatively connected to a transport vehicle in the aforementioned material bin storage system; the method includes:

[0130] The location of the target storage compartment containing the target bin is obtained within the three-dimensional storage frame.

[0131] Control the idle transport vehicle to move omnidirectionally within the transport vehicle's movement space, and retrieve the target material box into the transport vehicle through the target shaft adjacent to the target storage bin;

[0132] Control the transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, and transport the target material box to the workstation.

[0133] In some embodiments, each storage compartment has a conveying channel at its bottom that faces the adjacent shaft; the transport vehicle includes: a chassis, a lifting mechanism, a lifting platform, a bin loading and unloading mechanism, and a carrying platform;

[0134] The controlled idle transport vehicle moves omnidirectionally within the transport vehicle's movement space, and retrieves the target material box into the transport vehicle through the target shaft adjacent to the target storage compartment, including:

[0135] Control the transport vehicle to move it to the bottom of the target shaft using the chassis;

[0136] Control the transport vehicle, and the lifting mechanism will lift the lifting platform along the target shaft to the height corresponding to the target storage compartment;

[0137] The transport vehicle is controlled so that the bin picking and placing mechanism moves the target bin from the target storage location to the carrying platform through the conveying channel;

[0138] The transport vehicle is controlled so that the lifting mechanism drives the lifting platform to lower along the target shaft, so that the overall height of the transport vehicle is lower than the height of the transport vehicle's movement space.

[0139] This application embodiment also provides a bin receiving device, applied to a control device, wherein the control device is communicatively connected to a transport vehicle in the aforementioned bin storage system; the device includes:

[0140] The first acquisition module is used to acquire the position of the target storage compartment in the three-dimensional storage frame;

[0141] The first control module is used to control the idle transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation;

[0142] The second control module is used to control the transport vehicle carrying the target material box to move omnidirectionally in the transport vehicle's movement space, and to transport the target material box from the workstation to the target storage bin through the target shaft adjacent to the target storage bin.

[0143] This application embodiment also provides a bin dispensing device, applied to a control device, wherein the control device is communicatively connected to a transport vehicle in the aforementioned bin storage system; the device includes:

[0144] The second acquisition module is used to obtain the position of the target storage compartment where the target bin is located in the three-dimensional storage frame;

[0145] The third control module is used to control the idle transport vehicle to move omnidirectionally within the transport vehicle's movement space, and to retrieve the target material box into the transport vehicle through the target shaft adjacent to the target storage bin;

[0146] The fourth control module is used to control the transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, and to transport the target material box to the workstation.

[0147] This application also provides a control device, including:

[0148] Memory, used to store computer programs;

[0149] The processor, when executing the program stored in the memory, implements the aforementioned bin warehousing method or the aforementioned bin warehousing method.

[0150] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned bin warehousing method or the aforementioned bin warehousing method.

[0151] Beneficial effects of the embodiments in this application:

[0152] The bin storage system, warehouse rack, bin inbound and outbound method and apparatus provided in this application embodiment are provided with a transport vehicle movement space and a bin storage space arranged from bottom to top on the warehouse rack. The bin storage space includes storage bin rows and vertically connected shafts. In this way, the transport vehicles in the system can move omnidirectionally within the transport vehicle movement space, and the transport vehicles can move target bins from workstations to target storage bins, or move target bins from target storage bins to workstations.

[0153] As can be seen, the bin storage system provided in this application is a high-density bin storage system. The storage space for the bins, besides the storage columns of the storage compartments, only requires shafts, eliminating the need for aisles, resulting in high storage density. Because no aisles are required, transport vehicles can move omnidirectionally within the transport vehicle's movement space, without being restricted by aisles. Furthermore, any bin on any floor can be directly retrieved or placed via the shafts, resulting in high overall operating efficiency and making it highly suitable for application in the logistics and warehousing field.

[0154] This application also provides a bin storage system, including: warehouse racks, a handling vehicle, and a workstation;

[0155] The warehouse rack includes a three-dimensional storage frame; the three-dimensional storage frame includes arrayed storage columns and shafts, with each storage column adjacent to a shaft.

[0156] Each storage column includes multiple storage compartments arranged sequentially along the vertical direction of the three-dimensional storage frame, and each storage compartment is used to store a material box; each hoistway runs vertically through the three-dimensional storage frame; at least one hoistway located at the edge of the three-dimensional storage frame is configured as an inlet / outlet hoistway.

[0157] The workstation is located at the edge of the warehouse rack where the inbound / outbound shaft is configured, and is adjacent to the inbound / outbound shaft; it is used to temporarily store the material boxes that the handling vehicle moves from the warehouse rack, or to temporarily store the material boxes that are to be stored on the warehouse rack.

[0158] The transport vehicle is located on top of the three-dimensional storage frame and can move omnidirectionally on top of the three-dimensional storage frame. It is used to load target boxes from the workstation through the inlet / outlet shaft and transport the target boxes to the target storage location through the target shaft adjacent to the target storage location; or to take the target boxes out of the target storage location through the target shaft adjacent to the target storage location and transport them to the workstation through the inlet / outlet shaft.

[0159] In some embodiments, the three-dimensional storage frame includes: a plurality of vertical beams, a plurality of horizontal beams, and a plurality of compartment partition beams that are connected at intervals and staggered in a preset arrangement to form the array-arranged compartment storage columns and shafts, wherein the cross-sectional shape and size of each compartment storage column and each shaft are the same.

[0160] In some embodiments, each of the storage bins is formed by four adjacent vertical beams and top and bottom crossbeams; each storage bin is formed by a section of the four adjacent vertical beams and two bin partition beams; the two bin partition beams are arranged opposite each other at the bottom of the storage bin, so that the bottom of each storage bin forms a conveying channel toward the adjacent shaft; and the inner sides of the two bin partition beams extend inward to form a bin support structure for supporting the bin.

[0161] The transport vehicle is used to pick up and place target boxes from the workstation via the inlet / outlet shaft and the conveyor channel; and to pick up and place target boxes from the target storage bin via the target shaft adjacent to the target storage bin and the conveyor channel.

[0162] In some embodiments, the transport vehicle includes: a vehicle body, a traveling mechanism, a lifting mechanism, a lifting platform, a material box picking and placing mechanism disposed at the top center of the lifting platform, and a cargo platform; the traveling mechanism is disposed at the bottom of the vehicle body and can drive the vehicle body to move in all directions; the lifting mechanism is disposed in parallel with the traveling mechanism and can drive the lifting platform, the material box picking and placing mechanism disposed at the top of the lifting platform, and the cargo platform to move up and down along the shaft;

[0163] The transport vehicle moves on top of the three-dimensional storage frame using the walking mechanism, causing the lifting platform to move to the top of the target shaft adjacent to the target storage compartment; the lifting mechanism lowers the lifting platform to the height corresponding to the target storage compartment; the material box picking and placing mechanism moves the target material box from the loading platform to the target storage compartment, or moves the target material box from the target storage compartment to the loading platform, through the conveying channel.

[0164] In some embodiments, each shaft is formed by four adjacent vertical beams and top and bottom crossbeams; each vertical beam forming the shaft is provided with a vertical track along the vertical beam on its inner side; the four corners of the lifting platform are provided with guide wheels that cooperate with the vertical track, so that the lifting platform moves up and down along the track during descent.

[0165] In some embodiments, the top of the three-dimensional storage frame is formed by multiple top beams that are perpendicular to each other in the horizontal direction and are spaced apart; each top beam is provided with a horizontal track; the walking mechanism includes: transverse walking wheels and longitudinal walking wheels that cooperate with the horizontal track, so that the transport vehicle can move on the multiple top beams that are perpendicular to each other in the horizontal direction.

[0166] In some embodiments, the vehicle body includes: a main body and an extension; the traveling mechanism is disposed at the bottom of the main body; the extension has a hollow storage part, which is used to store the lifting platform material box loading and unloading mechanism, the cargo platform, and the material box on the cargo platform when the lifting mechanism lifts the lifting platform above the horizontal track.

[0167] In some embodiments, the lifting platform is a rectangular platform; the lifting mechanism includes two lifting chains and a chain drive device, the first ends of the two lifting chains are wound around a chain reel, and the second ends extend from the extension of the vehicle body and are respectively fixed at the diagonal edges of the rectangular platform; the chain drive device and the chain reel are disposed inside the main body of the vehicle body, and the chain drive device is used to drive the chain reel to rotate, so as to drive the lifting platform to lift or lower.

[0168] In some embodiments, the transport vehicle further includes a rotating mechanism disposed between the bin picking and placing mechanism and the lifting platform; the rotating mechanism can drive the bin picking and placing mechanism to rotate horizontally on the lifting platform to pick up and place target bins located in storage compartments in various directions around the shaft.

[0169] In some embodiments, the size of each storage compartment is larger than the size of a hopper, such that there is a first pick-and-place gap between the hoppers stored in each layer of the storage column, and a second pick-and-place gap between each hopper and the edge of the storage compartment it is located; the transport vehicle uses the first pick-and-place gap and the second pick-and-place gap to pick up and place hoppers from the storage compartments of the storage column.

[0170] In some embodiments, the storage bay columns are arranged around the shaft in the horizontal direction of the three-dimensional storage frame; and any shaft has a maximum of four storage bay columns surrounding it.

[0171] In some embodiments, the bin storage system further includes: a control device; the control device is communicatively connected to the transport vehicle; the control device controls the transport vehicle to move omnidirectionally on top of the three-dimensional storage frame, loads the target bin from the workstation through the inlet / outlet shaft, and transports the target bin to the target storage location through the target shaft adjacent to the target storage location; or removes the target bin from the target storage location through the target shaft adjacent to the target storage location and transports it to the workstation through the inlet / outlet shaft.

[0172] This application also provides a warehouse rack, including:

[0173] A three-dimensional storage frame; the three-dimensional storage frame includes: arrayed storage bin columns and shafts, with each storage bin column adjacent to a shaft; wherein, each storage bin column includes: multiple storage bins arranged sequentially along the vertical direction of the three-dimensional storage frame, each storage bin being used to store one material bin; each shaft penetrates the three-dimensional storage frame along the vertical direction; at least one shaft located at the edge of the three-dimensional storage frame is configured as an in / out shaft; the in / out shaft is adjacent to the workstation and is used for the in / out of material bins.

[0174] This application embodiment also provides a transport vehicle for transporting the bins stored in the aforementioned bin storage system.

[0175] The transport vehicle includes: a vehicle body, a traveling mechanism, a lifting mechanism, a lifting platform, a material box picking and placing mechanism located at the top center of the lifting platform, and a cargo loading platform;

[0176] The walking mechanism is located at the bottom of the vehicle body and can drive the vehicle body to move in all directions;

[0177] The lifting mechanism is arranged in parallel with the traveling mechanism and can drive the lifting platform, the material box loading and unloading mechanism and the cargo platform arranged on the top of the lifting platform to move up and down along the shaft.

[0178] The transport vehicle moves using the traveling mechanism to move the lifting platform to the top of the inlet / outlet shaft, and then the lifting mechanism lowers the lifting platform to the height corresponding to the workstation. The material box picking and placing mechanism moves the target material box from the workstation to the loading platform, or moves the target material box from the loading platform to the workstation. Alternatively, the traveling mechanism moves the lifting platform to the top of the shaft adjacent to the target storage location. The lifting mechanism lowers the lifting platform to the height corresponding to the target storage location. The material box picking and placing mechanism moves the target material box from the loading platform to the target storage location, or moves the target material box from the target storage location to the loading platform via the conveying channel.

[0179] In some embodiments, the transport vehicle further includes a rotating mechanism disposed between the bin picking and placing mechanism and the lifting platform; the rotating mechanism can drive the bin picking and placing mechanism to rotate horizontally on the lifting platform to pick up and place target bins located in storage compartments in various directions around the shaft.

[0180] In some embodiments, the bin picking and placing mechanism includes a drive mechanism and a telescopic fork; the drive mechanism can drive the telescopic fork to extend out of the transport vehicle, so that the telescopic fork can pick up and place the bin; the telescopic fork is located in the middle of the loading platform, and its height is the same as that of the loading platform, and the drive mechanism is located below the telescopic fork.

[0181] In some embodiments, the three-dimensional storage frame includes: multiple vertical beams, multiple horizontal beams, and multiple compartment partition beams that are connected at intervals and staggered in a preset arrangement to form the array-arranged compartment storage columns and shafts; wherein, the cross-sectional shape and size of each compartment storage column and each shaft are the same.

[0182] In some embodiments, each of the storage bins is formed by four adjacent vertical beams and top and bottom crossbeams; each of the storage bins is formed by a section of the four adjacent vertical beams and two bin partition beams; the two bin partition beams are arranged opposite each other at the bottom of the storage bin, so that the bottom of each storage bin forms a conveying channel toward the adjacent shaft; and the inner sides of the two bin partition beams extend inward to form a material box support structure for supporting the material box.

[0183] In some embodiments, each shaft is formed by four adjacent vertical beams and top and bottom crossbeams; each vertical beam forming the shaft has a track on its inner side.

[0184] In some embodiments, in the horizontal direction of the three-dimensional storage frame, the storage bay columns are arranged around the shaft; and any shaft has a maximum of four storage bay columns arranged in a cross-shaped orthogonal configuration.

[0185] This application embodiment also provides a bin storage method, applied to a control device, wherein the control device is communicatively connected to a transport vehicle in the aforementioned bin storage system; the method includes:

[0186] Obtain the location of the target storage compartment within the three-dimensional storage frame;

[0187] Control the idle transport vehicle to move omnidirectionally on top of the three-dimensional storage frame, and take out the target material box from the workstation into the transport vehicle through the inlet and outlet shaft;

[0188] Control the transport vehicle carrying the target material box to move omnidirectionally on the top of the three-dimensional storage frame, and transport the target material box to the target storage compartment through the target shaft adjacent to the target storage compartment.

[0189] In some embodiments, the transport vehicle includes: a vehicle body, a traveling mechanism, a lifting mechanism, a lifting platform, a bin loading and unloading mechanism, and a loading platform; the control of an idle transport vehicle to move omnidirectionally at the top of the three-dimensional storage frame, and to retrieve the target bin from the workstation into the transport vehicle through the inlet / outlet shaft, includes:

[0190] Control the idle transport vehicle, and use the walking mechanism to drive the vehicle body to move omnidirectionally on the top of the three-dimensional storage frame, so that the lifting platform moves to the top of the inlet and outlet shaft;

[0191] Control the transport vehicle, and the lifting mechanism will lower the lifting platform along the inlet / outlet shaft to the height corresponding to the workstation;

[0192] Control the transport vehicle to remove the target material box from the workstation by the material box picking and placing mechanism and move it to the loading platform;

[0193] Control the transport vehicle, and the lifting mechanism will lift the lifting platform along the inlet / outlet shaft to a position higher than the three-dimensional storage frame.

[0194] In some embodiments, the bin loading and unloading mechanism includes a drive mechanism and telescopic forks; the transport vehicle further includes a rotating mechanism disposed between the bin loading and unloading mechanism and the lifting platform;

[0195] The method further includes:

[0196] Control the rotation mechanism to rotate so that the extension direction of the telescopic forks of the bin picking and placing mechanism is opposite to the inlet / outlet shaft.

[0197] In some embodiments, each storage compartment has a conveying channel at its bottom that leads to the adjacent shaft;

[0198] The control of the transport vehicle carrying the target material box to move omnidirectionally on top of the three-dimensional storage frame, and to transport the target material box to the target storage compartment via the target shaft adjacent to the target storage compartment, includes:

[0199] Control the transport vehicle carrying the target material box, and use the walking mechanism to drive the vehicle body to move omnidirectionally on the top of the three-dimensional storage frame, so that the lifting platform moves to the top of the target shaft adjacent to the target storage compartment;

[0200] Control the rotation of the rotating mechanism so that the extension direction of the telescopic forks of the hopper loading and unloading mechanism is opposite to the target well.

[0201] Control the transport vehicle, and the lifting mechanism will lower the lifting platform along the target shaft to the height corresponding to the target storage compartment;

[0202] The transport vehicle is controlled so that the material box picking and placing mechanism moves the target material box from the loading platform to the target storage location through the conveying channel.

[0203] This application embodiment also provides a method for issuing material bins, applied to a control device, wherein the control device is communicatively connected to a transport vehicle in the aforementioned material bin storage system; the method includes:

[0204] The location of the target storage compartment containing the target bin is obtained within the three-dimensional storage frame.

[0205] Control the idle transport vehicle to move omnidirectionally on the top of the three-dimensional storage frame, and take out the target material box into the transport vehicle through the target shaft adjacent to the target storage compartment;

[0206] Control the transport vehicle carrying the target material box to move omnidirectionally on top of the three-dimensional storage frame, and transport the target material box from the transport vehicle to the workstation through the inlet and outlet shaft.

[0207] In some embodiments, each storage compartment has a conveying channel at its bottom that faces the adjacent shaft; the transport vehicle includes: a vehicle body, a traveling mechanism, a lifting mechanism, a lifting platform, a bin loading and unloading mechanism, and a loading platform;

[0208] The controlled idle transport vehicle moves omnidirectionally at the top of the three-dimensional storage frame, and retrieves the target material box into the transport vehicle through the target shaft adjacent to the target storage compartment, including:

[0209] Control the idle transport vehicle, and use the walking mechanism to drive the vehicle body to move omnidirectionally on the top of the three-dimensional storage frame, so that the lifting platform moves to the top of the target shaft adjacent to the target storage compartment;

[0210] Control the transport vehicle, and the lifting mechanism will lower the lifting platform along the target shaft to a height corresponding to the target storage compartment;

[0211] Control the transport vehicle to retrieve the target bin from the target storage compartment via the conveying channel through the bin picking and placing mechanism, and move it to the loading platform;

[0212] The transport vehicle is controlled so that the lifting mechanism lifts the lifting platform along the target shaft to a position higher than the three-dimensional storage frame.

[0213] In some embodiments, the bin loading and unloading mechanism includes a drive mechanism and telescopic forks; the transport vehicle further includes a rotating mechanism disposed between the bin loading and unloading mechanism and the lifting platform;

[0214] The method further includes:

[0215] The rotating mechanism is controlled to rotate so that the extension direction of the telescopic forks of the bin loading and unloading mechanism is opposite to the target well.

[0216] In some embodiments, controlling the transport vehicle carrying the target bin to move omnidirectionally at the top of the three-dimensional storage frame, and transporting the target bin from the transport vehicle to the workstation through the inlet / outlet shaft, includes:

[0217] Control the transport vehicle carrying the target material box, and use the walking mechanism to drive the vehicle body to move omnidirectionally on the top of the three-dimensional storage frame, so that the lifting platform moves to the top of the inlet and outlet shaft;

[0218] Control the rotation mechanism to rotate so that the extension direction of the telescopic forks of the material box picking and placing mechanism is opposite to the inlet / outlet shaft;

[0219] Control the transport vehicle, and the lifting mechanism will lower the lifting platform along the inlet / outlet shaft to the height corresponding to the workstation;

[0220] Control the transport vehicle, and the material box picking and placing mechanism moves the target material box from the loading platform to the workstation.

[0221] This application embodiment also provides a bin receiving device, applied to a control device, wherein the control device is communicatively connected to a transport vehicle in the aforementioned bin storage system; the device includes:

[0222] The first acquisition module is used to acquire the position of the target storage compartment in the three-dimensional storage frame;

[0223] The first control module is used to control the idle transport vehicle to move omnidirectionally on the top of the three-dimensional storage frame and take out the target material box from the workstation into the transport vehicle through the inlet and outlet shaft;

[0224] The second control module is used to control the transport vehicle carrying the target material box to move omnidirectionally on the top of the three-dimensional storage frame, and to transport the target material box to the target storage compartment through the target shaft adjacent to the target storage compartment.

[0225] This application embodiment also provides a bin dispensing device, applied to a control device, wherein the control device is communicatively connected to a transport vehicle in the aforementioned bin storage system; the device includes:

[0226] The second acquisition module is used to obtain the position of the target storage compartment where the target bin is located in the three-dimensional storage frame;

[0227] The third control module is used to control the idle transport vehicle to move omnidirectionally on the top of the three-dimensional storage frame and to take out the target material box into the transport vehicle through the target shaft adjacent to the target storage compartment.

[0228] The fourth control module is used to control the transport vehicle carrying the target material box to move omnidirectionally on the top of the three-dimensional storage frame, and to transport the target material box from the transport vehicle to the workstation through the inlet and outlet shaft.

[0229] This application also provides a control device, including:

[0230] Memory, used to store computer programs;

[0231] The processor, when executing a program stored in memory, implements the bin receiving method or the bin discharging method described in any of the preceding claims.

[0232] This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the bin receiving method or the bin discharging method described in any of the preceding claims.

[0233] Beneficial effects of the embodiments in this application:

[0234] The material bin storage system, warehouse rack, handling vehicle, material bin inbound and outbound method and apparatus provided in this application embodiment include: a warehouse rack comprising: a three-dimensional storage frame; the three-dimensional storage frame comprising: arrayed storage bin columns and shafts, with each storage bin column adjacent to a shaft; the handling vehicle, located on top of the three-dimensional storage frame, is capable of omnidirectional movement on top of the three-dimensional storage frame, and through the inbound / outbound shafts and other shafts, transports the target material bin from the workstation to the target storage bin, or from the target storage bin to the workstation.

[0235] As can be seen, the bin storage system provided in this application is a high-density bin storage system. The three-dimensional storage frame, besides the storage columns of the storage compartments, only requires shafts, eliminating the need for aisles, resulting in high storage density. Since the transport vehicle is positioned on top of the three-dimensional storage frame, it can move omnidirectionally. Therefore, aisles are not required, and bin entry and exit are not restricted by them. Furthermore, the transport vehicle can directly retrieve and place any bin on any floor via the shafts, resulting in high overall operating efficiency and making it highly suitable for application in the logistics and warehousing field. Additionally, the transport vehicle can directly retrieve and place goods from workstations via the entry and exit shafts, further facilitating entry and exit.

[0236] This application also provides a bin storage system, including: warehouse racks, a first transport vehicle, a second transport vehicle, and a workstation;

[0237] The warehouse rack includes: a transport vehicle movement space and a material bin storage space arranged from bottom to top;

[0238] The material bin storage space includes: a three-dimensional storage frame; the three-dimensional storage frame includes: arrayed storage columns and shafts, with each storage column adjacent to a shaft;

[0239] Each storage column includes multiple storage compartments arranged sequentially along the vertical direction of the three-dimensional storage frame, and each storage compartment is used to store a material box; the storage compartment at the bottom of each storage column is configured as a temporary storage compartment; each shaft runs vertically through the three-dimensional storage frame and its bottom is connected to the moving space of the transport vehicle.

[0240] The transport vehicle's moving space has a preset height and includes: multiple support columns set at the bottom of the three-dimensional storage frame; the multiple support columns extend from the bottom of the three-dimensional storage frame to the ground to support the three-dimensional storage frame and form the transport vehicle's moving space;

[0241] The first transport vehicle is capable of omnidirectional movement within the transport vehicle's movement space, and is used to retrieve and place target material boxes in temporary storage locations through the shaft; to transport target material boxes from the workstation to an empty temporary storage location, or to transport target material boxes from their current temporary storage location to the workstation;

[0242] The second transport vehicle is capable of omnidirectional movement at the top of the three-dimensional storage frame and vertical movement within the shaft; it is used to retrieve and place target boxes through the shaft; to transport target boxes from their temporary storage location to the target storage location, or to transport target boxes from the target storage location to an empty temporary storage location.

[0243] In some embodiments, the three-dimensional storage frame includes: multiple vertical beams, multiple horizontal beams, and multiple compartment partition beams that are connected in a preset arrangement to form the array-shaped storage columns and shafts; wherein, the cross-sectional shape and size of each storage column and each shaft are the same.

[0244] The multiple support columns of the transport vehicle's moving space are formed by a predetermined number of vertical beams extending downwards to the ground from the three-dimensional storage frame.

[0245] In some embodiments, each of the storage bins is formed by four adjacent vertical beams and top and bottom crossbeams; each of the storage bins is formed by a section of the four adjacent vertical beams and two bin partition beams; the two bin partition beams are arranged opposite each other at the bottom of the storage bin, so that the bottom of each storage bin forms a conveying channel toward the adjacent shaft; and the inner sides of the two bin partition beams extend inward to form a material box support structure for supporting the material box;

[0246] The first transport vehicle is used to pick up and place target material boxes in the temporary storage compartment through the shaft and the conveying channel;

[0247] The second transport vehicle is used to move up and down within the shaft and to pick up and place target material boxes in the storage compartments via the conveying channel.

[0248] In some embodiments, the first transport vehicle includes: a chassis capable of omnidirectional movement, a lifting mechanism mounted on the chassis, and a lifting platform mounted on top of the lifting mechanism;

[0249] The first transport vehicle uses its chassis to move within the transport vehicle's movement space to a shaft adjacent to the temporary storage compartment. The lifting mechanism then lifts the lifting platform, and the chassis moves through the conveying channel to the temporary storage compartment, placing the target material box from the lifting platform into the temporary storage compartment. Alternatively, the chassis moves to the bottom of the temporary storage compartment, and the lifting mechanism lifts the lifting platform, moving the target material box from the temporary storage compartment onto the lifting platform.

[0250] In some embodiments, the top of the three-dimensional storage frame is formed by multiple top beams that are perpendicular to each other in the horizontal direction and are spaced apart; each top beam is provided with a horizontal track at its top.

[0251] Each of the shafts is formed by four adjacent vertical beams and top and bottom crossbeams; each vertical beam forming the shaft has a vertical rack track on its inner side along the vertical beam;

[0252] The second transport vehicle includes: a vehicle body and a traveling mechanism disposed at the bottom of the vehicle body; the traveling mechanism includes: a first-direction traveling wheel and a second-direction traveling wheel;

[0253] The first directional traveling wheel includes: a first roller and a gear arranged coaxially; wherein the first roller is used to cooperate with the horizontal track to enable the second transport vehicle to move along the first direction on the top of the three-dimensional storage frame; the gear is used to cooperate with the vertical rack track to enable the second transport vehicle to move up and down within the shaft;

[0254] The second direction travel wheel includes: a second roller; the second roller is used to cooperate with the horizontal track so that the second transport vehicle can move along the second direction on the top of the three-dimensional storage frame; the first direction and the second direction are perpendicular to each other in the horizontal plane.

[0255] In some embodiments, the walking mechanism further includes: a first drive mechanism and a second drive mechanism disposed inside the vehicle body; the first roller and gear are connected to the first drive mechanism via a first drive shaft passing through the side wall of the vehicle body; the second roller is connected to the second drive mechanism via a second drive shaft passing through the side wall of the vehicle body;

[0256] The first drive mechanism is used to drive the first drive shaft to rotate, thereby causing the first roller to move along a first direction at the top of the three-dimensional storage frame, and the gear to move up and down in the shaft; the first drive mechanism is also used to control the first drive shaft to extend and retract along the inside and outside direction of the vehicle body, and to control the first drive shaft to rise and fall along the height direction of the vehicle body; thereby causing the first roller and gear to extend and retract along the inside and outside direction of the vehicle body, and to rise and fall along the height direction of the vehicle body.

[0257] The second drive mechanism is used to drive the second drive shaft to rotate, thereby causing the second roller to move along the second direction on the top of the three-dimensional storage frame; the second drive mechanism is also used to control the second drive shaft to extend and retract along the inside and outside direction of the vehicle body, and to control the second drive shaft to rise and fall along the height direction of the vehicle body; thereby causing the second roller to extend and retract along the inside and outside direction of the vehicle body, and to rise and fall along the height direction of the vehicle body.

[0258] In some embodiments, the second transport vehicle further includes: a bin loading and unloading mechanism disposed on the top of the vehicle body and a cargo platform surrounding the bin loading and unloading mechanism;

[0259] The second transport vehicle, using the traveling mechanism, moves from the top of the three-dimensional storage frame to the first target shaft adjacent to the target temporary storage compartment corresponding to the target bin, and descends along the first target shaft to the target temporary storage compartment; using the bin retrieval and placement mechanism, it retrieves and places the target bin between the target temporary storage compartment and the loading platform; or,

[0260] The walking mechanism moves from the top of the three-dimensional storage frame to the second target shaft adjacent to the target storage compartment corresponding to the target bin, and descends along the second target shaft to the target storage compartment; the bin picking and placing mechanism picks and places the target bin between the target storage compartment and the loading platform.

[0261] In some embodiments, the size of each storage compartment is larger than the size of a hopper, such that there is a first pick-and-place gap between the hoppers stored in the storage column, or a second pick-and-place gap between each hopper and the edge of the storage compartment it belongs to.

[0262] The first transport vehicle uses the first or second pick-up / placement gap to pick up or place material boxes from the temporary storage bins in the storage bin column.

[0263] The second transport vehicle uses the first or second pick-up / placement gap to pick up or place material boxes from the storage bins of the storage bin column.

[0264] In some embodiments, the storage bay columns are arranged around the shaft in the horizontal direction of the three-dimensional storage frame; and any shaft has a maximum of four storage bay columns surrounding it.

[0265] In some embodiments, the workstation is located at the edge of the warehouse shelf; the workstation is equipped with an operating table for temporarily storing the material boxes that the first transport vehicle transports from the warehouse shelf, or for temporarily storing the material boxes to be stored on the warehouse shelf.

[0266] In some embodiments, the bin storage system further includes: a control device;

[0267] The control device is communicatively connected to the first transport vehicle and the second transport vehicle;

[0268] The system controls the first transport vehicle to move omnidirectionally within the transport vehicle's movement space, transporting the target bin from the workstation to an empty temporary storage location, or transporting the target bin from its temporary storage location to the workstation; and controls the second transport vehicle to move omnidirectionally at the top of the three-dimensional storage frame and move up and down in the shaft, transporting the target bin from its temporary storage location to the target storage location, or transporting the target bin from the target storage location to an empty temporary storage location via the shaft.

[0269] This application also provides a warehouse rack, including:

[0270] The transport vehicle movement space and material bin storage space are arranged from bottom to top;

[0271] The material bin storage space includes: a three-dimensional storage frame; the three-dimensional storage frame includes: arrayed storage columns and shafts, with each storage column adjacent to a shaft;

[0272] Each storage column includes multiple storage compartments arranged sequentially along the vertical direction of the three-dimensional storage frame, and each storage compartment is used to store a material box; the storage compartment at the bottom of each storage column is configured as a temporary storage compartment; each shaft runs vertically through the three-dimensional storage frame and its bottom is connected to the moving space of the transport vehicle.

[0273] The transport vehicle movement space has a preset height and includes: multiple support columns set at the bottom of the three-dimensional storage frame; the multiple support columns extend from the bottom of the three-dimensional storage frame to the ground to support the three-dimensional storage frame and form the transport vehicle movement space; the transport vehicle movement space is used to enable the first transport vehicle to move omnidirectionally within the transport vehicle movement space.

[0274] A horizontal track is provided at the top of the three-dimensional storage frame; a vertical rack track is provided inside each shaft; the horizontal track is used to enable the second transport vehicle to move omnidirectionally at the top of the three-dimensional storage frame; the vertical rack track is used to enable the second transport vehicle to move up and down within the shaft.

[0275] In some embodiments, the three-dimensional storage frame includes: multiple vertical beams, multiple horizontal beams, and multiple compartment partition beams that are connected in a preset arrangement to form the array-shaped storage columns and shafts; wherein, the cross-sectional shape and size of each storage column and each shaft are the same.

[0276] The multiple support columns of the transport vehicle's moving space are formed by a predetermined number of vertical beams extending downwards to the ground from the three-dimensional storage frame.

[0277] In some embodiments, each of the storage bins is formed by four adjacent vertical beams and top and bottom crossbeams; each of the storage bins is formed by a section of the four adjacent vertical beams and two bin partition beams; the two bin partition beams are arranged opposite each other at the bottom of the storage bin, so that the bottom of each storage bin forms a conveying channel toward the adjacent shaft; and the inner sides of the two bin partition beams extend inward to form a material box support structure for supporting the material box.

[0278] In some embodiments, the top of the three-dimensional storage frame is formed by multiple top beams arranged perpendicularly to each other in the horizontal direction; the horizontal track is disposed on the top of each top beam.

[0279] Each of the shafts is formed by four adjacent vertical beams and top and bottom crossbeams; the vertical rack rails are arranged inside each of the vertical beams of the shaft.

[0280] In some embodiments, the size of each storage compartment is larger than the size of a hopper, such that there is a first pick-and-place gap between the hoppers stored in the storage column, or a second pick-and-place gap between each hopper and the edge of the storage compartment it belongs to; the first pick-and-place gap or the second pick-and-place gap is used by the first transport vehicle and the second transport vehicle to pick up and place the hopper.

[0281] In some embodiments, in the horizontal direction of the three-dimensional storage frame, the storage bay columns are arranged around the shaft; and any shaft has a maximum of four storage bay columns arranged in a cross-shaped orthogonal configuration.

[0282] This application embodiment also provides a bin storage method, applied to a control device, wherein the control device is communicatively connected to a first transport vehicle and a second transport vehicle in the aforementioned bin storage system; the method includes:

[0283] Obtain the location of the target storage compartment within the three-dimensional storage frame;

[0284] Obtain the location of the available target temporary storage space;

[0285] Control the first idle transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation;

[0286] Control the first transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the workstation to an idle target temporary storage location;

[0287] Control the idle second transport vehicle to move omnidirectionally at the top of the three-dimensional storage frame and move up and down in the first target shaft adjacent to the target temporary storage location to load the target material box from the target temporary storage location onto the second transport vehicle;

[0288] The second transport vehicle carrying the target material box is controlled to move omnidirectionally on the top of the three-dimensional storage frame and move up and down in the second target shaft adjacent to the target storage compartment, so as to move the target material box from the second transport vehicle to the target storage compartment.

[0289] In some embodiments, each storage compartment has a conveying channel at its bottom that leads to the adjacent shaft;

[0290] The first transport vehicle includes: a chassis, a lifting mechanism, and a lifting platform;

[0291] The control of the first transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the workstation to an idle target temporary storage location, includes:

[0292] Control the first transport vehicle carrying the target material box to move to the bottom of the first target shaft adjacent to the target temporary storage location using the chassis;

[0293] Control the first transport vehicle, and the lifting mechanism will lift the lifting platform along the first target shaft to the height corresponding to the vacant target temporary storage location;

[0294] Control the first transport vehicle to move it to the target temporary storage location via the conveyor channel using the chassis;

[0295] Control the first transport vehicle, and the lifting mechanism drives the lifting platform to lower, so that the target material box on the lifting platform is placed into the target temporary storage bin.

[0296] In some embodiments, each storage compartment has a conveying channel at its bottom that leads to the adjacent shaft;

[0297] The second transport vehicle includes: a vehicle body, a traveling mechanism, a bin loading and unloading mechanism, and a loading platform;

[0298] The second transport vehicle, which is controlled to be idle, moves omnidirectionally at the top of the three-dimensional storage frame and moves vertically within the first target shaft adjacent to the target temporary storage location, loading the target material box from the target temporary storage location onto the second transport vehicle, including:

[0299] The idle second transport vehicle is controlled to move from the top of the three-dimensional storage frame to the top of the first target well adjacent to the target temporary storage location using the walking mechanism;

[0300] Control the second transport vehicle to descend along the first target shaft to the height corresponding to the target temporary storage location, and the material box picking and placing mechanism moves the target material box from the target temporary storage location to the cargo platform through the conveying channel;

[0301] Control the second transport vehicle to carry the target material box up along the first target shaft to the top of the first target shaft.

[0302] In some embodiments, controlling the second transport vehicle carrying the target bin to move omnidirectionally at the top of the three-dimensional storage frame and move vertically within a second target shaft adjacent to the target storage compartment to move the target bin from the second transport vehicle to the target storage compartment includes:

[0303] Control the second transport vehicle carrying the target material box, and use the walking mechanism to move from the top of the three-dimensional storage frame to the top of the second target well adjacent to the target storage compartment;

[0304] The second transport vehicle is controlled to descend along the second target shaft to the height corresponding to the target storage compartment. The material box picking and placing mechanism then moves the target material box from the loading platform to the target storage compartment through the conveying channel.

[0305] In some embodiments, a horizontal track is provided on the top of the three-dimensional storage frame; a vertical rack track is provided on the inner side of each shaft;

[0306] The walking mechanism includes: a first direction walking wheel and a second direction walking wheel; the first direction walking wheel includes: a first roller and a gear arranged coaxially; the second direction walking wheel includes: a second roller;

[0307] The omnidirectional movement at the top of the three-dimensional storage frame includes: using the first roller in conjunction with the horizontal track to move the second transport vehicle along a first direction at the top of the three-dimensional storage frame; and using the second roller in conjunction with the horizontal track to move the second transport vehicle along a second direction at the top of the three-dimensional storage frame.

[0308] The second transport vehicle moves up and down within the first target shaft, including: using the gear to engage with the vertical rack and pinion track to make the second transport vehicle move up and down within the first target shaft;

[0309] The second transport vehicle moves up and down within the second target shaft by: using the gear to engage with the vertical rack and pinion track to move the second transport vehicle up and down within the second target shaft.

[0310] In some embodiments, the walking mechanism further includes: a first drive mechanism and a second drive mechanism disposed inside the vehicle body;

[0311] The step of using the first roller in conjunction with the horizontal track to move the second transport vehicle along a first direction on top of the three-dimensional storage frame includes:

[0312] The first drive mechanism controls the first roller to descend along the height direction of the vehicle body to contact the horizontal track; and the second control drive mechanism controls the second roller to rise along the height direction of the vehicle body to a height that is detached from the horizontal track.

[0313] The first drive mechanism drives the first roller to cooperate with the horizontal track and move along the first direction at the top of the three-dimensional storage frame;

[0314] The method of utilizing the second roller in conjunction with the horizontal track to allow the second transport vehicle to move along a second direction on top of the three-dimensional storage frame includes:

[0315] The second drive mechanism controls the second roller to descend along the height direction of the vehicle body to contact the horizontal track; and the first drive mechanism controls the first roller to rise along the height direction of the vehicle body to a height that is detached from the horizontal track.

[0316] The second drive mechanism drives the second roller to cooperate with the horizontal track and move along the second direction at the top of the three-dimensional storage frame.

[0317] In some embodiments, the step of using the gear and the vertical rack and pinion track to move the second transport vehicle up and down within the first target shaft includes:

[0318] The first drive mechanism controls the first roller and gear to retract toward the vehicle body, so that the first roller retracts into the first target wellbore, and the gear meshes with the vertical rack and pinion track;

[0319] The second drive mechanism is used to control the second roller to retract towards the vehicle body, so that the second roller retracts into the first target wellbore;

[0320] The first drive mechanism is used to control the gear to engage with the vertical rack and pinion track, so that the second transport vehicle can move up and down within the first target shaft.

[0321] The method of using the gear and the vertical rack and pinion track to move the second transport vehicle up and down within the second target shaft includes:

[0322] The first drive mechanism is used to control the first roller and gear to retract toward the vehicle body, so that the first roller retracts into the second target wellbore, and the gear meshes with the vertical rack and pinion track;

[0323] The second drive mechanism is used to control the second roller to retract towards the vehicle body, so that the second roller retracts into the second target wellbore;

[0324] The first drive mechanism is used to control the gear to engage with the vertical rack and pinion track, so that the second transport vehicle can move up and down within the second target shaft.

[0325] This application embodiment also provides a bin retrieval method, applied to a control device, wherein the control device is communicatively connected to a first transport vehicle and a second transport vehicle in the aforementioned bin storage system; the method includes:

[0326] Obtain the location of the target storage compartment within the three-dimensional storage frame;

[0327] Obtain the location of the available target temporary storage space;

[0328] The idle second transport vehicle is controlled to move omnidirectionally on the top of the three-dimensional storage frame and move up and down in the second target shaft adjacent to the target storage compartment to load the target material box from the target storage compartment onto the second transport vehicle;

[0329] Control the second transport vehicle carrying the target material box to move omnidirectionally on the top of the three-dimensional storage frame and move up and down in the first target shaft adjacent to the target temporary storage location to move the target material box from the second transport vehicle to the target temporary storage location;

[0330] Control the first idle transport vehicle to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the target temporary storage location to the workstation.

[0331] In some embodiments, each storage compartment has a conveying channel at its bottom that leads to the adjacent shaft;

[0332] The second transport vehicle includes: a vehicle body, a traveling mechanism, a bin loading and unloading mechanism, and a loading platform;

[0333] The second transport vehicle, which is controlled to be idle, moves omnidirectionally at the top of the three-dimensional storage frame and moves vertically within the second target shaft adjacent to the target storage compartment, loading the target hopper from the target storage compartment onto the second transport vehicle, including:

[0334] Control the idle second transport vehicle to move from the top of the three-dimensional storage frame to the top of the second target well adjacent to the target storage compartment using the walking mechanism;

[0335] Control the second transport vehicle to descend along the second target shaft to the height corresponding to the target storage compartment, and the material box picking and placing mechanism moves the target material box from the target storage compartment to the cargo platform through the conveying channel;

[0336] Control the second transport vehicle to carry the target material box up the second target shaft to the top of the second target shaft.

[0337] In some embodiments, controlling the second transport vehicle carrying the target bin to move omnidirectionally at the top of the three-dimensional storage frame and move vertically within a first target shaft adjacent to the target temporary storage location, moving the target bin from the second transport vehicle to the target temporary storage location, includes:

[0338] Control the second transport vehicle carrying the target material box, and use the walking mechanism to move from the top of the three-dimensional storage frame to the top of the first target well adjacent to the target temporary storage compartment;

[0339] The second transport vehicle is controlled to descend along the first target shaft to the height corresponding to the target temporary storage location, and the target material box is moved from the loading platform to the target temporary storage location by the material box picking and placing mechanism through the conveying channel.

[0340] In some embodiments, each storage compartment has a conveying channel at its bottom that leads to the adjacent shaft;

[0341] The first transport vehicle includes: a chassis, a lifting mechanism, and a lifting platform;

[0342] The first transport vehicle, which is under control and is idle, moves omnidirectionally within the transport vehicle's movement space to transport the target material bin from the target temporary storage location to the workstation, including:

[0343] Control the idle first transport vehicle to move to the first target shaft adjacent to the target temporary storage location using the chassis;

[0344] Control the first transport vehicle to move it to the bottom of the target temporary storage location using the chassis;

[0345] The first transport vehicle is controlled to lift the lifting platform by the lifting mechanism, so that the target material box is moved to the lifting platform and returned to the first target shaft through the conveying channel;

[0346] Control the first transport vehicle, and lower the lifting platform driven by the lifting mechanism so that the overall height of the first transport vehicle is lower than the height of the transport vehicle movement space;

[0347] Control the first transport vehicle to move it to the workstation using the chassis.

[0348] This application embodiment also provides a bin storage device, applied to a control device, wherein the control device is communicatively connected to a first transport vehicle and a second transport vehicle in the aforementioned bin storage system; the device includes:

[0349] The first acquisition module is used to acquire the position of the target storage compartment in the three-dimensional storage frame;

[0350] The second acquisition module is used to obtain the location of the available target temporary storage space;

[0351] The first control module is used to control the idle first transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation.

[0352] The second control module is used to control the first transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the workstation to an idle target temporary storage location;

[0353] The third control module is used to control the idle second transport vehicle to move omnidirectionally on the top of the three-dimensional storage frame and move up and down in the first target shaft adjacent to the target temporary storage compartment to load the target material box from the target temporary storage compartment onto the second transport vehicle.

[0354] The fourth control module is used to control the second transport vehicle carrying the target material box to move omnidirectionally on the top of the three-dimensional storage frame and move up and down in the second target well adjacent to the target storage compartment, so as to move the target material box from the second transport vehicle to the target storage compartment.

[0355] This application embodiment also provides a bin dispensing device, applied to a control device, wherein the control device is communicatively connected to a first transport vehicle and a second transport vehicle in the aforementioned bin storage system; the device includes:

[0356] The third acquisition module is used to obtain the position of the target storage compartment in the three-dimensional storage frame;

[0357] The fourth module is used to obtain the location of the available target temporary storage space;

[0358] The fifth control module is used to control the idle second transport vehicle to move omnidirectionally on the top of the three-dimensional storage frame and move up and down in the second target shaft adjacent to the target storage compartment to load the target material box from the target storage compartment onto the second transport vehicle;

[0359] The sixth control module is used to control the second transport vehicle carrying the target material box to move omnidirectionally on the top of the three-dimensional storage frame and move up and down in the first target shaft adjacent to the target temporary storage location, so as to move the target material box from the second transport vehicle to the target temporary storage location.

[0360] The seventh control module is used to control the idle first transport vehicle to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the target temporary storage location to the workstation.

[0361] This application also provides a control device, including:

[0362] Memory, used to store computer programs;

[0363] The processor, when executing the program stored in the memory, implements either the above-mentioned bin receiving method or the above-mentioned bin discharging method.

[0364] This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements any of the above-described bin warehousing methods or any of the above-described bin warehousing methods.

[0365] Beneficial effects of the embodiments in this application:

[0366] The bin storage system, warehouse rack, bin inbound and outbound method and apparatus provided in this application embodiment are provided with a transport vehicle movement space and a bin storage space arranged from bottom to top on the warehouse rack. The bin storage space includes storage bin rows and vertically connected shafts. The storage bin at the bottom of each storage bin row is configured as a temporary storage bin. The first transport vehicle in the system can move omnidirectionally in the transport vehicle movement space to move the target bin from the workstation to an empty temporary storage bin, or move the target bin from its temporary storage bin to the workstation. Moreover, the second transport vehicle in the system can move omnidirectionally at the top of the three-dimensional storage frame and can move vertically within the shaft to move the target bin from its temporary storage bin to the target storage bin, or move the target bin from the target storage bin to an empty temporary storage bin.

[0367] As can be seen, the bin storage system provided in this application is a high-density bin storage system. The storage space for the bins, besides the storage columns of the storage compartments, only requires a shaft, eliminating the need for aisles, resulting in high storage density. Because no aisles are required, the first transport vehicle can move omnidirectionally within the transport vehicle's movement space, and the second transport vehicle can move omnidirectionally at the top of the three-dimensional storage frame, and can also move vertically within the shaft, without being restricted by aisles. Furthermore, any bin on any floor can be directly retrieved or placed via the shaft, resulting in high overall operating efficiency and making it highly suitable for application in the logistics and warehousing field.

[0368] This application also provides a warehouse rack, including: a three-dimensional storage frame;

[0369] The three-dimensional storage framework includes: multiple storage splicing units arranged in an array and spliced ​​together; each storage splicing unit includes: a shaft and up to 4 columns of storage bays; each of the storage bays is spaced around the shaft, such that there are gaps between the storage bays of each storage splicing unit; each of the storage splicing units is spliced ​​together based on its respective gaps.

[0370] Each of the aforementioned storage bins is arranged along the vertical direction of the three-dimensional storage frame and is used to store material bins;

[0371] Each of the aforementioned shafts is arranged vertically within the three-dimensional storage frame and is connected to the storage bin column, so that the material bin transport vehicle can pick up and place the material bins stored in the storage bin column.

[0372] In some embodiments, both the storage column and the shaft cross-section are rectangular in shape;

[0373] The storage splicing unit located in the non-edge area of ​​the three-dimensional storage frame is the first storage splicing unit. The first storage splicing unit has four storage columns. The four storage columns surround the shaft in a cross-shaped orthogonal arrangement, so that each of the four corners of the first storage splicing unit forms an interval area. The interval areas at the four corners are filled by one of the storage columns from the four storage splicing units adjacent to the first storage splicing unit, thereby realizing the splicing of each storage splicing unit.

[0374] In some embodiments, the storage splicing unit located in the edge region of the three-dimensional storage frame is a second storage splicing unit, and the second storage splicing unit has three storage columns; wherein, two of the storage columns are symmetrically arranged on opposite sides of the shaft along the edge direction, and the other storage column is spliced ​​with the adjacent first storage splicing unit.

[0375] In some embodiments, the plurality of storage splicing units include: a first storage splicing unit with a number of 4 storage columns and a second storage splicing unit with a number of 3 storage columns;

[0376] In this unit, one first storage splicing unit and four second storage splicing units surrounding the first storage splicing unit are spliced ​​together to form a storage area unit;

[0377] Multiple storage area units are arranged in an array to form the three-dimensional storage frame.

[0378] In some embodiments, in each of the storage area units, the four columns of the bay storage columns of the first storage splicing unit surround the shaft in a cross-shaped orthogonal form, so that each of the four corners of the first storage splicing unit forms a gap area.

[0379] In each of the storage area units, two columns of storage bays in the second storage splicing unit are symmetrically arranged on opposite sides of the shaft, and the other column is spliced ​​to the interval area of ​​the first storage splicing unit.

[0380] In some embodiments, the three-dimensional storage framework further includes: a filling bay storage column, used to fill the gap area formed between adjacent second storage splicing units after multiple storage area units are spliced ​​together; and the filling bay storage column is adjacent to the well channel.

[0381] In some embodiments, the storage column includes multiple storage compartments arranged sequentially along the vertical direction of the three-dimensional storage frame, each storage compartment being used to store a material bin; the storage compartment at the bottom of each storage column is configured as a temporary storage compartment.

[0382] In some embodiments, the three-dimensional storage frame includes: a plurality of vertical beams, a plurality of horizontal beams, and a plurality of compartment partition beams that are connected at intervals and staggered in a preset arrangement to form the compartment storage column and the shaft.

[0383] In some embodiments, each of the storage bins is formed by four adjacent vertical beams and top and bottom crossbeams; each of the storage bins is formed by a section of the four adjacent vertical beams and two bin partition beams; the two bin partition beams are arranged opposite each other at the bottom of the storage bin, so that the bottom of each storage bin forms a conveying channel toward the adjacent shaft; and the inner sides of the two bin partition beams extend inward to form a bin support structure for supporting the bins; the conveying channel is used for a transport vehicle to pick up and place the target bins in the temporary storage bins or pick up and place the target bins in the storage bins.

[0384] In some embodiments, the size of each storage compartment is larger than the size of a hopper, such that there is a first pick-and-place gap between the hoppers stored in the storage column, or a second pick-and-place gap between each hopper and the edge of the storage compartment it belongs to; the first pick-and-place gap or the second pick-and-place gap; is used to enable the transport vehicle to pick up or place the target hopper in the temporary storage compartment or to pick up or place the target hopper in the storage compartment.

[0385] In some embodiments, it further includes: a transport vehicle movement space disposed below the three-dimensional storage frame; the bottom of each shaft is connected to the transport vehicle movement space;

[0386] The transport vehicle's moving space has a preset height and includes: multiple support columns set at the bottom of the three-dimensional storage frame; the multiple support columns extend from the bottom of the three-dimensional storage frame to the ground to support the three-dimensional storage frame and form the transport vehicle's moving space, allowing the material box transport vehicle to move omnidirectionally within it.

[0387] In some embodiments, the plurality of support columns of the transport vehicle's moving space are formed by the vertical beams of the three-dimensional storage frame extending downwards to the ground.

[0388] This application embodiment also provides a bin storage system, including: the warehouse rack, first transport vehicle, second transport vehicle and workstation described in any one of the above;

[0389] The warehouse racking includes: a three-dimensional storage frame and a transport vehicle movement space set below the three-dimensional storage frame;

[0390] The storage slot at the bottom of each storage column is configured as a temporary storage slot;

[0391] The first transport vehicle is capable of omnidirectional movement within the transport vehicle's movement space, and is used to retrieve and place target material boxes in temporary storage locations via the shaft; to transport the target material boxes from the workstation to the vacant temporary storage location, or to transport the target material boxes from the temporary storage location to the workstation;

[0392] The second transport vehicle is capable of omnidirectional movement within the transport vehicle's movement space, and is used to retrieve and place the target material box through the shaft; to transport the target material box from its location in the temporary storage compartment to the target storage compartment, or to transport the target material box from the target storage compartment to an empty temporary storage compartment.

[0393] This application embodiment also provides a bin storage system, including: the warehouse rack, the third transport vehicle, and the workstation described in any one of the above;

[0394] The warehouse racking includes: a three-dimensional storage frame and a transport vehicle movement space set below the three-dimensional storage frame;

[0395] The third transport vehicle is capable of omnidirectional movement within the transport vehicle's movement space, and is used to retrieve and place target material boxes through the shaft; to transport target material boxes from the workstation to the target storage bin, or to transport target material boxes from the target storage bin to the workstation.

[0396] This application embodiment also provides a bin storage system, including: the warehouse rack, the fourth handling vehicle, and the workstation described in any one of the above;

[0397] At least one well located at the edge of the three-dimensional storage frame is configured as an inlet / outlet well.

[0398] The fourth transport vehicle, positioned at the top of the three-dimensional storage frame, is capable of omnidirectional movement at the top of the three-dimensional storage frame. It is used to load target boxes from the workstation via the inlet / outlet shaft and transport them to the target storage location via a target shaft adjacent to the target storage location; or to remove target boxes from the target storage location via a target shaft adjacent to the target storage location and transport them to the workstation via the inlet / outlet shaft.

[0399] This application embodiment also provides a bin storage system, including: the warehouse rack, the fifth transport vehicle, the sixth transport vehicle, and the workstation described in any one of the above;

[0400] The warehouse racking includes: a three-dimensional storage frame and a transport vehicle movement space set below the three-dimensional storage frame;

[0401] The storage slot at the bottom of each storage column is configured as a temporary storage slot;

[0402] The fifth transport vehicle is capable of omnidirectional movement within the transport vehicle's movement space, and is used to retrieve and place target material boxes in temporary storage locations through the shaft; to transport target material boxes from the workstation to an empty temporary storage location, or to transport target material boxes from their current temporary storage location to the workstation;

[0403] The sixth transport vehicle is capable of omnidirectional movement at the top of the three-dimensional storage frame and vertical movement within the shaft; it is used to retrieve and place target boxes through the shaft; to transport target boxes from their temporary storage location to the target storage location, or to transport target boxes from the target storage location to an empty temporary storage location.

[0404] The warehouse racking and bin storage system provided in this application includes a three-dimensional storage frame comprising multiple storage splicing units arranged in an array and interconnected. Each storage splicing unit includes a shaft and up to four bin storage columns. Each bin storage column is arranged vertically along the three-dimensional storage frame and is used to store bins sequentially in that direction. Each shaft penetrates the three-dimensional storage frame vertically, allowing bin transport vehicles to retrieve and place bins located at different positions within the bin storage columns. Using the transport vehicles of this application, bins located at different heights within the bin storage columns can be directly retrieved and placed via the shafts. Since it eliminates the need for layer-by-layer retrieval or removing upper-layer bins before retrieving lower-layer bins, the storage density of the warehouse racking is increased, while the efficiency of bin retrieval and placement is also improved.

[0405] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0406] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0407] Figure 1 This is a schematic diagram of the structure of the bin storage system provided in the first embodiment of this application;

[0408] Figure 2 for Figure 1 The diagram shows a top view of the bin storage system.

[0409] Figure 3a for Figure 1 The diagram shows the structural schematic of the warehouse shelving in the embodiment shown.

[0410] Figure 3b for Figure 3a A magnified view of part A of the warehouse shelf shown in the diagram;

[0411] Figure 3c for Figure 3a The diagram shows the structure of the shaft in the warehouse shelving.

[0412] Figure 3d for Figure 3c A magnified view of a portion of point B in the shaft shown;

[0413] Figure 3e for Figure 3a A top view of the warehouse shelving shown;

[0414] Figure 3f for Figure 3e A magnified view of point C on the warehouse shelf shown;

[0415] Figure 3g A schematic diagram of a 5x5 rectangular array of storage rack compartments;

[0416] Figure 3h A schematic diagram of a 2x2 array arrangement for storage area cells;

[0417] Figure 3i A schematic diagram of the splicing structure of multiple storage area units;

[0418] Figure 4 for Figure 1 The enlarged view of a partial storage compartment of the warehouse rack in the illustrated embodiment, showing a storage bin.

[0419] Figure 5 for Figure 1 A schematic diagram of the structure of the first transport vehicle in the embodiment shown;

[0420] Figure 6 for Figure 5 The diagram shown is a structural schematic of the first transport vehicle for picking up and placing material boxes.

[0421] Figure 7 for Figure 1 A schematic diagram of the structure of the second transport vehicle in the embodiment shown;

[0422] Figure 8 for Figure 7 The diagram shows the structure of the second transport vehicle for picking up and placing the material box.

[0423] Figure 9 A flowchart of the first embodiment of the bin warehousing method provided in the first embodiment of this application;

[0424] Figure 10A flowchart of a second embodiment of the bin storage method provided in the first embodiment of this application;

[0425] Figure 11 A flowchart of the first embodiment of the bin dispensing method provided in the first embodiment of this application;

[0426] Figure 12 A flowchart of a second embodiment of the bin dispensing method provided in the first embodiment of this application;

[0427] Figure 13 This is a schematic diagram of the material bin receiving device provided in the first embodiment of this application;

[0428] Figure 14 This is a schematic diagram of the material bin dispensing device provided in the first embodiment of this application;

[0429] Figure 15 This is a schematic diagram of the structure of the control device provided in the first embodiment of this application;

[0430] Figure 16 This is a schematic diagram of the structure of the bin storage system provided in the second embodiment of this application;

[0431] Figure 17 for Figure 16 The diagram shows a top view of the bin storage system.

[0432] Figure 18a for Figure 16 The diagram shows the structural schematic of the warehouse shelving in the embodiment shown.

[0433] Figure 18b for Figure 18a A magnified view of part A of the warehouse shelf shown in the diagram;

[0434] Figure 18c for Figure 18a The diagram shows the structure of the shaft in the warehouse shelving.

[0435] Figure 18d for Figure 18c A magnified view of a portion of point B in the shaft shown;

[0436] Figure 18e for Figure 18a A top view of the warehouse shelving shown;

[0437] Figure 18f for Figure 18e A magnified view of point C on the warehouse shelf shown;

[0438] Figure 18g A schematic diagram of a 5x5 rectangular array of storage rack compartments;

[0439] Figure 18hA schematic diagram of a 2x2 array arrangement for storage area cells;

[0440] Figure 18i A schematic diagram of the splicing structure of multiple storage area units;

[0441] Figure 19 for Figure 16 The enlarged view of a partial storage compartment of the warehouse rack in the illustrated embodiment, showing a storage bin.

[0442] Figure 20a for Figure 16 A three-dimensional structural diagram of the transport vehicle in the illustrated embodiment;

[0443] Figure 20b for Figure 20a The side view shown shows the transport vehicle with the hopper raised to its highest position.

[0444] Figure 20c for Figure 20a The side view of the transport vehicle with the loading bin not lifted is shown.

[0445] Figure 21 for Figure 20a The diagram shows the structure of the material handling vehicle for picking up and placing the material box.

[0446] Figure 22 A flowchart of the first embodiment of the bin warehousing method provided in the second embodiment of this application;

[0447] Figure 23 A flowchart illustrating a second embodiment of the bin warehousing method provided in the second embodiment of this application;

[0448] Figure 24 A flowchart of the first embodiment of the bin release method provided in the second embodiment of this application;

[0449] Figure 25 A flowchart of the second embodiment of the bin dispensing method provided in the second embodiment of this application;

[0450] Figure 26 This is a schematic diagram of the material bin receiving device provided in the second embodiment of this application;

[0451] Figure 27 This is a schematic diagram of the material bin dispensing device provided in the second embodiment of this application;

[0452] Figure 28 This is a schematic diagram of the structure of the control device provided in the second embodiment of this application;

[0453] Figure 29 This is a schematic diagram of the structure of the bin storage system provided in the third embodiment of this application;

[0454] Figure 30 for Figure 29 The diagram shows a top view of the bin storage system.

[0455] Figure 31a for Figure 29 The diagram shows the structural schematic of the warehouse shelving in the embodiment shown.

[0456] Figure 31b for Figure 31a A magnified view of part A of the warehouse shelf shown in the diagram;

[0457] Figure 31c A schematic diagram of a 5x5 rectangular array of storage rack compartments;

[0458] Figure 31d A schematic diagram of a 2x2 array arrangement for storage area cells;

[0459] Figure 31e A schematic diagram of the splicing structure of multiple storage area units;

[0460] Figure 32 for Figure 29 The enlarged view of a partial storage compartment of the warehouse rack in the illustrated embodiment, showing a storage bin.

[0461] Figure 33a for Figure 29 A three-dimensional structural diagram of the loading bin of the transport vehicle in the embodiment shown;

[0462] Figure 33b for Figure 33a The side view of the transport vehicle shown;

[0463] Figure 34a for Figure 33a The diagram shows a partial enlarged view of the material handling vehicle picking up and placing the material box.

[0464] Figure 34b for Figure 33a The diagram shows a second enlarged view of the material handling vehicle picking up and placing the material box.

[0465] Figure 35 A flowchart of the first embodiment of the bin storage method provided in the third embodiment of this application;

[0466] Figure 36 A flowchart of the second embodiment of the bin warehousing method provided in the third embodiment of this application;

[0467] Figure 37 A flowchart of the first embodiment of the bin release method provided in the third embodiment of this application;

[0468] Figure 38 A flowchart of the second embodiment of the bin release method provided in the third embodiment of this application;

[0469] Figure 39 This is a schematic diagram of the material bin receiving device provided in the third embodiment of this application;

[0470] Figure 40 This is a schematic diagram of the material bin dispensing device provided in the third embodiment of this application;

[0471] Figure 41 This is a schematic diagram of the structure of the control device provided in the third embodiment of this application;

[0472] Figure 42a This is a schematic diagram of the structure of the bin storage system provided in the fourth embodiment of this application;

[0473] Figure 42b for Figure 42a A top view of the bin storage system shown (excluding the first and second transport vehicles);

[0474] Figure 43a for Figure 42a A top view of the warehouse shelving in the illustrated embodiment;

[0475] Figure 43b for Figure 43a A magnified view of part A of the warehouse shelving shown;

[0476] Figure 43c A schematic diagram of a 5x5 rectangular array of storage rack compartments;

[0477] Figure 43d A schematic diagram of a 2x2 array arrangement for storage area cells;

[0478] Figure 43e A schematic diagram of the splicing structure of multiple storage area units;

[0479] Figure 44 for Figure 42a A partial three-dimensional enlarged view of the warehouse rack in the illustrated embodiment;

[0480] Figure 45 for Figure 42a The enlarged view of a partial storage compartment of the warehouse rack in the illustrated embodiment, showing a storage bin.

[0481] Figure 46 for Figure 42a A schematic diagram of the structure of the first transport vehicle in the embodiment shown;

[0482] Figure 47 for Figure 46 The diagram shown is a structural schematic of the first transport vehicle for picking up and placing material boxes.

[0483] Figure 48a for Figure 42aA schematic diagram of the structure of the second transport vehicle in the embodiment shown;

[0484] Figure 48b for Figure 48a A partial enlarged view of the second transport vehicle shown;

[0485] Figure 48c for Figure 48a The diagram shows the telescopic forks of the second transport vehicle extending and carrying the material box.

[0486] Figure 48d for Figure 48a The diagram shows the retractable forks of the second transport vehicle retracting to carry the material box;

[0487] Figure 49a for Figure 48a The diagram shows the status of the second transport vehicle at the top of the three-dimensional storage frame and inside the shaft.

[0488] Figure 49b for Figure 49a A magnified view of a section at point B in the middle;

[0489] Figure 49c for Figure 49a A magnified view of a section at point C;

[0490] Figure 49d for Figure 49a A magnified view of a section at point D;

[0491] Figure 50 for Figure 48a The diagram shows the second transport vehicle retrieving and placing material boxes from the temporary storage location.

[0492] Figure 51 A flowchart of the first embodiment of the bin storage method provided in the fourth embodiment of this application;

[0493] Figure 52 A flowchart of the second embodiment of the bin storage method provided in the fourth embodiment of this application;

[0494] Figure 53a This is a flowchart illustrating the movement of the second transport vehicle along a first direction on top of the three-dimensional storage frame in the fourth embodiment of this application.

[0495] Figure 53b This is a flowchart illustrating the movement of the second transport vehicle along the second direction on top of the three-dimensional storage frame in the fourth embodiment of this application.

[0496] Figure 54a This is a flowchart illustrating the movement of the second transport vehicle up and down in the first target shaft, as shown in the fourth embodiment of this application.

[0497] Figure 54bThis is a flowchart illustrating the movement of the second transport vehicle up and down in the second target shaft, as shown in the fourth embodiment of this application.

[0498] Figure 55 A flowchart of the first embodiment of the bin release method provided in the fourth embodiment of this application;

[0499] Figure 56 A flowchart of the second embodiment of the bin dispensing method provided in the fourth embodiment of this application;

[0500] Figure 57 This is a schematic diagram of the material bin receiving device provided in the fourth embodiment of this application;

[0501] Figure 58 This is a schematic diagram of the material bin dispensing device provided in the fourth embodiment of this application;

[0502] Figure 59 This is a schematic diagram of the structure of the control device provided in the fourth embodiment of this application;

[0503] Figure 60 This is a schematic diagram of the structure of the warehouse rack provided in the fifth embodiment of this application;

[0504] Figure 61 This is a schematic diagram showing the positional relationship between the first storage splicing unit and the second storage splicing unit;

[0505] Figure 62 This is a schematic diagram of the structure of a storage area unit;

[0506] Figure 63 A schematic diagram of the splicing structure of multiple storage area units;

[0507] Figure 64 for Figure 60 A magnified view of part A of the warehouse shelf shown in the diagram;

[0508] Figure 65 for Figure 60 The diagram shows the structure of the shaft in the warehouse shelving.

[0509] Figure 66 for Figure 65 A magnified view of a portion of point B in the shaft shown;

[0510] Figure 67 for Figure 60 A top view of the warehouse shelving shown;

[0511] Figure 68 for Figure 67 A magnified view of point C on the warehouse shelf shown;

[0512] Figure 69 A magnified view of a storage location on a warehouse shelf containing a storage bin;

[0513] Figure 70 This is one of the structural schematic diagrams of the bin storage system provided in the fifth embodiment of this application;

[0514] Figure 71 for Figure 70 The diagram shows a top view of the bin storage system.

[0515] Figure 72 This is a second schematic diagram of the structure of the bin storage system provided in the fifth embodiment of this application;

[0516] Figure 73 for Figure 72 The diagram shows a top view of the bin storage system.

[0517] Figure 74 This is the third schematic diagram of the structure of the bin storage system provided in the fifth embodiment of this application;

[0518] Figure 75 for Figure 74 The diagram shows a top view of the bin storage system.

[0519] Figure 76 This is the fourth schematic diagram of the structure of the bin storage system provided in the fifth embodiment of this application;

[0520] Figure 77 for Figure 76 The diagram shows a top view of the bin storage system.

[0521] Figure 78 A schematic diagram of a 5x5 rectangular array of storage rack compartments;

[0522] Figure 79 A schematic diagram of a 2x2 array arrangement for storage area cells.

[0523] Figures 1 to 8 The attached figure labels are:

[0524] 100 hoppers;

[0525] Warehouse rack 1, handling vehicle movement space 10, material bin storage space 11, three-dimensional storage frame 110, storage column 114, hoistway 115, conveyor channel 1150, storage bin 116, first pick-and-place gap 117, second pick-and-place gap 118, support column 12, vertical beam 111, track 1110, horizontal beam 112, bin partition beam 113;

[0526] First transport vehicle 2, first chassis 20, first lifting mechanism 21, first lifting platform 22, and chuck 221;

[0527] Second transport vehicle 3, second chassis 30, second lifting mechanism 31, second lifting platform 32, guide wheel 320, material box picking and placing mechanism 33, drive mechanism 331, picking and placing plate 332, and bearing platform 34;

[0528] Workstation 4, Control Panel 41;

[0529] Control device 5;

[0530] Storage area unit 60, invalid storage space 61.

[0531] Figures 16-21 The attached figure labels are:

[0532] 100 hoppers;

[0533] Warehouse rack 1, handling vehicle movement space 10, material bin storage space 11, three-dimensional storage frame 110, storage column 114, hoistway 115, conveyor channel 1150, storage bin 116, first pick-and-place gap 117, second pick-and-place gap 118, support column 12, vertical beam 111, track 1110, horizontal beam 112, bin partition beam 113;

[0534] 2. Handling vehicle; 20. Chassis; 21. Lifting mechanism; 22. Lifting platform; 220. Guide wheel; 23. Material box picking and placing mechanism; 231. Drive mechanism; 232. Picking and placing plate; 24. Loading platform;

[0535] Workstation 3, Control Panel 31;

[0536] Control device 4;

[0537] Storage area unit 50; Invalid location 51.

[0538] Figures 29–34b The attached figure labels are:

[0539] 100 hoppers;

[0540] Warehouse rack 1, three-dimensional storage frame 10, storage column 11, shaft 12, inbound / outbound shaft 120, conveyor channel 1110, storage compartment 111, first pick-and-place gap 112, second pick-and-place gap 113, vertical beam 101, vertical rail 1010, horizontal beam 102, top horizontal beam 1020, horizontal rail 1021, compartment partition beam 103;

[0541] 2. Transport vehicle, 20. Main body, 201. Extension, 202. Hollow storage, 203. Traveling mechanism, 200. Horizontal travel wheel, 211. Vertical travel wheel, 212. Lifting mechanism, 21. Lifting chain, 210. Lifting platform, 22. Guide wheel, 220. Material box picking and placing mechanism, 23. Drive mechanism, 231. Telescopic fork, 232. Cargo platform, 24. Rotating mechanism, 25.

[0542] Workstation 3, Control Panel 31;

[0543] Control device 4;

[0544] Storage area unit 50; Invalid location 51.

[0545] Figures 42a to 50 The attached figure labels are:

[0546] 100 hoppers;

[0547] Warehouse rack 1, handling vehicle movement space 10, material bin storage space 11, three-dimensional storage frame 110, storage column 114, hoistway 115, conveyor channel 1150, storage bin 116, first pick-and-place gap 117, second pick-and-place gap 118, support column 12, vertical beam 111, vertical rack and pinion track 1110, horizontal beam 112, top horizontal beam 1120, horizontal track 1121, track protrusion 1121a, track horizontal part 1121b, bin partition beam 113;

[0548] First transport vehicle 2, chassis 20, lifting mechanism 21, lifting platform 22, chuck 221;

[0549] Second transport vehicle 3, vehicle body 30, traveling mechanism 300, first direction traveling wheel 311, first roller 3111, gear 3112, second direction traveling wheel 312, second roller 3120, material box picking and placing mechanism 33, drive mechanism 331, telescopic fork 332, rotating mechanism 333, and loading platform 34.

[0550] Workstation 4, Control Panel 41;

[0551] Control device 5;

[0552] Storage area unit 60; Invalid location 61.

[0553] Figures 60-79 The attached figure labels are:

[0554] 100 hoppers;

[0555] Warehouse racking 1, handling vehicle movement space 10, material bin storage space 11, three-dimensional storage frame 110, storage column 114, hoistway 115, conveyor channel 1150, storage bin 116, first pick-and-place gap 117, second pick-and-place gap 118, support column 12, vertical beam 111, track 1110, horizontal beam 112, bin partition beam 113; inbound / outbound hoistway 119;

[0556] First transport vehicle 2;

[0557] Second transport vehicle 3;

[0558] Third transport vehicle 4;

[0559] Fourth transport vehicle 5;

[0560] Storage splicing unit 6, first storage splicing unit 61, second storage splicing unit 62, interval area 63, storage area unit 64, filled storage column 65; invalid storage column 66;

[0561] Fifth transport vehicle 7;

[0562] Sixth transport vehicle 8;

[0563] Workstation 9, console 91, control equipment 92. Detailed Implementation

[0564] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0565] As described in the background section, there are currently many structural forms of container warehouses, and a wide variety of execution mechanisms for handling goods or warehouse equipment for storing goods. Common types include stacker crane container warehouses, bin-based AGV (Automated Guided Vehicle) container warehouses, and cubic container warehouses. Stacker crane container warehouses and bin-based AGV container warehouses both require aisles for the stacker crane and AGV to pass through, while cubic container warehouses are aisle-free container warehouses. Their main technical characteristics are as follows:

[0566] Box-type AGV warehouse: The warehouse area has wide aisles for AGV passage, eliminating the need for track laying, allowing AGVs to cross aisles for operation; overall operating efficiency is affected by the number of AGVs, installation and deployment are not limited by terrain, easy to expand, and highly flexible in adjustment; its disadvantages are that the AGV passage occupies a relatively large area, resulting in low warehouse space utilization; and although it can cross aisles, it needs to go around to the beginning and end of the aisle before entering another aisle, leading to relatively low operating efficiency for a single AGV, and the only way to improve overall operating efficiency is to increase the number of AGVs.

[0567] Stacker crane box warehouse: The warehouse area includes multiple racks, requiring aisles to be reserved for laying tracks for stacker cranes to run on. The aisle size is smaller than that of a bin AGV box warehouse. The stacker crane's running speed is usually faster than that of an AGV, so the warehouse space utilization rate and the efficiency of a single stacker crane are relatively high. Its disadvantages are that each aisle has tracks and is equipped with a corresponding stacker crane, making it impossible to operate across aisles. It also has certain requirements for the terrain and is more suitable for long and narrow terrains with a small number of aisles and long aisles. Secondly, the installation and deployment difficulty is moderate.

[0568] The cubic dense storage bin-type warehouse involved in the background technology is a type of cubic bin-type warehouse. Although the warehouse space utilization rate is extremely high, it cannot realize direct access to each bin on each layer, resulting in operational efficiency that needs to be improved.

[0569] First Embodiment

[0570] In order to improve the operational efficiency of the bin storage system in storing and retrieving goods while having a certain storage capacity, the first embodiment of this application provides a bin storage system, warehouse rack, bin storage and retrieval method and apparatus, which will be described in detail below.

[0571] First, the bin storage system provided in the first embodiment of this application will be described in detail.

[0572] See Figure 1 and Figure 2 ,in, Figure 1 This is a schematic diagram of the structure of the bin storage system provided in the first embodiment of this application; Figure 2 for Figure 1 The diagram shows a top view of the bin storage system. Figure 1 and Figure 2 As shown in the embodiment of this application, the bin storage system includes: a warehouse rack 1, a first transport vehicle 2, a second transport vehicle 3, and a workstation 4. The warehouse rack 1 includes: a transport vehicle movement space 10 and a bin storage space 11 arranged from bottom to top.

[0573] The material bin storage space 11 includes a three-dimensional storage frame 110; the three-dimensional storage frame 110 includes arrayed storage bin columns 114 and shafts 115, with each storage bin column 114 adjacent to a shaft 115; wherein each storage bin column 114 includes multiple storage bins 116 arranged sequentially along the vertical direction of the three-dimensional storage frame 110, and each storage bin 116 is used to store one material bin 100; the storage bin 116 at the bottom of each storage bin column 114 is configured as a temporary storage bin; each shaft 115 penetrates the three-dimensional storage frame 110 along the vertical direction, and its bottom is connected to the transport vehicle movement space 10.

[0574] The transport vehicle movement space 10 has a preset height and includes: multiple support columns 12 set at the bottom of the three-dimensional storage frame 110; the multiple support columns 12 extend from the bottom of the three-dimensional storage frame 110 to the ground, for supporting the three-dimensional storage frame 110 and forming the transport vehicle movement space 10.

[0575] The first transport vehicle 2 is capable of omnidirectional movement in the transport vehicle movement space 10, and is used to pick up and place the target material box 100 in the temporary storage location through the shaft 115; to transport the target material box from the workstation 4 to an empty temporary storage location, or to transport the target material box 100 from its temporary storage location to the workstation 4.

[0576] The second transport vehicle 3 is capable of omnidirectional movement in the transport vehicle movement space 10, and is used to pick up and put down the target material box 100 through the shaft 115; to move the target material box 100 from its temporary storage location to the target storage location 116, or to move the target material box 100 from the target storage location 116 to an empty temporary storage location.

[0577] As can be seen from the above embodiments, the bin storage system provided in this application is a high-density bin storage system. The bin storage space, besides the storage columns of the storage compartments, only requires a shaft, eliminating the need for aisles, resulting in high storage density. Because no aisles are required, the first and second transport vehicles can move omnidirectionally within the transport vehicle movement space, without being restricted by aisles. Furthermore, the shafts allow direct access to any bin on any floor, resulting in high overall operating efficiency and making it highly suitable for application in the logistics and warehousing field.

[0578] It should be noted that the material bin in this application embodiment can include various forms, such as a material frame, a box-type packaging, or materials with cubic characteristics, which are easy to store and retrieve. This application embodiment does not impose any limitations.

[0579] In addition, in this embodiment, the temporary storage location can be set at the bottom of the shelf to facilitate the free movement of the first and second transport vehicles. In practical applications, the temporary storage location does not necessarily have to be located at the bottom of the shelf; it can also be set on the ground at the bottom of the shelf. However, in this case, the transport vehicles need to avoid the temporary storage location during movement, which places higher demands on the operation of the transport vehicles.

[0580] Furthermore, in this embodiment, the first transport vehicle moves material boxes between the shelf and the workstation. Those skilled in the art will understand that the workstation here refers to the destination of the first transport vehicle. In practical applications, the workstation or the destination of the first transport vehicle can also be a workbench, a docking station, a docking position, a buffer rack, a conveyor line, etc., meaning the first transport vehicle can move material boxes to destinations such as docking stations, docking positions, and buffer racks. For example, the first transport vehicle and the third transport vehicle dock at a preset docking position to retrieve and place material boxes, or the first transport vehicle docks with other shelves (such as buffer racks) to retrieve and place material boxes, or the first transport vehicle docks with a conveyor line to retrieve and place material boxes, etc.

[0581] See Figure 1 , Figure 3a and Figure 3b ,in, Figure 3a for Figure 1 The diagram shows the structural schematic of the warehouse shelving in the embodiment shown. Figure 3b for Figure 3a A magnified view of section A on the warehouse shelving shown. Figure 1 , Figure 3a and Figure 3b As shown, the three-dimensional storage frame 110 may include: multiple vertical beams 111, multiple horizontal beams 112 and multiple compartment partition beams 113 connected at intervals in a preset arrangement to form an array of compartment storage columns 114 and shafts 115; wherein, the cross-sectional shape and size of each compartment storage column 114 and each shaft 115 are the same.

[0582] In this embodiment, the transport vehicle movement space 10 and the material bin storage space 11 can be arranged continuously from bottom to top. In other embodiments, the transport vehicle movement space 10 and the material bin storage space 11 may not be continuous. They can be set according to actual needs, and there is no restriction here.

[0583] In this embodiment, as Figure 1 and Figure 3a As shown, the multiple support columns 12 of the transport vehicle's moving space 10 can be formed by a predetermined number of vertical beams 111 extending downwards to the ground from the three-dimensional storage frame 110. For example, they can be formed by a predetermined number of vertical beams 111 located at the outer edge of the three-dimensional storage frame 110 extending downwards to the ground; or, they can be formed by a predetermined number of vertical beams 111 extending downwards from the outer edge and the middle, thus forming a column grid structure to support the three-dimensional storage frame 110. Specifically, the position and number of the ground-mounted vertical beams 111 can be determined according to the actual load-bearing requirements.

[0584] In this embodiment, the three-dimensional storage frame 110 can be formed by multiple vertical beams 111, multiple horizontal beams 112, and multiple compartment partition beams 113 connected in a preset staggered arrangement. Furthermore, the support columns 12 can be directly formed by extending downwards from the multiple vertical beams 111 on the outer edge of the three-dimensional storage frame 110 to the ground, without the need for additional support columns. This makes installation and deployment convenient and requires no special terrain conditions. Even on sloping ground, the distance between the transport vehicle's movement space 10 and the highest point on the ground can be adjusted by adjusting the height of each support column 12 to ensure that the distance is greater than or equal to the preset height, while simultaneously ensuring the overall levelness and stability of the three-dimensional storage frame 110.

[0585] like Figure 3a and Figure 3b As shown, each storage column 114 is formed by four adjacent vertical beams 111 and top and bottom crossbeams 112; each storage compartment 116 is formed by a section of four adjacent vertical beams 111 and two compartment partition beams 113; the two compartment partition beams 113 are arranged opposite each other at the bottom of the storage compartment 116, so that the bottom of each storage compartment 116 forms a conveying channel 1150 towards the adjacent hoistway 115 (by... Figure 3b (As shown by the dashed line); and the inner sides of the two compartment partition beams 113 extend inward to form a material box support structure to support the material box 100.

[0586] In some embodiments, the bin partition beam can be a partition plate, support plate, or support rod, etc. The specific form can be adapted according to the shape and size of the bin. No restrictions are imposed here.

[0587] See Figure 3c and Figure 3d ,in, Figure 3c for Figure 3a The diagram shows the structure of the shaft in the warehouse shelving. Figure 3d for Figure 3c A magnified view of a portion of the shaft at point B. (See attached image.) Figure 3c and Figure 3d As shown, each shaft 115 is formed by four adjacent vertical beams 111 and top and bottom horizontal beams 112. In this way, the first transport vehicle 2 can pick up and put down the target material box 100 of the temporary storage compartment through the shaft 115 and the conveyor channel 1150; the second transport vehicle 3 can also pick up and put down the target material box 100 of the storage compartment 116 through the shaft 115 and the conveyor channel 1150.

[0588] See Figure 2 , Figure 3e and Figure 3f ,in, Figure 3e for Figure 3a A top view of the warehouse shelving shown; Figure 3f for Figure 3eA magnified view of section C of the warehouse shelving shown. Figure 2 , Figure 3e and Figure 3f As shown, in the horizontal direction of the three-dimensional storage frame 110, storage bay columns 114 are arranged around the shaft 115; and any shaft 115 can have a maximum of four storage bay columns 114 surrounding it. Specifically, as... Figure 2 , Figure 3e and Figure 3f As shown, the shaft 115 located at the edge of the three-dimensional storage frame 110 can be surrounded by three storage columns 114, and the shaft 115 located in the middle of the three-dimensional storage frame 110 can be surrounded by four storage columns 114.

[0589] Specifically, such as Figure 2 , Figure 3e and Figure 3f As shown, when the shaft is square, the four sides of the shaft correspond to square storage columns. The line connecting the centers of two opposite first storage columns is perpendicular to the line connecting the centers of two opposite second storage columns, allowing the four storage columns to surround the shaft in a cross-shaped arrangement. Of course, the shaft or storage columns can also be rectangular or circular; the specific form can be adapted according to the shape and size of the hopper, etc. No restrictions are imposed here.

[0590] This arrangement ensures that each storage column 114 is adjacent to a shaft 115 and interconnected via a conveyor channel 1150. Simultaneously, the first transport vehicle 2 and the second transport vehicle 3 can access the storage bins 100 in three or four surrounding storage columns 114 via a shaft 115, further saving space on the warehouse rack 1 and allowing for a more compact arrangement of the storage bins 116, thus accommodating more bins 100.

[0591] In this embodiment, the three-dimensional storage frame 110 of the warehouse shelf 1 can be formed by splicing together storage area units 60.

[0592] The design process of warehouse rack 1 is described below, which utilizes storage area units 60 for assembly. Figure 3i The process of the three-dimensional storage framework shown is illustrated using this example.

[0593] First, define the storage area unit: use one rectangle to represent one storage location, i.e., storage location column 114. Draw a 5x5 rectangular array of storage rack slots, as follows. Figure 3g As shown, Figure 3gThis is a schematic diagram of a 5x5 storage rack grid array. The coordinates of each rectangle position are defined as (i, j), where i represents the i-th row and j represents the j-th column. Then, positions (2, 1), (5, 2), (3, 3), (1, 4), and (4, 5) are set as shafts, and the other positions are set as storage positions, i.e., storage position column 114.

[0594] In other words, the second cell in the first column of the 5x5 storage rack matrix is ​​set as a shaft; the fifth cell in the second column is set as a shaft; the third cell in the third column is set as a shaft; the first cell in the fourth column is set as a shaft; and the fourth cell in the fifth column is set as a shaft. In this way, the 5x5 storage rack matrix forms a storage area unit.

[0595] Then, a 2x2 array arrangement is performed using storage area cells to obtain... Figure 3h , Figure 3h This diagram illustrates a 2x2 array arrangement of storage area units. In actual deployment, more array arrangements can be made using area units, depending on the available space.

[0596] In other words, Figure 3h The structure is composed of four 5x5 storage rack grids joined together. The second 5x5 storage rack grid, joined laterally, is based on... Figure 3g The arrangement follows the same pattern; the second 5x5 warehouse rack grid matrix, formed by vertical splicing, is also based on... Figure 3g The arrangement follows the same pattern.

[0597] Finally, edge processing is performed: the edges are checked to identify storage locations without adjacent shafts on all four sides. These storage locations are defined as invalid storage locations 61, such as storage locations (1, 2) and (1, 7) which have no adjacent shafts on all four sides. These invalid storage locations 61 are then eliminated. Figure 3i The three-dimensional storage frame 110 shown is shown.

[0598] In other words, the storage bays located at the perimeter of the three-dimensional storage frame that cannot be connected to adjacent shafts will be left vacant or replaced with shafts. For example, Figure 3h The first storage space in the second column of each 5x5 storage rack grid array rectangle on the upper middle edge, the second storage space in the fifth column of each 5x5 storage rack grid array rectangle on the right edge, the fifth storage space in the fourth column of each 5x5 storage rack grid array rectangle on the lower edge, and the fourth storage space in the first column of each 5x5 storage rack grid array rectangle on the left edge are either vacant or replaced with a shaft.

[0599] In practical applications, there are various forms of handling vehicle operations for picking up and placing goods, such as: lifting, clamping, suction cup, or hooking. Lifting involves the handling vehicle lifting and lowering the container to pick up or place goods; clamping mainly uses two telescopic arms to clamp the container; suction cup mainly uses the suction force of suction cups on the handling vehicle to pick up or place goods from the side; and hooking mainly uses hooks on the handling vehicle to pick up or place goods from the side.

[0600] In the embodiments of this application, the first transport vehicle 2 and the second transport vehicle 3 can be used in either form to perform the picking and placing of goods.

[0601] In some embodiments, in order to facilitate the first transport vehicle 2 and the second transport vehicle 3 to pick up and put down the material box, the size of each storage compartment 116 can be set to be larger than the size of a material box 100.

[0602] For details, see Figure 4 , Figure 4 for Figure 1 The enlarged view of a partial storage bin in the storage column of the warehouse rack shown in the embodiment; as follows: Figure 4 As shown, the size of each storage compartment 116 is larger than the size of a hopper 100, such that there is a first pick-and-place gap 117 between the layers of hoppers 100 stored on the storage compartment column 114, and a second pick-and-place gap 118 between each hopper 100 and the edge of the storage compartment 116 it is located on, that is, between the vertical beam 111 forming the storage compartment column 114.

[0603] In this way, the first transport vehicle 2 can use the first pick-up and put-down gap 117 and the second pick-up and put-down gap 118 to pick up and put down the material box 100 from the temporary storage compartment of the storage compartment 114; at the same time, the second transport vehicle 3 also uses the first pick-up and put-down gap 117 and the second pick-up and put-down gap 118 to pick up and put down the material box 100 from the storage compartment 116 of the storage compartment 114.

[0604] In this embodiment, although the size of each storage compartment 116 is larger than that of a material box 100, forming a first retrieval gap 117 and a second retrieval gap 118, which occupies a small portion of the space of the warehouse rack 1, it overcomes the disadvantage of related technologies where dense storage box-type warehouses can only retrieve and place the topmost material box. It is more suitable for situations in the logistics warehousing field where the goods stored in a warehouse are not the same. Moreover, the first retrieval gap 117 and the second retrieval gap 118 occupy very little space and have little impact on the overall storage capacity of the warehouse rack 1, allowing the entire warehouse rack 1 to still achieve dense storage.

[0605] It should be noted that, Figure 4The embodiment shown illustrates the use of a lifting method to pick up and place goods by the first transport vehicle 2 and the second transport vehicle 3. Figure 4 In this configuration, the size of each storage compartment 116 is larger than the size of a material box 100, forming a first pick-and-place gap 117 between each layer of material boxes 100 and a second pick-and-place gap 118 between each material box 100 and the edge of its respective storage compartment 116. The first pick-and-place gap 117 is mainly reserved for the first transport vehicle 2 and the second transport vehicle 3 to lift the material box 100; while the second pick-and-place gap 118 serves as a tolerance redundancy or to accommodate material boxes of different sizes.

[0606] Therefore, in other embodiments, when the first transport vehicle 2 and the second transport vehicle 3 use a lifting method to pick up and place goods, only the first pick-up and place gap 117 between each layer of material box can be set, and the second pick-up and place gap 118 is not set.

[0607] In other embodiments, the first transport vehicle 2 and the second transport vehicle 3 employ a clamping-type loading and unloading method. This means that two telescopic arms extend into the second loading and unloading gaps 118 on both sides of the material box 100 to clamp the material box. The loading and unloading of the material box mainly utilizes the second loading and unloading gaps 118 that exist between each material box 100 and the edge of its corresponding storage compartment 116. In this case, the shelving can only have the second loading and unloading gaps 118, without the first loading and unloading gap 117. Of course, in this case, the first loading and unloading gap 117 can also be provided to achieve offset redundancy or to accommodate material boxes of different sizes.

[0608] In addition, when the first transport vehicle 2 and the second transport vehicle 3 use a clamping method for picking up and placing goods, the two telescopic arms can directly extend into the second picking and placing gap 118. Therefore, there is no need to set up a conveyor channel 1150 for the transport vehicles on the shelf, and the bottom of each storage compartment can be directly set as a partition, support plate or support rod, etc.

[0609] In other implementations, the first transport vehicle 2 and the second transport vehicle 3 can use suction cups or hooks for picking up and placing goods. These two types of transport vehicles can directly pick up or hook the boxes from the side of the bins 100. Since the transport vehicles do not need to lift the boxes 100 on the shelf, nor do the two telescopic arms need to extend into the storage compartments 116 to clamp the boxes 100, the first pick-up and place gap 117 and the second pick-up and place gap 118 do not need to be set between the storage compartments 116. That is, the size of the storage compartments 116 can be the same as the size of the boxes 100, so that the boxes 100 in the shelf can be arranged more closely, and the shelf can store more boxes 100.

[0610] Of course, when the first transport vehicle 2 and the second transport vehicle 3 use suction cups or hooks to pick up and put down goods, the size of the storage compartment 116 can also be larger than the size of the material box 100. A first pick-up and put-down gap and a second pick-up and put-down gap can also be set. These two gaps can be used for deviation redundancy or to accommodate material boxes of different sizes.

[0611] In addition, the first transport vehicle 2 and the second transport vehicle 3 use suction cups or hooks to pick up and put down goods. The transport vehicles can directly pick up or hook the material box from the side of the material box 100. Therefore, there is no need to set up a conveyor channel 1150 for the transport vehicles on the shelf. The bottom of each storage compartment can be directly set as a partition, support plate or support rod, etc.

[0612] In this embodiment, since the first transport vehicle 2 is only used to transport the material boxes located in the bottom temporary storage compartment, while the second transport vehicle 3 is used to transport the material boxes from the bottom temporary storage compartment to storage compartments 116 on other layers, the first transport vehicle 2 and the second transport vehicle 3 can adopt transport vehicles with different structures. Compared to a solution where both transport vehicles use a high lifting height, the cost is reduced to a certain extent. The first transport vehicle 2 and the second transport vehicle 3 used in this embodiment will be described in detail below.

[0613] See Figure 5 , Figure 5 for Figure 1 A schematic diagram of the structure of the first transport vehicle in the illustrated embodiment. (See diagram below.) Figure 5 As shown, the first transport vehicle 2 may include: a first chassis 20 capable of omnidirectional movement, a first lifting mechanism 21 mounted on the first chassis 20, and a first lifting platform 22 mounted on top of the first lifting mechanism 21.

[0614] In this way, the first transport vehicle 2 can move to the shaft 115 adjacent to the temporary storage compartment using the first chassis 20, and the first lifting mechanism 21 lifts the first lifting platform 22. The first chassis 20 is then moved to the temporary storage compartment via the conveyor channel 1150, and the target material box on the first lifting platform 22 is placed into the temporary storage compartment. Alternatively, the first chassis 20 can move to the bottom of the temporary storage compartment, and the first lifting mechanism 21 lifts the first lifting platform 22, and the target material box 100 on the temporary storage compartment is taken out onto the first lifting platform 22.

[0615] For details, see Figure 6 , Figure 6 for Figure 5 The diagram shows the structure of the first transport vehicle for picking up and placing materials into the bin. Figure 6As shown on the right, after the first transport vehicle 2 carrying the target material box 100 moves to the shaft 115 adjacent to the target temporary storage location using the first chassis 20, the first lifting mechanism 21 first lifts the first lifting platform 22, raising the target material box 100 to a height slightly higher than the conveyor channel 1150 and lower than the height of the upper storage location 116; then the first chassis 20 moves to the target temporary storage location through the conveyor channel 1150; then the first lifting mechanism 21 lowers the first lifting platform 22, placing the target material box 100 on the first lifting platform 22 onto the two compartment partition beams 113 forming the conveyor channel 1150, thus completing the operation of placing the target material box 100 into the target temporary storage location.

[0616] Then, the first lifting mechanism 21 can lower the first lifting platform 22 so that the overall height of the first transport vehicle is lower than the height of the transport vehicle movement space, so that the first transport vehicle 2 can move omnidirectionally in the transport vehicle movement space, and then the first transport vehicle 2 can move to the preset first stopping point for parking.

[0617] like Figure 6 As shown on the left, the idle first transport vehicle 2 moves to the shaft 115 adjacent to the temporary storage compartment using the first chassis 20, and then moves further to the bottom of the target temporary storage compartment. First, the first lifting mechanism 21 lifts the first lifting platform 22, so that the target material box is removed from the support of the two compartment partition beams 113 forming the conveying channel in the height direction, and is instead supported by the first lifting platform 22. Then, the first chassis 20 moves, so that the first transport vehicle 2 carrying the target material box returns to the shaft 115 adjacent to the temporary storage compartment. Then, the first lifting mechanism 21 lowers the first lifting platform 22, so that the overall height of the first transport vehicle 2 is lower than the height of the transport vehicle movement space, so that the first transport vehicle 2 carrying the target material box can move omnidirectionally in the transport vehicle movement space, and then transport the target material box to the workstation 4.

[0618] In addition, such as Figure 5 As shown, the first lifting platform 22 of the first transport vehicle 2 is provided with claws 221 on both sides. When a material box is placed on the first lifting platform 22, the two ends of the material box are automatically locked to prevent the material box from moving during the movement of the first transport vehicle 2.

[0619] See Figure 7 , Figure 7 for Figure 1 The schematic diagram of the second transport vehicle in the embodiment shown; as follows: Figure 7 As shown, the second transport vehicle 3 may include: a second chassis 30 capable of omnidirectional movement, a second lifting mechanism 31 mounted on the second chassis 30, a second lifting platform 32 mounted on the top of the second lifting mechanism 31, a hopper loading and unloading mechanism 33 mounted on the top of the second lifting platform 32, and a carrying platform 34.

[0620] It should be noted that the second lifting platform 32 can rotate around the four directions. In this way, by rotating the second lifting platform 32, the storage bins 116 or temporary storage bins 100 in the four directions can be picked up and put in the hoistway 115, which can reduce the turning operation of the second transport vehicle 3 and thus improve the picking and putting efficiency.

[0621] Similarly, the first lifting platform 22 can also rotate around the four directions, so that by rotating the first lifting platform 22, the storage bins 116 or temporary storage bins 100 in the four directions can be picked up and put in the hoistway 115, which can reduce the turning operation of the first transport vehicle 2 and thus improve the picking and putting efficiency.

[0622] In this way, the second transport vehicle 3 can be moved to the bottom of the shaft 115 adjacent to the target storage compartment 116 using the second chassis 30; the second lifting mechanism 31 lifts the second lifting platform 32 along the shaft 115 to the height corresponding to the target storage compartment 116; the material box picking and placing mechanism 33 moves the target material box 100 from the carrying platform 34 to the target storage compartment 116 through the conveying channel 1150, or moves the target material box 100 from the target storage compartment 116 to the carrying platform 34.

[0623] like Figure 7 As shown, the bin picking and placing mechanism 33 may include a drive mechanism 331 and a picking and placing plate 332. The drive mechanism 331 can drive the picking and placing plate 332 to extend out of the second transport vehicle 3, so that the picking and placing plate 332 can pick up and place bins from the target storage compartment 116. The picking and placing plate 332 of the bin picking and placing mechanism 33 is located in the middle of the support platform 34, and its height is the same as that of the support platform 34. The drive mechanism 331 is located below the picking and placing plate 332.

[0624] In addition, such as Figure 3c and Figure 3d As shown, each vertical beam 111 forming the shaft 115 has a track 1110 arranged along the vertical beam 111 on its inner side; the second lifting platform 32 of the second transport vehicle 3 is provided with guide wheels 320 at its four corners that cooperate with the track 1110, so that the second lifting platform 32 moves up and down along the track 1110 during the lifting process.

[0625] This ensures the stability of the second lifting platform 32 of the second transport vehicle 3 when it moves up and down in the shaft 115, thereby allowing the three-dimensional storage frame 110 to be set very high, increasing the number of storage compartments 116 accordingly, and further increasing the storage capacity of the warehouse rack 1.

[0626] For details, see Figure 8 , Figure 8 for Figure 7 The diagram shows the structure of the second transport vehicle for picking up and placing materials into the bins. Figure 8As shown, after the second transport vehicle 3 takes out the target material box from the temporary storage compartment, it moves to the bottom of the target shaft 115 adjacent to the target storage compartment 116 using the second chassis 30; then the second lifting mechanism 31 lifts the second lifting platform 32 along the target shaft 115 to the height corresponding to the target storage compartment 116; then the material box picking and placing mechanism 31 moves the target material box 100 from the carrying platform 34 to the target storage compartment 116 through the conveying channel 1150.

[0627] In this embodiment, the specific process of the second transport vehicle 3 placing the target material box 100 into the target storage compartment 116 can be as follows: After the second lifting mechanism 31 lifts the second lifting platform 32 along the target shaft 115 to the height corresponding to the target storage compartment 116, within the height range of the first pick-up and place gap 117, it is further lifted above the two compartment partition beams 113 forming the conveying channel; then, the drive mechanism 331 of the material box pick-up and place mechanism 33 drives the pick-up and place plate 332 to move the target material box 100 on the pick-up and place plate 332 to be conveyed to the top of the target storage compartment 116 through the conveying channel 1150; then, the second lifting mechanism 31 lowers the second lifting platform 32, so that the target material box 100 is removed from the support of the pick-up and place plate 332 and is instead supported by the two compartment partition beams 113 forming the conveying channel, and the target material box 100 is placed on the target storage compartment 116; then, the pick-up and place plate 332 is retracted onto the bearing platform 34. This completes the operation of placing the target material bin 100 into the target storage location 116.

[0628] Then, the second lifting mechanism 31 can drive the second lifting platform 32 to be lowered along the target shaft 115, so that the overall height of the second transport vehicle 3 is lower than the height of the transport vehicle movement space 10, so that the second transport vehicle 3 can move omnidirectionally in the transport vehicle movement space, and then the second transport vehicle 3 can move to the preset second docking point for docking.

[0629] In this embodiment, the specific process of the second transport vehicle 3 retrieving the target box from the target storage compartment 116 can be as follows: the idle second transport vehicle 3 moves to the bottom of the target shaft 115 adjacent to the target storage compartment 116 using the second chassis 30; then, the second lifting mechanism 31 lifts the second lifting platform 32 along the target shaft 116 to the height corresponding to the target storage compartment 116; then, the drive mechanism 331 of the box retrieval mechanism 33 extends the retrieval plate 332 through the conveying channel 1150 to the bottom of the target box 100; then, within the height range of the first retrieval gap 117, the second lifting mechanism 31 lifts the second lifting platform 32, causing the target box 100 to detach from the support of the two compartment partition beams forming the conveying channel 1150 in the height direction, and instead be supported by the retrieval plate 332; then, the retrieval plate 332 carrying the target box 100 is retracted onto the carrying platform 34. This completes the operation of retrieving the target box 100 from the target compartment 116.

[0630] Then, the second lifting mechanism 31 can drive the second lifting platform 32 to lower along the target shaft 115, so that the overall height of the second transport vehicle 3 is lower than the height of the transport vehicle movement space 10, so that the second transport vehicle 3 carrying the target material box 100 can move omnidirectionally within the transport vehicle movement space, thereby transporting the target material box 100 to the temporary storage location. Then, the idle second transport vehicle 3 can move to the preset second docking point for docking.

[0631] In this embodiment, not only can inbound and outbound operations be achieved for designated storage locations 116 without moving the material boxes on the upper level of the designated storage location, but the first transport vehicle 2 and the second transport vehicle 3 also employ transport vehicles with different structures. The first transport vehicle 2 is dedicated to picking up and placing material boxes in the temporary storage location, so a simple transport vehicle that directly picks up and places material boxes via the first lifting platform 22 can be used, and the lifting height is also relatively low. The second transport vehicle 3, on the other hand, requires a higher lifting height and uses a material box picking and placing mechanism to pick up and place material boxes. Therefore, compared to the solution where both transport vehicles use a higher lifting height and a material box picking and placing mechanism to pick up and place material boxes, the cost is reduced to a certain extent.

[0632] The above Figures 5-8 The illustration shows the use of a lifting method to pick up and place goods by the first transport vehicle 2 and the second transport vehicle 3.

[0633] As mentioned earlier, the first transport vehicle 2 and the second transport vehicle 3 can also employ clamping, suction cup, or hook-type loading and unloading methods. Compared to the lifting method, these three methods do not require secondary lifting and lowering of the first and second transport vehicles 2 and 3. After the initial lifting, the telescopic arm can be controlled to clamp the material box and then retract, or extend to remove or place the material box; the suction cup can be controlled to adhere to the material box and then extend or retract; or the hook can be controlled to hook the material box and then extend or retract. The loading and unloading process for these three methods is described in detail below.

[0634] Firstly, in other embodiments, the first transport vehicle 2 and the second transport vehicle 3 can use a clamping method for picking up and placing goods.

[0635] In this case, the first transport vehicle 2 needs to Figure 5 Based on the first transport vehicle shown, a clamping and loading device with two telescopic arms is installed on the first lifting platform 22. The two telescopic arms can extend to opposite sides of the material box 100 to clamp and load the material box 100. The second transport vehicle 3 needs to... Figure 6 Based on the second transport vehicle shown, the components on the second lifting platform 32 are removed and replaced with a clamping and picking device with two telescopic arms, wherein the two telescopic arms can extend to the two opposite sides of the material box 100 to clamp and pick up the material box 100.

[0636] Accordingly, the specific process of the first transport vehicle 2 picking up and placing the temporary storage bin can be as follows: The first transport vehicle 2 moves to the target shaft adjacent to the target temporary storage bin; the first lifting platform 22 is used to lift the clamping and picking device so that the height of the clamping and picking device corresponds to the height of the target temporary storage bin. When picking up the bin, the two telescopic arms in the clamping and picking device extend into the second picking and picking gap of the target temporary storage bin, clamp the target bin in the target temporary storage bin and retract the telescopic arms, so that the target bin moves onto the first lifting platform 22; when placing the bin, the target bin is on the first lifting platform 22, the two telescopic arms in the clamping and picking device clamp the target bin, extend into the second picking and picking gap of the target storage bin, release and retract the two telescopic arms, so that the target bin moves onto the target temporary storage bin. Then, the first lifting platform 22 is lowered so that the overall height of the first transport vehicle 2 loaded with the target bin is lower than the height of the transport vehicle movement space 10.

[0637] Similarly, the specific process of the second transport vehicle 3 picking up and placing material boxes is the same as that of the first transport vehicle 2 picking up and placing material boxes in the temporary storage location. It will not be repeated here.

[0638] Secondly, in other embodiments, the first transport vehicle 2 and the second transport vehicle 3 may employ suction cups for picking up and placing goods.

[0639] In this case, the first transport vehicle 2 needs to Figure 5 Based on the first transport vehicle shown, a suction cup retrieval device with telescopic suction cups is installed on the first lifting platform 22. The telescopic suction cups can extend to the edge of the storage compartment, and by adsorbing the side of the material box 100 exposed in the shaft 115, suction cup retrieval of the material box 100 is achieved. The second transport vehicle 3 needs to... Figure 6 Based on the second transport vehicle shown, the components on the second lifting platform 32 are removed and replaced with a suction cup pick-and-place device equipped with a telescopic suction cup. The telescopic suction cup can extend to the edge of the storage compartment and pick up and place the material box 100 by adsorbing the side of the material box 100 exposed on the shaft 115.

[0640] Accordingly, the specific process of the first transport vehicle 2 picking up and placing the temporary storage bin can be as follows: The first transport vehicle 2 moves to the target shaft adjacent to the target temporary storage bin; the first lifting platform 22 lifts the suction cup picking device so that the height of the suction cup picking device corresponds to the height of the target temporary storage bin. When picking up the bin, the telescopic suction cup in the suction cup picking device extends into the edge of the target temporary storage bin, adsorbs the side of the bin 100 exposed in the shaft 115, and retracts the telescopic suction cup, so that the target bin moves onto the first lifting platform 22; when placing the bin, the target bin is located on the first lifting platform 22, the telescopic suction cup in the suction cup picking device adsorbs the target bin, extends the telescopic suction cup to push the target bin into the target storage bin, releases and retracts the telescopic suction cup, so that the target bin moves onto the target temporary storage bin. Then, the first lifting platform 22 is lowered so that the overall height of the first transport vehicle 2 loaded with the target bin is lower than the height of the transport vehicle movement space 10.

[0641] Similarly, the specific process of the second transport vehicle 3 picking up and placing material boxes is the same as that of the first transport vehicle 2 picking up and placing material boxes in the temporary storage location. It will not be repeated here.

[0642] Furthermore, in other embodiments, the first transport vehicle 2 and the second transport vehicle 3 may employ a hook-and-pull method for picking up and placing goods.

[0643] In this case, hook grooves need to be installed on the side of the material bin 100. The first transport vehicle 2 needs to... Figure 5 Based on the first transport vehicle shown, a hook-and-release device with a telescopic hook is installed on the first lifting platform 22. The telescopic hook can extend to the edge of the storage compartment and, by cooperating with the hook groove on the side of the material bin 100, enables hook-and-release of the material bin 100. The second transport vehicle 3 needs to... Figure 6 Based on the second transport vehicle shown, the components on the second lifting platform 32 are removed and replaced with a hook-and-release device with a telescopic hook. The telescopic hook can extend to the edge of the storage compartment and, by cooperating with the hook groove on the side of the material box 100, enables the hook-and-release of the material box 100.

[0644] Accordingly, the specific process of the first transport vehicle 2 picking up and placing the temporary storage bin can be as follows: the first transport vehicle 2 moves to the target shaft adjacent to the target temporary storage bin; the first lifting platform 22 is used to lift the hook-and-pull picking device so that the height of the hook-and-pull picking device corresponds to the height of the target temporary storage bin. When picking up the bin, the telescopic hook in the hook-and-pull picking device extends into the edge of the target temporary storage bin, hooks the hook groove on the side of the target bin 100 and then retracts, so that the target bin moves onto the first lifting platform 22; when placing the bin, the target bin is located on the first lifting platform 22, the telescopic hook in the hook-and-pull picking device hooks the hook groove of the target bin, the telescopic hook extends to push the target bin into the target storage bin, the telescopic hook is released to disengage it from the hook groove on the side of the target bin 100 and retracts, so that the target bin moves onto the target temporary storage bin. Then, the first lifting platform 22 is lowered so that the overall height of the first transport vehicle 2, which is loaded with the target material box, is lower than the height of the transport vehicle movement space 10.

[0645] Similarly, the specific process of the second transport vehicle 3 picking up and placing material boxes is the same as that of the first transport vehicle 2 picking up and placing material boxes in the temporary storage location. It will not be repeated here.

[0646] Additionally, see Figure 1 ,like Figure 1 As shown, workstation 4 can be located at the edge of warehouse shelf 1; workstation 4 is equipped with an operating table 41 for temporarily storing the material boxes 100 transported from warehouse shelf 1 by the first transport vehicle 2, or for temporarily storing the material boxes 100 to be stored in warehouse shelf 1. Workstation 4 can be equipped with an operating table 41. After the first transport vehicle 2 transports the target material box 100 from the target temporary storage location to workstation 4, it can be manually placed on the operating table 41 for picking operations; or the material boxes 100 to be stored in warehouse shelf 1 can be manually placed on the first lifting platform 22 of the first transport vehicle 2 for unloading.

[0647] In this embodiment, placing the workbench 4 at the edge of the warehouse shelf 1 reduces the transport distance of the first transport vehicle 2 and further improves the operating efficiency of the system.

[0648] like Figure 1As shown, the bin storage system of this application embodiment may further include: a control device 5; the control device 5 is communicatively connected to the first transport vehicle 2 and the second transport vehicle 3; controls the first transport vehicle 2 to move omnidirectionally within the transport vehicle movement space 10, transporting the target bin 100 from the workstation 4 to an empty temporary storage location, or transporting the target bin 100 from its current temporary storage location to the workstation 4; and controls the second transport vehicle 3 to move omnidirectionally within the transport vehicle movement space 10, transporting the target bin 100 from its current temporary storage location to a target storage location 116, or transporting the target bin 100 from the target storage location 116 to an empty temporary storage location. In practical applications, the control device 5 may be a computer, laptop, tablet, or other device, and may communicate with the first transport vehicle 2 and the second transport vehicle 3 via a wireless local area network.

[0649] In this embodiment, by setting up control device 5, the first transport vehicle 2 and the second transport vehicle 3 can be uniformly controlled and managed, making the entire bin storage system operate more rationally and intelligently.

[0650] Secondly, the warehouse racks provided in the embodiments of this application can be found in [reference needed]. Figures 3a to 3d The specific structure is as described above and will not be repeated here.

[0651] Next, the bin storage method provided in the embodiments of this application will be described in detail.

[0652] The bin storage method provided in this application is applied to a control device, which is communicatively connected to the first and second transport vehicles in the aforementioned bin storage system; see also Figure 9 The method includes:

[0653] Step S900: Obtain the location of the target storage compartment in the three-dimensional storage frame.

[0654] In some embodiments, this step can receive the location of the target storage compartment input by the user through a user interface. Since the bin storage space in this embodiment includes a three-dimensional storage frame, the location of the target storage compartment can be identified by a three-dimensional array, such as: (row number of the storage compartment in the X direction, column number of the storage compartment in the Y direction, and layer number of the storage compartment in the Z direction). Alternatively, each temporary storage compartment and storage compartment can be pre-numbered; in this step, the user only needs to input the number of the target storage compartment.

[0655] Step S901: Obtain the location of the available target temporary storage space.

[0656] In some embodiments, the control device can maintain a status table of storage locations to record whether each temporary storage location and regular storage location is in a stored or idle state. In this step, the location of the idle target temporary storage location can be obtained by looking up this status table. If there are many idle temporary storage locations, try to select a temporary storage location in the same storage column as the target storage location, or a temporary storage location in an adjacent storage column. This reduces the distance the second transport vehicle needs to travel omnidirectionally within the transport vehicle's movement space, improving operational efficiency.

[0657] Step S902: Control the idle first transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation.

[0658] In some embodiments, the workstation can be equipped with an operating table. After the idle first transport vehicle moves to the workstation, the target boxes to be stored on the warehouse shelves can be manually placed on the first lifting platform of the first transport vehicle for unloading.

[0659] Step S903: Control the first transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the workstation to an idle target temporary storage location.

[0660] Step S904: Control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space to transport the target material box from the target temporary storage location to the target storage location.

[0661] In some embodiments, the number of the first transport vehicle and the number of the second transport vehicle can be multiple, which can be set according to the actual number of storage spaces on the warehouse shelves. This application does not limit this.

[0662] In this case, the control equipment can maintain an operating status table for the first and second transport vehicles, which records whether each of the first and second transport vehicles is in an operating state or an idle state.

[0663] In this embodiment, each first transport vehicle can park at a preset first parking point when it is idle, such as near a workstation; each second transport vehicle can park at a preset second parking point when it is idle, such as near the shaft at the edge of the warehouse rack; the parking positions of each first transport vehicle and the second transport vehicle can be set according to the actual situation of the warehouse rack, and this application does not limit them.

[0664] In practice, warehouse management software can be installed in the control equipment to record information such as the location of material bins and the status of storage locations, thereby managing each storage location. Simultaneously, robot scheduling and control software is also installed in the control equipment. This software records the location and working status of each first and second transport vehicle, and then uses the scheduling and control program within the robot scheduling and control software to control the first and second transport vehicles to perform transport tasks.

[0665] The bin-receiving method provided in this application enables bins to be received into a designated storage location without moving the bins on top of that location. Therefore, it offers high overall operational efficiency and is highly suitable for application in the logistics and warehousing field.

[0666] In another embodiment, as described above, each storage compartment of the warehouse rack has a conveying channel at its bottom facing the adjacent hoistway; the first transport vehicle in the system includes: a first chassis, a first lifting mechanism and a first lifting platform; the second transport vehicle includes: a second chassis, a second lifting mechanism, a second lifting platform, a bin loading and unloading mechanism and a carrying platform.

[0667] In this embodiment, such as Figure 10 As shown, Figure 9 Step S903 in the process may specifically include the following steps:

[0668] In step S9030, the first transport vehicle carrying the target material box is controlled to move to the bottom of the target shaft adjacent to the target temporary storage compartment using the first chassis.

[0669] Specifically, the target material box is placed on the first lifting platform of the first transport vehicle.

[0670] Step S9031: Control the first transport vehicle to lift the lifting platform along the target shaft to the height corresponding to the target idle temporary storage location using the first lifting mechanism.

[0671] In this step, the target bin 100 can be raised to a height slightly higher than the conveyor channel 1150 and lower than the height of the upper storage bin 116.

[0672] Step S9032: Control the first transport vehicle to move to the target temporary storage location via the first chassis through the conveyor channel.

[0673] Step S9033: Control the first transport vehicle, and the first lifting mechanism drives the first lifting platform to lower, so that the target material box of the first lifting platform is placed in the target temporary storage bin.

[0674] Specifically, in this step, the target material box 100 on the first lifting platform 22 can be placed on the two compartment beams 113 forming the conveying channel 1150, thus completing the operation of placing the target material box 100 in the target temporary storage compartment.

[0675] like Figure 10 As shown, Figure 9 Step S904 in the process may specifically include the following steps:

[0676] Step S9040: Select an idle second transport vehicle, control the second transport vehicle, and use the second chassis to move to the first target shaft adjacent to the target temporary storage location.

[0677] Preferably, when unloading goods, a shaft orthogonal to the target temporary storage location can be selected as the target shaft. This way, after the second transport vehicle 3 moves to the target shaft, it can directly retrieve goods from the temporary storage location, and then directly lift the lifting platform 32 to the height of the target storage location for unloading, without needing to travel further. Moreover, the second transport vehicle 3 can also rotate using the second lifting platform 32, thus eliminating the need for turning and reducing the operation time of the second transport vehicle 3.

[0678] Similarly, when picking up goods, the target temporary storage location is the available temporary storage location of the four orthogonal temporary storage locations corresponding to the target shaft. After the second transport vehicle 3 picks up the goods from the shaft, the lifting platform 32 descends and can be placed directly on the target temporary storage location without having to make extra movements, thus reducing the operation time of the second transport vehicle 3 and improving the efficiency of picking up and placing goods.

[0679] In some embodiments, when allocating temporary storage spaces and storage spaces, the control device may prioritize allocating them according to a strategy of four storage spaces and four temporary storage spaces corresponding to one hoistway.

[0680] In some embodiments, in addition to recording the operating status of each first and second transport vehicle, the parking position of each first and second transport vehicle can also be recorded.

[0681] In this step, the nearest available second transport vehicle to the first target shaft can be selected to further improve operating efficiency.

[0682] Step S9041: Control the second transport vehicle to remove the target material box from the target temporary storage location to the second carrying platform through the conveying channel by the material box picking and placing mechanism.

[0683] In this embodiment, the bin loading and unloading mechanism may include a drive mechanism and a loading and unloading plate.

[0684] In this step, the second transport vehicle, driven by a drive mechanism, extends its pick-and-place plate through the conveyor channel to the bottom of the target temporary storage compartment. Then, the second lifting mechanism raises the second lifting platform to a certain height, allowing the pick-and-place plate to be slightly higher than the bottom of the target temporary storage compartment. This removes the plate from the vertical support of the two compartment partition beams forming the conveyor channel, allowing it to be supported by the pick-and-place plate instead. Next, the drive mechanism retracts the pick-and-place plate to the second support platform, allowing the target bin to be removed from the target temporary storage compartment and placed onto the second support platform.

[0685] Step S9042: Control the second transport vehicle carrying the target material box to move to the second target shaft adjacent to the target storage bin using the second chassis.

[0686] In this step, the second lifting mechanism first lowers the second lifting platform so that the overall height of the second transport vehicle is lower than the height of the transport vehicle's moving space, so that the second transport vehicle can carry the target material box and move omnidirectionally within the transport vehicle's moving space.

[0687] Step S9043: Control the second transport vehicle, and the second lifting mechanism will lift the second lifting platform along the second target shaft to the height corresponding to the target storage compartment.

[0688] Step S9044: Control the second transport vehicle to move the target material box from the carrying platform to the target storage location via the conveyor channel using the material box picking and placing mechanism.

[0689] In this step, the second lifting mechanism raises the second lifting platform of the second transport vehicle to a certain height, so that the pick-and-place plate is slightly higher than the bottom of the target temporary storage compartment. Then, the drive mechanism drives the pick-and-place plate, which holds the target box, to extend into the target temporary storage compartment through the conveyor channel. Then, the second lifting mechanism lowers the height of the second lifting platform, so that the target box is no longer supported by the pick-and-place plate, but is instead supported in the height direction by the two compartment partition beams forming the conveyor channel. Then, the drive mechanism drives the pick-and-place plate to retract to the second support platform, so that the target box moves from the second support platform to the target storage compartment.

[0690] This embodiment enables warehousing to designated storage locations without moving the boxes on top of those locations. Furthermore, the first and second transport vehicles employ different structures. The first transport vehicle is dedicated to picking up and placing boxes from temporary storage locations; therefore, a simple vehicle with a low lifting height, capable of directly lifting and placing boxes via a first lifting platform, suffices. The second transport vehicle, however, requires a higher lifting height and uses a box-picking and placing mechanism. Therefore, compared to using two transport vehicles with high lifting heights and box-picking and placing mechanisms, this approach reduces costs to some extent.

[0691] As mentioned earlier, the first transport vehicle 2 and the second transport vehicle 3 can also employ clamping, suction cup, or hook-type loading and unloading methods. Compared to the lifting method, these three methods do not require secondary lifting and lowering of the first and second transport vehicles 2 and 3. After the initial lifting, the telescopic arm can be controlled to clamp the material box and then retract, or extend to remove or place the material box; the suction cup can be controlled to adhere to the material box and then extend or retract; or the hook can be controlled to hook the material box and then extend or retract. For the specific loading and unloading processes of these three methods, please refer to the preceding text. They will not be repeated here.

[0692] Next, the bin release method provided in the embodiments of this application will be described in detail.

[0693] The bin retrieval method provided in this application is applied to a control device, which is communicatively connected to the first and second transport vehicles in the aforementioned bin storage system; as follows: Figure 11 As shown, the method includes:

[0694] Step S110: Obtain the position of the target storage compartment where the target bin is located in the three-dimensional storage frame.

[0695] In this step, the specific method for obtaining the location of the target storage location can be discussed in conjunction with... Figure 9 The steps shown in S900 are the same and will not be repeated here.

[0696] Step S111: Obtain the location of the available target temporary storage space.

[0697] In this step, the specific method for obtaining the location of the target temporary position can be found in... Figure 9 The steps shown in S901 are the same and will not be repeated here.

[0698] Step S112: Control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, and remove the target material box from the target storage compartment and transport it to the target temporary storage compartment.

[0699] Step S113: Control the idle first transport vehicle to move omnidirectionally within the transport vehicle's movement space to transport the target material box from the target temporary storage location to the workstation.

[0700] In some embodiments, the workstation may be equipped with an operating table. After the first transport vehicle moves the target bin from the target temporary storage location to the workstation, the bin can be manually placed on the operating table for picking operations.

[0701] The bin retrieval method provided in this application can achieve retrieval of bins from a designated storage location without moving the bins on the upper level of that location. Therefore, it has high overall operational efficiency and is very suitable for application in the logistics and warehousing field.

[0702] In another embodiment, each storage compartment of the warehouse rack has a conveying channel at its bottom facing the adjacent hoistway; the first transport vehicle in the system includes: a first chassis, a first lifting mechanism and a first lifting platform; the second transport vehicle includes: a second chassis, a second lifting mechanism, a second lifting platform, a bin loading and unloading mechanism and a carrying platform.

[0703] In this embodiment, such as Figure 12 As shown, Figure 11 Step S112 may specifically include the following steps:

[0704] Step S1120: Select an idle second transport vehicle, control the second transport vehicle, and use the second chassis to move to the first target shaft adjacent to the target storage compartment.

[0705] In this step, the nearest available second transport vehicle to the first target shaft can be selected to further improve operating efficiency.

[0706] Step S1121: Control the second transport vehicle, and the second lifting mechanism will lift the second lifting platform along the first target shaft to the height corresponding to the target storage compartment.

[0707] In this embodiment, the size of each storage compartment is larger than the size of a hopper, such that there is a first pick-and-place gap between the hoppers stored in each layer of the storage column, and a second pick-and-place gap between each hopper and the edge of the storage compartment it belongs to.

[0708] Step S1122: Control the second transport vehicle to move the target material box from the target storage location to the carrying platform through the conveying channel by the material box picking and placing mechanism.

[0709] Step S1123: Control the second transport vehicle, and drive the second lifting platform to lower along the first target shaft by the second lifting mechanism, so that the overall height of the second transport vehicle is lower than the height of the transport vehicle movement space.

[0710] In this way, the second transport vehicle can carry the target material box and move omnidirectionally within the transport vehicle's movement space.

[0711] Step S1124: Control the second transport vehicle to move to the second target shaft adjacent to the target temporary storage location using the second chassis.

[0712] Step S1125: Control the second transport vehicle to move the target material box from the carrying platform to the target temporary storage location through the conveyor channel by the material box picking and placing mechanism.

[0713] After the second transport vehicle moves the target material box to the target temporary storage location, it can move to the docking point for parking.

[0714] like Figure 12 As shown, Figure 11 Step S113 may specifically include the following steps:

[0715] Step S1130: Select an idle first transport vehicle, control the first transport vehicle, and use the first chassis to move to the second target hoistway adjacent to the target temporary storage location;

[0716] In this step, the first haulage vehicle that is closest to the second target shaft can be selected to further improve operating efficiency.

[0717] Step S1131: Control the first transport vehicle to move to the bottom of the target temporary storage location using the first chassis;

[0718] Step S1132: Control the first transport vehicle to lift the first lifting platform by the first lifting mechanism so that the target material box is taken out onto the first lifting platform and returned to the second target shaft through the conveying channel;

[0719] Step S1133: Control the first transport vehicle, and lower the first lifting platform driven by the first lifting mechanism so that the overall height of the first transport vehicle is lower than the height of the transport vehicle movement space.

[0720] Step S1134: Control the first transport vehicle to move to the workstation using the first chassis.

[0721] This embodiment enables outbound shipments from designated storage locations without moving the boxes on the upper level of those locations. Furthermore, the first and second transport vehicles employ different structures. The first transport vehicle is dedicated to picking up and placing boxes from temporary storage locations; therefore, a simple vehicle with a low lifting height, capable of directly picking up and placing boxes via a first lifting platform, suffices. The second transport vehicle, however, requires a higher lifting height and uses a box-picking and placing mechanism to do so. Therefore, compared to a solution where both transport vehicles use a high lifting height and a box-picking and placing mechanism, this approach reduces costs to some extent.

[0722] As mentioned earlier, the first transport vehicle 2 and the second transport vehicle 3 can also employ clamping, suction cup, or hook-type loading and unloading methods. Compared to the lifting method, these three methods do not require secondary lifting and lowering of the first and second transport vehicles 2 and 3. After the initial lifting, the telescopic arm can be controlled to clamp the material box and then retract, or extend to remove or place the material box; the suction cup can be controlled to adhere to the material box and then extend or retract; or the hook can be controlled to hook the material box and then extend or retract. For the specific loading and unloading processes of these three methods, please refer to the preceding text. They will not be repeated here.

[0723] Next, the material bin receiving device provided in the embodiments of this application will be described in detail.

[0724] The material bin receiving device provided in this application embodiment is similar to... Figure 9 The illustrated bin-into-warehouse method corresponds to the control equipment, which is communicatively connected to the first and second transport vehicles in the aforementioned bin storage system; see also Figure 13 The device includes:

[0725] The first acquisition module 1301 is used to obtain the position of the target storage location in the three-dimensional storage frame;

[0726] The second acquisition module 1302 is used to obtain the location of the available target temporary storage space;

[0727] The first control module 1303 is used to control the idle first transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation.

[0728] The second control module 1304 is used to control the first transport vehicle carrying the target material box to move omnidirectionally in the transport vehicle's movement space, and to transport the target material box from the workstation to an idle target temporary storage location.

[0729] The third control module 1305 is used to control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the target temporary storage location to the target storage location.

[0730] Next, the material bin dispensing device provided in the embodiments of this application will be described in detail.

[0731] The material bin dispensing device provided in this application embodiment is similar to... Figure 11 The illustrated bin retrieval method corresponds to the control equipment, which is communicatively connected to the first and second transport vehicles in the aforementioned bin storage system; see also Figure 14 The device includes:

[0732] The third acquisition module 1401 is used to obtain the position of the target storage bin where the target bin is located in the three-dimensional storage frame;

[0733] The fourth module 1402 is used to obtain the location of the available target temporary storage space;

[0734] The fourth control module 1403 is used to control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, and to take the target material box from the target storage bin and transport it to the target temporary storage bin;

[0735] The fifth control module 1404 is used to control the idle first transport vehicle to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the target temporary storage location to the workstation.

[0736] This application also provides an electronic device, such as... Figure 15 As shown, it includes:

[0737] Memory 1501 is used to store computer programs;

[0738] When the processor 1502 executes the program stored in the memory 1501, it implements the steps of the above-described bin warehousing method:

[0739] Obtain the location of the target storage compartment within the three-dimensional storage frame;

[0740] Obtain the location of the available target temporary storage space;

[0741] Control the first idle transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation;

[0742] Control the first transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the workstation to an idle target temporary storage location;

[0743] Control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the target temporary storage location to the target storage location;

[0744] Alternatively, the steps to implement the above-mentioned bin outbound method are as follows:

[0745] Obtain the location of the target storage bin within the three-dimensional storage frame;

[0746] Obtain the location of the available target temporary storage space;

[0747] Control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, and remove the target material box from the target storage bin and transport it to the target temporary storage bin;

[0748] Control the first idle transport vehicle to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the target temporary storage location to the workstation.

[0749] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 1502, the communication interface, and the memory 1501 communicating with each other via the communication bus.

[0750] In addition, the aforementioned control device can be implemented by a computer and may also include a communication module, such as a wired network card or a wireless network card, for communication connection with the first and second transport vehicles.

[0751] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0752] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0753] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0754] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0755] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described bin warehousing method or bin warehousing method.

[0756] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the bin receiving method or bin discharging method in the above embodiments.

[0757] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0758] Second Embodiment

[0759] In order to improve the operational efficiency of the bin storage system in storing and retrieving goods while having a certain storage capacity, the second embodiment of this application provides a bin storage system, warehouse rack, bin storage and retrieval method and apparatus, which will be described in detail below.

[0760] First, the material bin storage system provided in the second embodiment of this application will be described in detail.

[0761] See Figure 16 and Figure 17 ,in, Figure 16 This is a schematic diagram of the structure of the bin storage system provided in the second embodiment of this application; Figure 17 for Figure 16 The diagram shows a top view of the bin storage system. Figure 16 , Figure 17 and Figure 18a As shown in the embodiment of this application, the bin storage system includes: a warehouse shelf 1, a transport vehicle 2, and a workstation 3. The warehouse shelf 1 includes: a transport vehicle movement space 10 and a bin storage space 11 arranged from bottom to top.

[0762] The bin storage space 11 includes a three-dimensional storage frame 110; the three-dimensional storage frame 110 includes an array of storage bin columns 114 and shafts 115, with each storage bin column 114 adjacent to a shaft 115; wherein each storage bin column 114 includes multiple storage bins 116 arranged sequentially along the vertical direction of the three-dimensional storage frame 110, and each storage bin 116 is used to store a bin 100; each shaft 115 penetrates the three-dimensional storage frame 110 in the vertical direction, and its bottom is connected to the transport vehicle movement space 10.

[0763] The transport vehicle movement space 10 has a preset height and includes: multiple support columns 12 set at the bottom of the three-dimensional storage frame 110; the multiple support columns 12 extend from the bottom of the three-dimensional storage frame 110 to the ground, for supporting the three-dimensional storage frame 110 and forming the transport vehicle movement space 10.

[0764] The transport vehicle 2 is capable of omnidirectional movement in the transport vehicle movement space 10, and is used to pick up and place the target material box 100 through the shaft 115; to transport the target material box 100 from the workstation 3 to the target storage bin 116, or to transport the target material box from the target storage bin 116 to the workstation 3.

[0765] As can be seen from the above embodiments, the bin storage system provided in this application is a high-density bin storage system. The storage space for the bins, besides the storage columns of the storage compartments, only requires shafts; no aisles are needed, resulting in high storage density. Because no aisles are required, transport vehicles can move omnidirectionally within the transport vehicle's movement space, without being restricted by aisles. Furthermore, any bin on any floor can be directly retrieved or placed via the shafts, resulting in high overall operating efficiency and making it very suitable for application in the logistics and warehousing field.

[0766] It should be noted that the material bin in this application embodiment can include various forms, such as a material frame, a box-type packaging, or materials with cubic characteristics, which are easy to store and retrieve. This application embodiment does not impose any limitations.

[0767] In addition, in this embodiment, the temporary storage compartment can be located at the bottom of the shelf to facilitate the free movement of the transport vehicle. In practical applications, the temporary storage compartment is not necessarily located at the bottom of the shelf; it can also be located on the ground at the bottom of the shelf. However, in this case, the transport vehicle needs to avoid the temporary storage compartment during movement, which places higher demands on the operation of the transport vehicle.

[0768] Furthermore, in this embodiment, the transport vehicle moves material boxes between the shelf and the workstation. Those skilled in the art will understand that the workstation here refers to the destination of the transport vehicle. In practical applications, the workstation or the destination of the transport vehicle can also be a workbench, a docking station, a docking position, a buffer shelf, etc., meaning the transport vehicle can move material boxes to a docking station, docking position, buffer shelf, conveyor line, etc. For example: the transport vehicle docks and picks up material boxes at a preset docking position, or the transport vehicle docks and picks up material boxes from other shelves (such as buffer shelves), or the first transport vehicle docks and picks up material boxes from the conveyor line, etc.

[0769] In this embodiment, the transport vehicle movement space 10 and the material bin storage space 11 can be arranged continuously from bottom to top. In other embodiments, the transport vehicle movement space 10 and the material bin storage space 11 may not be continuous. They can be set according to actual needs, and there is no restriction here.

[0770] See Figure 16 , Figure 18a and Figure 18b ,in, Figure 18a for Figure 16 The diagram shows the structural schematic of the warehouse shelving in the embodiment shown. Figure 18b for Figure 18a A magnified view of section A on the warehouse shelving shown. Figure 16 , Figure 18a and Figure 18b As shown, the three-dimensional storage frame 110 may include multiple vertical beams 111, multiple horizontal beams 112, and multiple compartment partition beams 113 connected in a preset staggered arrangement to form an array of compartment storage columns 114 and shafts 115; wherein the cross-sectional shape and size of each compartment storage column 114 and each shaft 115 are identical. Multiple support columns 12 of the transport vehicle movement space 10 may be formed by a preset number of vertical beams 111 extending downwards to the ground from the outer edge of the three-dimensional storage frame 110.

[0771] In some embodiments, the bin partition beam can be a partition plate, support plate, or support rod, etc. The specific form can be adapted according to the shape and size of the bin. No restrictions are imposed here.

[0772] In this embodiment, as Figure 16 , Figure 18a and Figure 18bAs shown, the three-dimensional storage frame 110 can be formed by multiple vertical beams 111, multiple horizontal beams 112, and multiple compartment partition beams 113 connected in a preset staggered arrangement. The support columns 12 can be directly formed by extending downwards from the multiple vertical beams 111 on the outer edge of the three-dimensional storage frame 110 to the ground, without the need for additional support columns. This makes installation and deployment convenient, with no special requirements for terrain. Even on sloping ground, the distance between the transport vehicle's movement space 10 and the highest point on the ground can be adjusted by adjusting the height of each support column 12 to ensure that it is greater than or equal to the preset height, while simultaneously ensuring the overall levelness and stability of the three-dimensional storage frame 110.

[0773] like Figure 18a and Figure 18b As shown, each storage column 114 is formed by four adjacent vertical beams 111 and top and bottom crossbeams 112; each storage compartment 116 is formed by a section of four adjacent vertical beams 111 and two compartment partition beams 113; the two compartment partition beams 113 are arranged opposite each other at the bottom of the storage compartment 116, so that the bottom of each storage compartment 116 forms a conveying channel 1150 towards the adjacent hoistway 115 (by... Figure 17 (As shown by the dashed line); and the inner sides of the two compartment partition beams 113 extend inward to form a material box support structure to support the material box 100.

[0774] See Figure 18c and Figure 18d ,in, Figure 18c for Figure 18a The diagram shows the structure of the shaft in the warehouse shelving. Figure 18d for Figure 18c A magnified view of a portion of the shaft at point B. (See attached image.) Figure 18c and Figure 18d As shown, each shaft 115 is formed by four adjacent vertical beams 111 and top and bottom horizontal beams 112. In this way, the transport vehicle 2 can pick up and put down the target material box 100 through the shaft 115 and the conveyor channel 1150.

[0775] See Figure 17 , Figure 18e and Figure 18f ,in, Figure 18e for Figure 18a A top view of the warehouse shelving shown; Figure 18f for Figure 18e A magnified view of section C of the warehouse shelving shown. Figure 17 , Figure 18e and Figure 18f As shown, in the horizontal direction of the three-dimensional storage frame 110, storage bay columns 114 are arranged around the shaft 115; and any shaft 115 can have a maximum of four storage bay columns 114 surrounding it. Specifically, as... Figure 17 , Figure 18e and Figure 18f As shown, the shaft 115 located at the edge of the three-dimensional storage frame 110 can be surrounded by three storage columns 114, and the shaft 115 located in the middle of the three-dimensional storage frame 110 can be surrounded by four storage columns 114.

[0776] Specifically, such as Figure 17 , Figure 18e and Figure 18f As shown, when the shaft is square, the four sides of the shaft correspond to square storage columns. The line connecting the centers of two opposite first storage columns is perpendicular to the line connecting the centers of two opposite second storage columns, allowing the four storage columns to surround the shaft in a cross-shaped arrangement. Of course, the shaft or storage columns can also be rectangular or circular; the specific form can be adapted according to the shape and size of the hopper, etc. No restrictions are imposed here.

[0777] This arrangement ensures that each storage column 114 is adjacent to a shaft 115 and interconnected via a conveyor channel 1150. Simultaneously, the transport vehicle 2 can access and retrieve the storage bins 100 from three or four surrounding storage columns 114 through a shaft 115, further saving space on the warehouse rack 1 and allowing for a more compact arrangement of the storage bins 116, thus accommodating more bins 100.

[0778] In this embodiment, the three-dimensional storage frame 110 of the warehouse shelf 1 can be formed by splicing together storage area units 50.

[0779] The design process of warehouse rack 1 is described below, which utilizes storage area units 50 for assembly. Figure 18i The process of the three-dimensional storage framework shown is illustrated using this example.

[0780] First, define the storage area unit: use one rectangle to represent one storage location, i.e., storage location column 114. Draw a 5x5 rectangular array of storage rack slots, as follows. Figure 18g As shown, Figure 18g This is a schematic diagram of a 5x5 storage rack grid array. The coordinates of each rectangle position are defined as (i, j), where i represents the i-th row and j represents the j-th column. Then, positions (2, 1), (5, 2), (3, 3), (1, 4), and (4, 5) are set as shafts, and the other positions are set as storage positions, i.e., storage position column 114.

[0781] In other words, the second cell in the first column of the 5x5 storage rack matrix is ​​set as a shaft; the fifth cell in the second column is set as a shaft; the third cell in the third column is set as a shaft; the first cell in the fourth column is set as a shaft; and the fourth cell in the fifth column is set as a shaft. In this way, the 5x5 storage rack matrix forms a storage area unit.

[0782] Then, a 2x2 array arrangement is performed using storage area cells to obtain... Figure 18h , Figure 18h This diagram illustrates a 2x2 array arrangement of storage area units. In actual deployment, more array arrangements can be made using area units, depending on the available space.

[0783] In other words, Figure 18h The structure is composed of four 5x5 storage rack grids joined together. The second 5x5 storage rack grid, joined laterally, is based on... Figure 18g The arrangement follows the same pattern; the second 5x5 warehouse rack grid matrix, formed by vertical splicing, is also based on... Figure 18g The arrangement follows the same pattern.

[0784] Finally, edge processing is performed: the edges are checked to identify storage locations without adjacent shafts on all four sides. These storage locations are defined as invalid storage locations 51, such as storage locations (1, 2) and (1, 7) which have no adjacent shafts on all four sides. These invalid storage locations 51 are then eliminated. Figure 18i The three-dimensional storage frame 110 shown is shown.

[0785] In other words, the storage bays located at the perimeter of the three-dimensional storage frame that cannot be connected to adjacent shafts will be left vacant or replaced with shafts. For example, Figure 18h The first storage space in the second column of each 5x5 storage rack grid array rectangle on the upper middle edge, the second storage space in the fifth column of each 5x5 storage rack grid array rectangle on the right edge, the fifth storage space in the fourth column of each 5x5 storage rack grid array rectangle on the lower edge, and the fourth storage space in the first column of each 5x5 storage rack grid array rectangle on the left edge are either vacant or replaced with a shaft.

[0786] In practical applications, there are various forms of handling vehicle operations for picking up and placing goods, such as: lifting, clamping, suction cup, or hooking. Lifting involves the handling vehicle lifting and lowering the container to pick up or place goods; clamping mainly uses two telescopic arms to clamp the container; suction cup mainly uses the suction force of suction cups on the handling vehicle to pick up or place goods from the side; and hooking mainly uses hooks on the handling vehicle to pick up or place goods from the side.

[0787] The transport vehicle 2 in this embodiment can be used in any of the following forms to perform the picking and placing of goods.

[0788] In some embodiments, to facilitate the loading and unloading of the material bins 100 by the transport vehicle 2, the size of each storage compartment 116 can be set larger than the size of one material bin 100. For details, see... Figure 19 , Figure 19 for Figure 16 The illustrated embodiment shows a partial enlarged view of the storage compartments of the warehouse rack containing material bins; as shown. Figure 19 As shown, the size of each storage compartment 116 is larger than the size of a hopper 100, such that there is a first pick-and-place gap 117 between the layers of hoppers 100 stored on the storage compartment column 114, and a second pick-and-place gap 118 between each hopper 100 and the edge of the storage compartment 116 it is located on, that is, between the vertical beam 111 forming the storage compartment column 114.

[0789] In this way, the transport vehicle 2 can use the first pick-up and drop gap 117 and the second pick-up and drop gap 118 to pick up and drop the material box 100 from the storage compartment 116 of the storage compartment column 114.

[0790] In this embodiment, although the size of each storage compartment 116 is larger than that of a material box 100, forming a first retrieval gap 117 and a second retrieval gap 118, which occupies a small portion of the space of the warehouse rack 1, it overcomes the disadvantage of related technologies where dense storage box-type warehouses can only retrieve and place the topmost material box. It is more suitable for situations in the logistics warehousing field where the goods stored in a warehouse are not the same. Moreover, the first retrieval gap 117 and the second retrieval gap 118 occupy very little space and have little impact on the overall storage capacity of the warehouse rack 1, allowing the entire warehouse rack 1 to still achieve dense storage.

[0791] It should be noted that, Figure 19 The illustrated embodiment shows the case where the transport vehicle 2 uses a lifting method to pick up and place goods. Figure 19 In this configuration, the size of each storage compartment 116 is larger than the size of a material box 100, forming a first pick-and-place gap 117 between each layer of material boxes 100 and a second pick-and-place gap 118 between each material box 100 and the edge of its storage compartment 116. The first pick-and-place gap 117 is mainly reserved for the transport vehicle 2 to lift the material box 100; while the second pick-and-place gap 118 serves as a tolerance redundancy or to accommodate material boxes of different sizes.

[0792] Therefore, in other embodiments, when the transport vehicle 2 uses a lifting method to pick up and place goods, only the first pick-up and place gap 117 between each layer of material box can be set, and the second pick-up and place gap 118 is not set.

[0793] In other embodiments, the transport vehicle 2 employs a clamping-type loading and unloading method, that is, it uses two telescopic arms to extend into the second loading and unloading gaps 118 on both sides of the material box 100 to clamp the material box. The loading and unloading of the material box mainly utilizes the second loading and unloading gaps 118 that exist between each material box 100 and the edge of its corresponding storage compartment 116. In this case, the shelving can only have the second loading and unloading gaps 118, without the first loading and unloading gap 117. Of course, in this case, to achieve offset redundancy or compatibility with material boxes of different sizes, the first loading and unloading gap 117 can also be provided.

[0794] In addition, when the handling vehicle 2 uses a clamping method for picking up and placing goods, the two telescopic arms can directly extend into the second picking and placing gap 118. Therefore, there is no need to set up a conveyor channel 1150 on the rack for the handling vehicle, and the bottom of each storage compartment can be directly set as a partition, support plate or support rod, etc.

[0795] In other implementations, the handling vehicle 2 can use suction cups or hooks for picking up and placing goods. Both types of handling vehicles can directly pick up or hook the boxes from the side of the bins 100. Since the handling vehicle does not need to lift the boxes 100 on the shelf, nor does it need two telescopic arms to extend into the storage compartments 116 to clamp the boxes 100, the first pick-up and place gap 117 and the second pick-up and place gap 118 do not need to be set between the storage compartments 116. That is, the size of the storage compartments 116 can be the same as the size of the boxes 100, so that the boxes 100 in the shelf can be arranged more closely, and the shelf can store more boxes 100.

[0796] Of course, when the handling vehicle 2 uses suction cups or hooks to pick up and put down goods, the size of the storage compartment 116 can also be larger than the size of the material box 100. A first pick-up and put-down gap and a second pick-up and put-down gap can also be set. These two gaps can be used for deviation redundancy or to accommodate material boxes of different sizes.

[0797] In addition, the handling vehicle 2 uses suction cup or hook-type for picking up and putting down goods. The handling vehicle can directly pick up or hook the material box from the side of the material box 100. Therefore, there is no need to set up a conveyor channel 1150 on the shelf for the handling vehicle. The bottom of each storage compartment can be directly set as a partition, support plate or support rod, etc.

[0798] The following is a detailed description of the transport vehicle 2 used in the embodiments of this application.

[0799] See Figure 20a , Figure 20a for Figure 16 The schematic diagram of the transport vehicle in the embodiment shown; as follows: Figure 20aAs shown, the transport vehicle 2 may include: a chassis 20 capable of omnidirectional movement, a lifting mechanism 21 mounted on the chassis 20, a lifting platform 22 mounted on top of the lifting mechanism 21, a hopper loading and unloading mechanism 23 mounted on top of the lifting platform 22, and a carrying platform 24.

[0800] It should be noted that the lifting platform 22 can rotate around the four sides. In this way, by rotating the lifting platform 22, the storage bins 116 or temporary storage bins 100 in the four directions can be picked up and put in the hoistway 115, which can reduce the turning operation of the handling vehicle 2 and thus improve the picking and putting efficiency.

[0801] In this way, the transport vehicle 2 can use the chassis 20 to move to the bottom of the shaft 115 adjacent to the target storage compartment 116; the lifting mechanism 21 lifts the lifting platform 22 along the shaft 115 to the height corresponding to the target storage compartment 116; the material box picking and placing mechanism 23 moves the target material box 100 from the carrying platform 24 to the target storage compartment 116 through the conveying channel 1150, or moves the target material box 100 from the target storage compartment 116 to the carrying platform 24.

[0802] like Figure 20a As shown, the bin picking and placing mechanism 23 may include a drive mechanism 231 and a picking and placing plate 232. The drive mechanism 231 can drive the picking and placing plate 232 to extend out of the transport vehicle 2, so that the picking and placing plate 232 can pick up and place bins from the target storage compartment 116. The picking and placing plate 232 of the bin picking and placing mechanism 23 is located in the middle of the support platform 24, and its height is the same as that of the support platform 24. The drive mechanism 231 is located below the picking and placing plate 232.

[0803] In addition, such as Figure 18c and Figure 18d As shown, each vertical beam 111 forming the shaft 115 has a track 1110 arranged along the vertical beam 111 on its inner side; the four corners of the lifting platform 22 of the transport vehicle 2 are provided with guide wheels 220 that cooperate with the track 1110 so that the lifting platform 22 can move up and down along the track 1110 during the lifting process.

[0804] This ensures the stability of the lifting platform 22 of the transport vehicle 2 when it moves up and down in the shaft 115, thereby allowing the three-dimensional storage frame 110 to be set very high, increasing the number of storage compartments 116 accordingly, and further increasing the storage capacity of the warehouse rack 1.

[0805] like Figure 20b and Figure 20c As shown, where, Figure 20b for Figure 20a The side view shown shows the transport vehicle with the hopper raised to its highest position. Figure 20c for Figure 20a The image shows a side view of the transport vehicle with the loading bin not lifted.

[0806] In this embodiment, the lifting mechanism 21 of the transport vehicle 2 can lift the lifting platform 22 very high so that the loading and unloading mechanism 23 on the lifting platform 22 can pick up and unload the topmost material box 100 of the storage column 114; it can also lower the lifting platform 22 relatively low so that the transport vehicle 2 can carry the material box 100 and move freely within the transport vehicle movement space 10 without being limited by the height of the transport vehicle movement space 10.

[0807] For details, see Figure 21 , Figure 21 for Figure 20a The diagram shows the structure of the material handling vehicle for picking up and placing materials into the bins. Figure 21 As shown, after the transport vehicle 2 loads the target material box from the workstation 3, it moves to the bottom of the target shaft 115 adjacent to the target storage compartment 116 using the chassis 20; then the lifting mechanism 21 lifts the lifting platform 22 along the target shaft to the height corresponding to the target storage compartment 116; then the material box picking and placing mechanism 23 moves the target material box 100 from the carrying platform 24 to the target storage compartment 116 through the conveying channel 1150. Alternatively, the idle transport vehicle 2 moves to the bottom of the target shaft 115 adjacent to the target storage compartment 116 using the chassis 20; then the lifting mechanism 21 lifts the lifting platform 22 along the target shaft 115 to the height corresponding to the target storage compartment 116; then the material box picking and placing mechanism 23 moves the target material box 100 from the target storage compartment 116 to the carrying platform 24 through the conveying channel 1150.

[0808] As mentioned above, the bin picking and placing mechanism 2 may include: a drive mechanism 231 and a picking and placing plate 232.

[0809] In this embodiment, the specific process of the transport vehicle 2 placing the target material box 100 into the target storage compartment 116 can be as follows: After the lifting mechanism 21 lifts the lifting platform 22 along the target shaft 115 to the height corresponding to the target storage compartment 116, within the height range of the first pick-and-place gap 117, it is further lifted above the two compartment partition beams 113 forming the conveying channel; then, the drive mechanism 231 of the material box pick-and-place mechanism 23 drives the pick-and-place plate 232, which in turn drives the target material box 100 on the pick-and-place plate 232 to be conveyed to the top of the target storage compartment 116 through the conveying channel 1150; then, the lifting mechanism 21 lowers the lifting platform 22, so that the target material box 100 is removed from the support of the pick-and-place plate 232 and is instead supported by the two compartment partition beams 113 forming the conveying channel, placing the target material box 100 on the target storage compartment 116; then, the pick-and-place plate 232 is retracted to the bearing platform 24. This completes the operation of placing the target material box 100 into the target compartment 116.

[0810] Afterwards, the lifting mechanism 21 can drive the lifting platform 22 to be lowered along the target shaft 115, so that the overall height of the transport vehicle 2 is lower than the height of the transport vehicle movement space 10, so that the transport vehicle 2 can move in all directions in the transport vehicle movement space, and then the transport vehicle 2 can move to the preset stopping point for parking.

[0811] In this embodiment, the specific process of the transport vehicle 2 retrieving the target box from the target storage compartment 116 can be as follows: the idle transport vehicle 2 moves to the bottom of the target shaft 115 adjacent to the target storage compartment 116 using the chassis 20; then the lifting mechanism 21 lifts the lifting platform 22 along the target shaft 115 to the height corresponding to the target storage compartment 116; then, the drive mechanism 231 of the box retrieval mechanism 21 extends the retrieval plate 232 through the conveying channel 1150 to the bottom of the target box 100; then, within the height range of the first retrieval gap 117, the lifting mechanism 21 lifts the lifting platform 22, causing the target box 100 to detach from the support of the two compartment partition beams 113 forming the conveying channel 1150 in the height direction, and is instead supported by the retrieval plate 232; then, the retrieval plate 232 carrying the target box 100 is retracted to the carrying platform 24. This completes the operation of retrieving the target box 100 from the target compartment 116.

[0812] Then, the lifting mechanism 21 can drive the lifting platform 22 to lower along the target shaft 115, so that the overall height of the transport vehicle 2 is lower than the height of the transport vehicle movement space 10, so that the transport vehicle 2 carrying the target material box 100 can move omnidirectionally in the transport vehicle movement space 10, thereby transporting the target material box 100 to the workstation 3. Then, the idle transport vehicle 2 can move to the preset docking point for parking.

[0813] In this embodiment, there can be multiple transport vehicles 2. The system's operating efficiency can be further improved by controlling, scheduling, and managing multiple transport vehicles 2.

[0814] The above Figures 20a-21 This shows the situation where the transport vehicle 2 uses a lifting method to pick up and place goods.

[0815] As mentioned earlier, the pallet truck 2 can also use clamping, suction cup, or hook-type loading and unloading methods. Compared to the lifting method, these three methods do not require the pallet truck 2 to perform secondary lifting and lowering. After the initial lifting, the telescopic arm can be controlled to clamp the material box and then retract, or extend to remove or place the material box; the suction cup can be controlled to adhere to the material box and then extend or retract; or the hook can be controlled to hook the material box and then extend or retract. The loading and unloading process of these three methods is described in detail below.

[0816] Firstly, in other embodiments, the transport vehicle 2 can employ a clamping-type loading and unloading method.

[0817] In this case, the transport vehicle 2 needs to Figure 20a Based on the transport vehicle 2 shown, the components on the lifting platform 22 are removed and replaced with a clamping and picking device with two telescopic arms. The two telescopic arms can extend to the two opposite sides of the material box 100 to clamp and pick up the material box 100.

[0818] Accordingly, the specific process of the transport vehicle 2 picking up and placing the storage bin can be as follows: The transport vehicle 2 moves to the target shaft adjacent to the target storage bin; the lifting platform 22 is used to lift the clamping and picking device so that the height of the clamping and picking device corresponds to the height of the target storage bin. When picking up the bin, the two telescopic arms in the clamping and picking device extend into the second picking and picking gap of the target storage bin, clamp the target bin in the target storage bin and retract the telescopic arms, so that the target bin moves onto the lifting platform 22; when placing the bin, the target bin is on the lifting platform 22, the two telescopic arms in the clamping and picking device clamp the target bin, extend into the second picking and picking gap of the target storage bin, release and retract the two telescopic arms, so that the target bin moves onto the target storage bin. Then, the lifting platform 22 is lowered so that the overall height of the transport vehicle 2 loaded with the target bin is lower than the height of the transport vehicle movement space 10.

[0819] Secondly, in other embodiments, the transport vehicle 2 may employ a suction cup for picking up and placing goods.

[0820] In this case, the transport vehicle 2 needs to Figure 20a Based on the transport vehicle shown, the components on the lifting platform 32 are removed and replaced with a suction cup pick-and-place device equipped with a telescopic suction cup. The telescopic suction cup can extend to the edge of the storage compartment and pick up and place the material box 100 by adsorbing the side of the material box 100 exposed on the shaft 115.

[0821] Accordingly, the specific process of the transport vehicle 2 picking up and placing the temporary storage bin can be as follows: The transport vehicle 2 moves to the target shaft adjacent to the target temporary storage bin; the lifting platform 22 is used to lift the suction cup picking device so that the height of the suction cup picking device corresponds to the height of the target temporary storage bin. When picking up the bin, the telescopic suction cup in the suction cup picking device extends into the edge of the target temporary storage bin, adsorbs the side of the bin 100 exposed in the shaft 115, and retracts the telescopic suction cup, so that the target bin moves onto the lifting platform 22; when placing the bin, the target bin is located on the lifting platform 22, the telescopic suction cup in the suction cup picking device adsorbs the target bin, extends the telescopic suction cup to push the target bin into the target storage bin, releases and retracts the telescopic suction cup, so that the target bin moves onto the target temporary storage bin. Then, the lifting platform 22 is lowered so that the overall height of the transport vehicle 2 loaded with the target bin is lower than the height of the transport vehicle movement space 10.

[0822] Furthermore, in other embodiments, the transport vehicle 2 may employ a hook-and-pull mechanism for picking up and placing goods.

[0823] In this case, hook grooves need to be installed on the side of the material bin 100. The transport vehicle 2 needs to... Figure 20a Based on the transport vehicle shown, the components on the lifting platform 32 are removed and replaced with a hook-and-release device with a telescopic hook. The telescopic hook can extend to the edge of the storage compartment and, by cooperating with the hook groove on the side of the material box 100, enables the hook-and-release of the material box 100.

[0824] Accordingly, the specific process of the transport vehicle 2 picking up and placing the temporary storage bin can be as follows: The transport vehicle 2 moves to the target shaft adjacent to the target temporary storage bin; the lifting platform 22 is used to lift the hook-and-pull pick-and-pull device so that the height of the hook-and-pull pick-and-pull device corresponds to the height of the target temporary storage bin. When picking up the bin, the telescopic hook in the hook-and-pull pick-and-pull device extends into the edge of the target temporary storage bin, hooks the hook groove on the side of the target bin 100, and then retracts, so that the target bin moves onto the lifting platform 22; when placing the bin, the target bin is on the lifting platform 22, the telescopic hook in the hook-and-pull pick-and-pull device hooks the hook groove of the target bin, the telescopic hook extends to push the target bin into the target storage bin, the telescopic hook is released to disengage it from the hook groove on the side of the target bin 100 and retracts, so that the target bin moves onto the target temporary storage bin. Then, the lifting platform 22 is lowered so that the overall height of the transport vehicle 2 loaded with the target bin is lower than the height of the transport vehicle movement space 10.

[0825] Additionally, see Figure 16 ,like Figure 16 As shown, workstation 3 can be located at the edge of warehouse shelf 1; workstation 3 is equipped with an operating table 31 for temporarily storing the boxes 100 transported by the handling vehicle 2 from warehouse shelf 1, or temporarily storing the boxes 100 to be stored in warehouse shelf 1. Workstation 3 can be equipped with an operating table 31, so that after the handling vehicle 2 transports the target box 100 from the target temporary storage location to workstation 3, it can be manually placed on the operating table 31 for picking operations; or the box 100 to be stored in warehouse shelf 1 can be manually placed on the lifting platform 22 of the handling vehicle 2 for unloading.

[0826] In this embodiment, placing the workbench 3 at the edge of the warehouse shelf 1 reduces the transport distance of the transport vehicle 2 and further improves the operating efficiency of the system.

[0827] like Figure 16As shown, the bin storage system of this application embodiment may further include: a control device 4; the control device 4 is communicatively connected to the transport vehicle 2; the control vehicle 2 is controlled to move omnidirectionally in the transport vehicle movement space 10 to transport the target bin 100 from the workstation 3 to the target storage compartment 116, or to transport the target bin from the target storage compartment 116 to the workstation 3.

[0828] In practical applications, the control device 4 can be a computer, laptop, tablet, or other device that can communicate with the transport vehicle 2 via a wireless local area network. In this embodiment, there can be multiple transport vehicles 2, which can be uniformly controlled, scheduled, and managed by the control device 4.

[0829] In this embodiment, by setting up control device 4, the transport vehicle 2 can be controlled, scheduled and managed, making the entire bin storage system operate more rationally and intelligently.

[0830] Secondly, the warehouse racks provided in the embodiments of this application can be found in [reference needed]. Figures 18a to 18f The specific structure is as described above and will not be repeated here.

[0831] Next, the bin storage method provided in the embodiments of this application will be described in detail.

[0832] The bin storage method provided in this application is applied to a control device, which is communicatively connected to the transport vehicle in the aforementioned bin storage system; see also Figure 22 The method includes:

[0833] Step S700: Obtain the location of the target storage compartment within the three-dimensional storage frame.

[0834] In some embodiments, this step can receive the location of the target storage compartment input by the user through a user interface. Since the bin storage space in this embodiment includes a three-dimensional storage frame, the location of the target storage compartment can be identified by a three-dimensional array, such as: (row number of the storage compartment in the X direction, column number of the storage compartment in the Y direction, and layer number of the storage compartment in the Z direction). Alternatively, each storage compartment can be pre-numbered; in this step, the user only needs to input the number of the target storage compartment.

[0835] In some embodiments, the control device can maintain a status table of storage compartments to record whether each storage compartment is in a stored state or an idle state. In this step, the location of the target idle storage compartment can be obtained by looking up this status table. If there are many idle storage compartments, the storage compartment in the storage column closest to the docking point should be selected. This reduces the distance the transport vehicle travels in all directions within the transport vehicle's movement space, improving operating efficiency. Alternatively, an algorithm can be used to calculate the optimal location of the idle storage compartment as the target storage compartment, further improving operating efficiency.

[0836] Step S701: Control the idle transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation.

[0837] In some embodiments, the workstation can be equipped with an operating table. After an idle transport vehicle moves to the workstation, the target boxes to be stored on the warehouse shelves can be manually placed from the operating table onto the lifting platform of the transport vehicle for unloading.

[0838] Preferably, when unloading goods, a shaft orthogonal to the target temporary storage location can be selected as the target shaft. In this way, after the transport vehicle runs to the target shaft, it can directly pick up the goods from the temporary storage location and then lift it directly to the target storage location to unload the goods without any extra walking. Moreover, the transport vehicle 2 uses the lifting platform 22 to rotate, so there is no need to turn, which can reduce the operation time of the transport vehicle.

[0839] Similarly, when picking up goods, the target temporary storage location is the available temporary storage location of the four orthogonal temporary storage locations corresponding to the target shaft. After the transport vehicle 2 picks up the goods from the shaft, it descends and places them directly on the target temporary storage location without having to make any extra movements, thus reducing the operation time of the transport vehicle 2 and improving the efficiency of picking up and placing goods.

[0840] When allocating temporary storage spaces and storage spaces, the control equipment prioritizes the allocation based on the strategy of four storage spaces and four temporary storage spaces corresponding to one hoistway.

[0841] Step S702: Control the transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the workstation to the target storage location via the target shaft adjacent to the target storage location.

[0842] In some embodiments, the number of transport vehicles can be multiple, which can be set according to the actual number of storage locations on the warehouse shelves; this application does not impose any limitation.

[0843] In this case, the control equipment can maintain a table of the operating status of the transport vehicles, which records whether each transport vehicle is in operation or idle.

[0844] In this embodiment, when each transport vehicle is idle, it can park at a preset parking point, such as near a workstation or near the shaft at the edge of the warehouse rack. The parking position of each transport vehicle can be set according to the actual situation of the warehouse rack, and this application does not limit it.

[0845] The bin-receiving method provided in this application enables bins to be received into a designated storage location without moving the bins on top of that location. Therefore, it offers high overall operational efficiency and is highly suitable for application in the logistics and warehousing field.

[0846] In another embodiment, as described above, each storage compartment has a conveying channel at its bottom that faces the adjacent shaft; and each storage compartment is larger than the size of a hopper, such that there is a first pick-and-place gap between the hoppers stored in the storage column of the compartment and a second pick-and-place gap between each hopper and the edge of the storage compartment it is located.

[0847] The transport vehicle in this embodiment includes: a chassis, a lifting mechanism, a lifting platform, a bin loading and unloading mechanism, and a carrying platform.

[0848] In this embodiment, such as Figure 23 As shown, Figure 22 Step S702 in the process may specifically include the following steps:

[0849] Step S7020: Control the transport vehicle carrying the target material box to move from the workstation to the bottom of the target shaft using the chassis.

[0850] Step S7021: Control the transport vehicle to lift the lifting platform along the target shaft to the height corresponding to the target storage compartment using the lifting mechanism.

[0851] Specifically, the target bin is placed on the lifting platform of the transport vehicle, specifically on the carrying platform of the lifting mechanism.

[0852] Step S7022: Control the transport vehicle to move the target material box from the carrying platform to the target storage location via the material box picking and placing mechanism through the conveying channel.

[0853] In this embodiment, the bin loading and unloading mechanism may include a drive mechanism and a loading and unloading plate.

[0854] In this step, the lifting mechanism raises the lifting platform of the transport vehicle to a certain height, so that within the height range of the first pick-and-place gap, the pick-and-place plate can be slightly higher than the bottom of the target temporary storage bin. Then, the drive mechanism drives the pick-and-place plate, which holds the target box, to extend into the target temporary storage bin through the conveyor channel using the second pick-and-place gap. Then, the lifting mechanism lowers the height of the lifting platform, so that the target box is no longer supported by the pick-and-place plate, but is instead supported in the height direction by the two bin partition beams forming the conveyor channel. Finally, the drive mechanism drives the pick-and-place plate to retract to the carrying platform, so that the target box moves from the carrying platform to the target storage bin.

[0855] Afterwards, the lifting mechanism can be controlled to lower the lifting platform to its lowest possible height, ensuring that the entire height of the transport vehicle is below the top of the transport vehicle's movement space. The transport vehicle then moves within the transport vehicle's movement space and eventually stops at the preset stopping point.

[0856] In this embodiment, the bin picking and placing mechanism can use a drive mechanism and a picking and placing plate to move the target bin to the target storage location through a conveying channel, a first picking and placing gap and a second picking and placing gap.

[0857] As mentioned earlier, the transport vehicle 2 can also employ clamping, suction cup, or hook-type loading and unloading methods. Compared to the lifting method, these three methods do not require secondary lifting and lowering of the transport vehicle 2. After the initial lifting, the telescopic arm can be controlled to clamp the material box and then retract, or extend to remove or place the material box; the suction cup can be controlled to adhere to the material box and then extend or retract; or the hook can be controlled to hook the material box and then extend or retract. For the specific loading and unloading processes of these three methods, please refer to the preceding text. They will not be repeated here.

[0858] Next, the bin release method provided in the embodiments of this application will be described in detail.

[0859] The bin retrieval method provided in this application is applied to a control device, which is communicatively connected to a transport vehicle in the aforementioned bin storage system; such as Figure 24 As shown, the method includes:

[0860] Step S900: Obtain the position of the target storage compartment where the target bin is located within the three-dimensional storage frame.

[0861] In this step, the specific method for obtaining the location of the target storage location can be discussed in conjunction with... Figure 22 The steps shown in S700 are the same and will not be repeated here.

[0862] Step S901: Control the idle transport vehicle to move omnidirectionally within the transport vehicle's movement space, and retrieve the target material box into the transport vehicle through the target shaft adjacent to the target storage compartment.

[0863] Step S902: Control the transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space to transport the target material box to the workstation.

[0864] In some embodiments, the workstation can be equipped with an operating table, so that after the transport vehicle moves the target bin from the target storage location to the workstation, the bin can be manually placed on the operating table for picking operations.

[0865] The bin retrieval method provided in this application can achieve retrieval of bins from a designated storage location without moving the bins on the upper level of that location. Therefore, it has high overall operational efficiency and is very suitable for application in the logistics and warehousing field.

[0866] In another embodiment, as described above, each storage compartment has a conveying channel at its bottom that faces the adjacent shaft; and each storage compartment is larger than the size of a hopper, such that there is a first pick-and-place gap between the hoppers stored in the storage column of the compartment and a second pick-and-place gap between each hopper and the edge of the storage compartment it is located.

[0867] The transport vehicle in this embodiment includes: a chassis, a lifting mechanism, a lifting platform, a bin loading and unloading mechanism, and a carrying platform.

[0868] In this embodiment, such as Figure 25 As shown, Figure 24 Step S901 in the process may specifically include the following steps:

[0869] Step S9010: Select an idle transport vehicle, control the transport vehicle, and use the chassis to move to the bottom of the target shaft adjacent to the target storage compartment.

[0870] Step S9011: Control the transport vehicle to lift the lifting platform along the target shaft to the height corresponding to the target storage compartment using the lifting mechanism;

[0871] Step S9012: Control the transport vehicle to move the target material box from the target storage location to the carrying platform through the conveying channel by the material box picking and placing mechanism.

[0872] In this step, the drive mechanism of the transport vehicle drives the idle pick-and-place plate to extend into the target temporary storage compartment through the conveyor channel. Then, using the first and second pick-and-place gaps, the lifting mechanism raises the lifting platform to a certain height. In this way, within the height range of the first pick-and-place gap, the pick-and-place plate can be slightly higher than the bottom of the target temporary storage compartment, so that the target material box is removed from the support of the two compartment partition beams forming the conveyor channel in the height direction, and is instead supported by the pick-and-place plate. Then, the drive mechanism drives the pick-and-place plate to retract with the target material box to the carrying platform, so that the target material box moves from the target storage compartment to the carrying platform.

[0873] Step S9013: Control the transport vehicle, and use the lifting mechanism to lower the lifting platform along the target shaft so that the overall height of the transport vehicle is lower than the height of the transport vehicle's movement space.

[0874] In this way, the transport vehicle can carry the target material box and move omnidirectionally within the transport vehicle's movement space, thereby transporting the target material box to the workstation. After the target material box is moved from the transport vehicle to the workstation's operating table, the idle transport vehicle will park at the preset parking point.

[0875] In this embodiment, the bin picking and placing mechanism can use a drive mechanism and a picking and placing plate to move the target bin from the target storage compartment to the carrying platform through a conveying channel, a first picking and placing gap and a second picking and placing gap.

[0876] As mentioned earlier, the transport vehicle 2 can also employ clamping, suction cup, or hook-type loading and unloading methods. Compared to the lifting method, these three methods do not require secondary lifting and lowering of the transport vehicle 2. After the initial lifting, the telescopic arm can be controlled to clamp the material box and then retract, or extend to remove or place the material box; the suction cup can be controlled to adhere to the material box and then extend or retract; or the hook can be controlled to hook the material box and then extend or retract. For the specific loading and unloading processes of these three methods, please refer to the preceding text. They will not be repeated here.

[0877] Next, the material bin receiving device provided in the embodiments of this application will be described in detail.

[0878] The material bin receiving device provided in this application embodiment is similar to... Figure 22 The illustrated bin-into-warehouse method corresponds to the application of control equipment, which is communicatively connected to the transport vehicle in the aforementioned bin storage system; see also Figure 26 The device includes:

[0879] The first acquisition module 1101 is used to obtain the position of the target storage location in the three-dimensional storage frame;

[0880] The first control module 1102 is used to control the idle transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation.

[0881] The second control module 1103 is used to control the transport vehicle carrying the target material box to move omnidirectionally in the transport vehicle's movement space, and to transport the target material box from the workstation to the target storage bin through the target shaft adjacent to the target storage bin.

[0882] Next, the material bin dispensing device provided in the embodiments of this application will be described in detail.

[0883] The material bin receiving device provided in this application embodiment is similar to... Figure 24The illustrated bin-into-warehouse method corresponds to the application of control equipment, which is communicatively connected to the transport vehicle in the aforementioned bin storage system; for example... Figure 27 As shown, the device includes:

[0884] The second acquisition module 1201 is used to obtain the position of the target storage bin where the target bin is located in the three-dimensional storage frame;

[0885] The third control module 1202 is used to control the idle transport vehicle to move omnidirectionally in the transport vehicle's movement space and to take out the target material box into the transport vehicle through the target shaft adjacent to the target storage bin;

[0886] The fourth control module 1203 is used to control the transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space and transport the target material box to the workstation.

[0887] This application also provides an electronic device, such as... Figure 28 As shown, it includes:

[0888] Memory 1301 is used to store computer programs;

[0889] When the processor 1302 executes the program stored in the memory 1301, it implements the steps of the above-described bin warehousing method:

[0890] Obtain the location of the target storage compartment within the three-dimensional storage frame;

[0891] Control the idle transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation;

[0892] Control the transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the workstation to the target storage location through the target shaft adjacent to the target storage location;

[0893] Alternatively, the steps to implement the above-mentioned bin outbound method are as follows:

[0894] The location of the target storage compartment containing the target bin is obtained within the three-dimensional storage frame.

[0895] Control the idle transport vehicle to move omnidirectionally within the transport vehicle's movement space, and retrieve the target material box into the transport vehicle through the target shaft adjacent to the target storage bin;

[0896] Control the transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, and transport the target material box to the workstation.

[0897] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 1302, the communication interface, and the memory 1301 communicating with each other via the communication bus.

[0898] In addition, the aforementioned control device can be implemented by a computer and may also include a communication module, such as a wired network card or a wireless network card, for communication connection with the transport vehicle and the transport vehicle.

[0899] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0900] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0901] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0902] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0903] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements any of the above-described bin warehousing methods or bin warehousing steps.

[0904] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the bin receiving method or bin discharging method in the above embodiments.

[0905] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0906] Third Embodiment

[0907] In order to improve the operational efficiency of the bin storage system in storing and retrieving goods while having a certain storage capacity, the third embodiment of this application provides a bin storage system, warehouse rack, handling vehicle, bin storage and retrieval method and device, which will be described in detail below.

[0908] First, the material bin storage system provided in the third embodiment of this application will be described in detail.

[0909] See Figure 29 and Figure 30 ,in, Figure 29 This is a schematic diagram of the structure of the bin storage system provided in the third embodiment of this application; Figure 30 for Figure 29 The diagram shows a top view of the bin storage system. Figure 29 and Figure 30 As shown, the bin storage system provided in this embodiment includes: a warehouse rack 1, a handling vehicle 2, and a workstation 3. Wherein,

[0910] The warehouse rack 1 includes a three-dimensional storage frame 10; the three-dimensional storage frame 10 includes arrayed storage columns 11 and shafts 12, and each storage column 11 is adjacent to a shaft 12.

[0911] Each storage column 11 includes a plurality of storage compartments 111 arranged sequentially along the vertical direction of the three-dimensional storage frame 10, each storage compartment 111 being used to store a material bin 100; each hoistway 12 extends through the three-dimensional storage frame 10 in the vertical direction; at least one hoistway 12 located at the edge of the three-dimensional storage frame 10 is configured as an inbound / outbound hoistway 120.

[0912] Workstation 3 is located on the edge of the warehouse rack 1 where the inbound / outbound shaft 120 is configured, and is set adjacent to the inbound / outbound shaft 120; it is used to temporarily store the material boxes 100 that are transported from the warehouse rack 1 by the handling vehicle 2, or to temporarily store the material boxes 100 that are to be stored in the warehouse rack 1.

[0913] The transport vehicle 2, located on top of the three-dimensional storage frame 10, is capable of omnidirectional movement on the top of the three-dimensional storage frame 10. It is used to load the target material box 100 from the workstation 3 through the inlet / outlet shaft 120 and transport the target material box 100 to the target storage compartment 111 through the target shaft 12 adjacent to the target storage compartment 111; or to take the target material box out of the target storage compartment 111 through the target shaft 12 adjacent to the target storage compartment 111 and transport it to the workstation 3 through the inlet / outlet shaft 120.

[0914] As can be seen from the above embodiments, the bin storage system provided in this application is a high-density bin storage system. The three-dimensional storage frame only requires shafts in addition to the storage bin rows, eliminating the need for aisles, resulting in high storage density. Since the transport vehicle is positioned on top of the three-dimensional storage frame, it can move omnidirectionally. Therefore, aisles are not required, and bin entry and exit are not restricted by them. Furthermore, the transport vehicle can directly retrieve and place any bin on any floor via the shafts, resulting in high overall operating efficiency and making it highly suitable for application in the logistics and warehousing field. Additionally, the transport vehicle can directly retrieve and place goods from workstations via the entry and exit shafts, further facilitating entry and exit.

[0915] It should be noted that the material bin in this application embodiment can include various forms, such as a material frame, a box-type packaging, or materials with cubic characteristics, which are easy to store and retrieve. This application embodiment does not impose any limitations.

[0916] See Figure 29 , Figure 31a and Figure 31b ,in, Figure 31a for Figure 29 The diagram shows the structural schematic of the warehouse shelving in the embodiment shown. Figure 31b for Figure 31a A magnified view of section A on the warehouse shelving shown. Figure 29 , Figure 31a and Figure 31bAs shown, the three-dimensional storage frame 10 may include: a plurality of vertical beams 101, a plurality of horizontal beams 102 and a plurality of compartment partition beams 103 connected at intervals in a preset arrangement to form an array of compartment storage columns 11 and shafts 12, wherein the cross-sectional shape and size of each compartment storage column 11 and each shaft 12 are the same.

[0917] In this embodiment, the three-dimensional storage frame 10 can be formed by multiple vertical beams 101, multiple horizontal beams 102, and multiple compartment partition beams 103 connected at intervals in a preset arrangement, and the cross-sectional shape and size of each compartment storage column 11 and each shaft 12 are the same. This makes the deployment of the compartment storage columns 11 and each shaft 12 simple. A basic frame including multiple vertical beams 101 and multiple horizontal beams 102 can be established first, and then compartment partition beams 103 can be added to the compartment storage columns 11 to form the compartment storage columns 11.

[0918] like Figure 31a and Figure 31b As shown, in this embodiment, each storage column 11 can be formed by four adjacent vertical beams 101 and top and bottom horizontal beams 102; each shaft 12 is formed by four adjacent vertical beams 101 and top and bottom horizontal beams 102; each storage bin 111 is formed by a section of four adjacent vertical beams 101 and two bin partition beams 103; the two bin partition beams 103 are arranged opposite each other at the bottom of the storage bin 111, so that the bottom of each storage bin 111 forms a conveying channel 1110 towards the adjacent shaft 12; and the inner sides of the two bin partition beams 103 extend inward to form a material box support structure to support the material box 100.

[0919] In some embodiments, the bin partition beam can be a partition plate, support plate, or support rod, etc. The specific form can be adapted according to the shape and size of the bin. No restrictions are imposed here.

[0920] In this way, the transport vehicle 2 can pick up and put down the target material box 100 from the workstation 3 through the inlet / outlet shaft 120 and the conveyor channel 1110; and pick up and put down the target material box 100 from the target storage bin 111 through the target shaft 12 and the conveyor channel 1110 adjacent to the target storage bin 111.

[0921] See Figure 30 In the horizontal direction of the three-dimensional storage frame 10, storage bay columns 11 are arranged around the shaft 12; and any shaft 12 can have a maximum of four storage bay columns 11 surrounding it. Specifically, as shown... Figure 30 As shown, the shaft 12 located at the edge of the three-dimensional storage frame 10 can be surrounded by three storage bay columns 11, and the shaft 12 located in the middle of the three-dimensional storage frame 10 can be surrounded by four storage bay columns 11.

[0922] Specifically, such as Figure 30 , Figure 31e As shown, when the shaft is square, the four sides of the shaft correspond to square storage columns. The line connecting the centers of two opposite first storage columns is perpendicular to the line connecting the centers of two opposite second storage columns, allowing the four storage columns to surround the shaft in a cross-shaped arrangement. Of course, the shaft or storage columns can also be rectangular or circular; the specific form can be adapted according to the shape and size of the hopper, etc. No restrictions are imposed here.

[0923] This arrangement ensures that each storage column 11 is adjacent to a shaft 12 and interconnected via a conveyor channel 1110. Simultaneously, the transport vehicle 2 can access and retrieve the storage bins 100 from two, three, or four surrounding storage columns 11 through a shaft 12, further saving space on the warehouse rack 1 and allowing for a more compact arrangement of the storage bins 111, thus accommodating more bins 100.

[0924] In this embodiment, the three-dimensional storage frame 10 of the warehouse shelf 1 can be formed by splicing together storage area units 50.

[0925] The design process of warehouse rack 1 is described below, which utilizes storage area units 50 for assembly. Figure 31e The process of the three-dimensional storage framework shown is illustrated using this example.

[0926] First, define the storage area unit: use one rectangle to represent one storage location, i.e., storage location column 11. Draw a 5x5 rectangular array of storage rack slots, as follows. Figure 31c As shown, Figure 31c This is a schematic diagram of a 5x5 storage rack grid array. The coordinates of each rectangle position are defined as (i, j), where i represents the i-th row and j represents the j-th column. Then, positions (2, 1), (5, 2), (3, 3), (1, 4), and (4, 5) are set as shafts, and the other positions are set as storage positions, i.e., storage position column 11.

[0927] In other words, the second cell in the first column of the 5x5 storage rack matrix is ​​set as a shaft; the fifth cell in the second column is set as a shaft; the third cell in the third column is set as a shaft; the first cell in the fourth column is set as a shaft; and the fourth cell in the fifth column is set as a shaft. In this way, the 5x5 storage rack matrix forms a storage area unit.

[0928] Then, a 2x2 array arrangement is performed using storage area cells to obtain... Figure 31d , Figure 31dThis diagram illustrates a 2x2 array arrangement of storage area units. In actual deployment, more array arrangements can be made using area units, depending on the available space.

[0929] In other words, Figure 31d The structure is composed of four 5x5 storage rack grids joined together. The second 5x5 storage rack grid, joined laterally, is based on... Figure 31c The arrangement follows the same pattern; the second 5x5 warehouse rack grid matrix, formed by vertical splicing, is also based on... Figure 31c The arrangement follows the same pattern.

[0930] Finally, edge processing is performed: the edges are checked to identify storage locations without adjacent shafts on all four sides. These storage locations are defined as invalid storage locations 51, such as storage locations (1, 2) and (1, 7) which have no adjacent shafts on all four sides. These invalid storage locations 51 are then eliminated. Figure 31e The three-dimensional storage frame 10 shown.

[0931] In other words, the storage bays located at the perimeter of the three-dimensional storage frame that cannot be connected to adjacent shafts will be left vacant or replaced with shafts. For example, Figure 31d The first storage space in the second column of each 5x5 storage rack grid array rectangle on the upper middle edge, the second storage space in the fifth column of each 5x5 storage rack grid array rectangle on the right edge, the fifth storage space in the fourth column of each 5x5 storage rack grid array rectangle on the lower edge, and the fourth storage space in the first column of each 5x5 storage rack grid array rectangle on the left edge are either vacant or replaced with a shaft.

[0932] In practical applications, there are various methods for handling pallet trucks to pick up and place goods, such as bottom forklift, clamping, suction cup, and hook-pull methods. Bottom forklift involves using the telescopic forks to extend and retract, and move up and down, to pick up or place goods from the bottom of the bin. Clamping primarily uses two telescopic arms to clamp the bin for this purpose. Suction cup methods utilize the suction power of suction cups on the pallet truck to pick up or place goods from the side of the bin. Hook-pull methods use hooks on the pallet truck to pick up or place goods from the side of the bin.

[0933] The transport vehicle 2 in this embodiment can be used in any of the following forms to perform the picking and placing of goods.

[0934] In some embodiments, to facilitate the loading and unloading of the material bins 100 by the transport vehicle 2, the size of each storage compartment 111 can be set larger than the size of one material bin 100. For details, see [link to specific embodiments]. Figure 32 , Figure 32 for Figure 29 The illustrated embodiment shows a partial enlarged view of the storage compartments of the warehouse rack containing material bins; as shown. Figure 32As shown, the size of each storage compartment 111 is larger than the size of a bin 100, such that there is a first pick-and-place gap 112 between the bins 100 stored in the storage compartment column 11, or a second pick-and-place gap 113 between each bin 100 and the edge of the storage compartment 111 it belongs to.

[0935] In this way, the transport vehicle 2 can use the first pick-up / placement gap 112 or the second pick-up / placement gap 113 to pick up or place the material box 100 from the storage compartment 111 of the storage compartment 11.

[0936] In this embodiment, although the size of each storage compartment 111 is larger than that of a material box 100, forming a first retrieval gap 112 and a second retrieval gap 113, which occupies a small portion of the space of the warehouse rack 1, it overcomes the disadvantage of related technologies where dense storage box-type warehouses can only retrieve and place the topmost material box. It is more suitable for situations in the logistics warehousing field where the goods stored in a warehouse are not the same. Moreover, the first retrieval gap 112 and the second retrieval gap 113 occupy very little space and have little impact on the overall storage capacity of the warehouse rack 1, allowing the entire warehouse rack 1 to still achieve dense storage.

[0937] Figure 29 In the middle, the transport vehicle 2 uses a bottom forklift method to pick up and put down the material box. Figure 32 In this configuration, the size of each storage compartment 111 is larger than the size of a material box 100, forming a first pick-and-place gap 112 between each layer of material boxes 100 and a second pick-and-place gap 113 between each material box 100 and the edge of its storage compartment 111. The first pick-and-place gap 112 is mainly reserved for the transport vehicle 2 to pick up and place material boxes 100 from the bottom of the material box; while the second pick-and-place gap 113 serves as a deviation redundancy or to accommodate material boxes of different sizes.

[0938] Therefore, in other embodiments, when the transport vehicle 2 uses a bottom fork to pick up and place the material box, only the first pick-up and place gap 112 between each layer of material box can be set, and the second pick-up and place gap 113 can be omitted.

[0939] In other embodiments, the transport vehicle 2 employs a clamping-type loading and unloading method, that is, it uses two telescopic arms to extend into the second loading and unloading gaps 113 on both sides of the material box 100 to clamp the material box. The loading and unloading of the material box mainly utilizes the second loading and unloading gaps 113 existing between each material box 100 and the edge of its corresponding storage compartment 111. In this case, the shelving can only have the second loading and unloading gaps 113, without the first loading and unloading gap 112. Of course, in this case, to achieve offset redundancy or compatibility with material boxes of different sizes, the first loading and unloading gap 112 can also be provided.

[0940] In addition, when the pallet truck 2 uses a clamping method for picking up and placing goods, the two telescopic arms can directly extend into the second picking and placing gap 113. Therefore, there is no need to set up a conveyor channel 1110 for the pallet truck on the shelf, and the bottom of each storage compartment can be directly set as a partition, support plate or support rod, etc.

[0941] In other implementations, the handling vehicle 2 can use suction cups or hooks for picking up and placing goods. Both types of handling vehicles can directly pick up or hook the boxes from the side of the bins 100. Since the handling vehicle does not need to pick up or place the boxes from the bottom of the bins, nor does it need two telescopic arms to extend into the storage compartments 111 to clamp the boxes 100, the first pick-up and place gap 112 and the second pick-up and place gap 113 do not need to be set between the storage compartments 111. That is, the size of the storage compartments 111 can be the same as the size of the bins 100, so that the bins 100 in the shelf can be arranged more closely, and the shelf can store more bins 100.

[0942] Of course, when the handling vehicle 2 uses suction cup or hook-type for picking up and placing goods, the size of the storage compartment 111 can also be larger than the size of the material box 100. A first picking and placing gap and a second picking and placing gap can also be set. These two gaps can be used for deviation redundancy or to accommodate material boxes of different sizes.

[0943] In addition, the handling vehicle 2 uses suction cup or hook-type for picking up and putting down goods. The handling vehicle can directly pick up or hook the material box from the side of the material box 100. Therefore, there is no need to set up a conveyor channel 1110 for the handling vehicle on the shelf. The bottom of each storage compartment can be directly set as a partition, support plate or support rod, etc.

[0944] The following describes in detail the transport vehicle 2 used in the embodiments of this application, taking the transport vehicle 2 that uses a bottom forklift method to pick up and put down the material box as an example.

[0945] See Figure 33a and Figure 33b , Figure 33a for Figure 29 A three-dimensional structural diagram of the loading bin of the transport vehicle in the embodiment shown; Figure 33b for Figure 33a The side view of the transport vehicle shown is shown. The transport vehicle 2 used in this embodiment may include: a vehicle body 20, a traveling mechanism 200, a lifting mechanism 21, a lifting platform 22, a material box picking and placing mechanism 23 disposed at the top center of the lifting platform 22, and a loading platform 24; wherein, the traveling mechanism 200 is disposed at the bottom of the vehicle body 20 and can drive the vehicle body 20 to move in all directions; the lifting mechanism 21 is disposed in parallel with the traveling mechanism 200 and can drive the lifting platform 22 and the material box picking and placing mechanism 23 and the loading platform 24 disposed at the top of the lifting platform 22 to move up and down along the hoistway 12.

[0946] In this way, the transport vehicle 2 can move using the traveling mechanism 200, causing the lifting platform 22 to move to the top of the inlet / outlet shaft 120, and then the lifting mechanism 21 lowers the lifting platform 22 to the height corresponding to the workstation 3; the material box picking and placing mechanism 23 moves the target material box 100 from the workstation 3 to the loading platform 24, or moves the target material box 100 from the loading platform 24 to the workstation 3; or, the traveling mechanism 200 can move on top of the three-dimensional storage frame 10. The lifting platform 22 is moved to the top of the shaft 12 adjacent to the target storage compartment 111; the lifting mechanism 21 lowers the lifting platform 22 to the height corresponding to the target storage compartment 111; the material box retrieval mechanism 23 moves the target material box 100 from the loading platform 24 to the target storage compartment 111, or moves the target material box from the target storage compartment 111 to the loading platform 24. Specifically, the material box retrieval mechanism 23 can retrieve and place the target material box 100 of the target storage compartment 111 through the conveyor channel 1110.

[0947] like Figure 33a As shown, the bin picking and placing mechanism 23 may include a drive mechanism 231 and a telescopic fork 232. The drive mechanism 231 can drive the telescopic fork 232 to extend out of the transport vehicle 2, enabling the telescopic fork 232 to pick up and place bins from the target storage compartment 111 or workstation 3. The telescopic fork 232 of the bin picking and placing mechanism 23 is located in the middle of the loading platform 24, with the same height as the loading platform 24, and the drive mechanism 231 is located below the telescopic fork 232. Specifically, the telescopic fork 232 may be a fork-shaped structure or a plate-shaped structure, etc., and this application is not limited thereto.

[0948] In addition, such as Figure 31b As shown, each vertical beam 101 forming the shaft 12 has a vertical track 1010 arranged along its inner side. Figure 33a and Figure 33b As shown, the lifting platform 22 of the transport vehicle 2 is provided with guide wheels 220 at its four corners that cooperate with the vertical track 1010, so that the lifting platform 22 moves up and down along the vertical track 1010 during the descent.

[0949] This ensures the stability of the lifting platform 22 of the transport vehicle 2 when it moves up and down in the shaft 12, thereby allowing the three-dimensional storage frame 10 to be set very high, increasing the number of storage compartments 111 accordingly, and further increasing the storage capacity of the warehouse rack 1.

[0950] like Figure 31a , Figure 31b and Figure 32 As shown, the top of the three-dimensional storage frame 10 can be formed by multiple horizontally perpendicular top beams 1020 arranged at intervals; each top beam 1020 is provided with a horizontal track 1021 at its top. Figure 33a and Figure 33b As shown, the traveling mechanism 200 at the bottom of the transport vehicle 2 may include: a transverse traveling wheel 211 and a longitudinal traveling wheel 212 that cooperate with the horizontal track 1021, so that the transport vehicle 2 can move on multiple top crossbeams 1020 that are perpendicular to each other in the horizontal direction.

[0951] In this embodiment, the top crossbeam 1020 of the three-dimensional storage frame 10 forms the travel track of the transport vehicle 2. Thus, the omnidirectional movement of the transport vehicle 2 on the top of the three-dimensional storage frame 10 can be achieved by the lateral travel wheels 211 and longitudinal travel wheels 212 set at the bottom of the transport vehicle 2.

[0952] like Figure 33a and Figure 33b As shown, the vehicle body 20 of the transport vehicle 2 in this embodiment may include: a main body 201 and an extension 202; a traveling mechanism 200 is disposed at the bottom of the main body 201; and the extension 202 has a hollow storage portion 203. The hollow storage portion 203 can store the material box loading and unloading mechanism 23, the loading platform 24, and the material boxes 100 on the loading platform 24 when the lifting mechanism 21 lifts the lifting platform 22 above the horizontal track 1021.

[0953] The extension 202 can be formed by extending outward from the upper part of the two opposite side walls of the main body 201 along the main body 201; the lifting mechanism 21 is disposed between the upper part of the two side walls and the lifting platform 22.

[0954] In this way, when the transport vehicle 2 picks up and puts in the material box, the hollow storage part 203 corresponds to the position of the shaft 12, and the main body 201 of the vehicle body 20 can be located at the top of the storage column 11 adjacent to the shaft 12.

[0955] In this embodiment, the transport vehicle 2 is provided with a hollow storage section 203, and the lifting mechanism 21 can lift the lifting platform 22 to a height higher than the horizontal track 1021. In this way, the lifting platform 22, the material box loading and unloading mechanism 23, the loading platform 24, and the material box 100 on the loading platform 24 of the transport vehicle 2 can all be stored in the hollow storage section 203, and the transport vehicle 2 can move freely on the top of the three-dimensional storage frame 10 without being interfered with by the horizontal track 1021.

[0956] See Figure 33aIn this embodiment, the lifting platform 22 of the transport vehicle 2 can be a rectangular platform; the lifting mechanism 21 can include two lifting chains 210 and a chain drive device (not shown in the figure). The first ends of the two lifting chains 210 are wound around a chain reel ...

Claims

1. A bin storage system, characterized in that, include: Warehouse racks (1), first transport vehicle (2), second transport vehicle (3), and workstation (4); The warehouse rack (1) includes: a transport vehicle movement space (10) and a material box storage space (11) arranged from bottom to top; The material bin storage space (11) includes: a three-dimensional storage frame (110); the three-dimensional storage frame (110) includes: array-arranged bin storage columns (114) and shafts (115), and each bin storage column (114) is adjacent to a shaft (115); Each storage column (114) includes multiple storage compartments (116) arranged sequentially along the vertical direction of the three-dimensional storage frame (110), each storage compartment (116) being used to store a material box (100); the storage compartment (116) at the bottom of each storage column (114) is configured as a temporary storage compartment; each hoistway (115) extends through the three-dimensional storage frame (110) in the vertical direction and is connected at its bottom to the transport vehicle movement space (10); The transport vehicle moving space (10) has a preset height and includes: a plurality of support columns (12) set at the bottom of the three-dimensional storage frame (110); the plurality of support columns (12) extend from the bottom of the three-dimensional storage frame (110) to the ground, for supporting the three-dimensional storage frame (110) and forming the transport vehicle moving space (10); The first transport vehicle (2) is capable of omnidirectional movement in the transport vehicle movement space (10) and is used to pick up and put in the target material box (100) of the temporary storage location through the shaft (115); to transport the target material box (100) from the workstation (4) to an empty temporary storage location, or to transport the target material box (100) from its temporary storage location to the workstation (4); The second transport vehicle (3) is capable of omnidirectional movement in the transport vehicle movement space (10) for picking up and placing target material boxes (100) through the shaft (115); transporting the target material box (100) from its temporary storage location to the target storage location (116), or transporting the target material box (100) from the target storage location (116) to an empty temporary storage location.

2. The bin storage system according to claim 1, characterized in that, The three-dimensional storage frame (110) includes: multiple vertical beams (111), multiple horizontal beams (112), and multiple compartment partition beams (113) that are connected in a preset staggered manner to form the array-arranged compartment storage columns (114) and shafts (115); wherein, the cross-sectional shape and size of each compartment storage column (114) and each shaft (115) are the same; The multiple support columns (12) of the transport vehicle moving space (10) are formed by a predetermined number of vertical beams (111) of the three-dimensional storage frame (110) extending downward to the ground.

3. The bin storage system according to claim 2, characterized in that, Each of the storage bins (114) is formed by four adjacent vertical beams (111) and top and bottom crossbeams (112); each of the storage bins (116) is formed by a section of the four adjacent vertical beams (111) and two bin partition beams (113); the two bin partition beams (113) are arranged opposite to each other at the bottom of the storage bin (116), so that the bottom of each storage bin (116) forms a conveying channel (1150) towards the adjacent hoistway (115); and the inner sides of the two bin partition beams (113) extend inward to form a bin support structure for supporting the bin (100); The first transport vehicle (2) is used to pick up and place the target material box (100) in the temporary storage location through the hoistway (115) and the conveying channel (1150); The second transport vehicle (3) is used to pick up and place the target material box (100) of the storage compartment (116) through the shaft (115) and the conveying channel (1150).

4. The bin storage system according to claim 3, characterized in that, The first transport vehicle (2) includes: a first chassis (20) capable of omnidirectional movement, a first lifting mechanism (21) mounted on the first chassis (20), and a first lifting platform (22) mounted on the top of the first lifting mechanism (21); The first transport vehicle (2) moves to the shaft (115) adjacent to the temporary storage compartment using the first chassis (20), and the first lifting mechanism (21) lifts the first lifting platform (22). The first chassis (20) moves to the temporary storage compartment through the conveying channel (1150) and places the target material box of the first lifting platform (22) into the temporary storage compartment; or, the first chassis (20) moves to the bottom of the temporary storage compartment, and the first lifting mechanism (21) lifts the first lifting platform (22) to take the target material box (100) on the temporary storage compartment onto the first lifting platform (22).

5. The bin storage system according to claim 3, characterized in that, The second transport vehicle (3) includes: a second chassis (30) capable of omnidirectional movement, a second lifting mechanism (31) mounted on the second chassis (30), a second lifting platform (32) mounted on the top of the second lifting mechanism (31), a hopper loading and unloading mechanism (33) mounted on the top of the second lifting platform (32), and a carrying platform (34); The second transport vehicle (3) moves to the bottom of the shaft (115) adjacent to the target storage compartment (116) using the second chassis (30); the second lifting mechanism (31) lifts the second lifting platform (32) along the shaft (115) to the height corresponding to the target storage compartment (116); the material box picking and placing mechanism (33) moves the target material box (100) from the carrying platform (34) to the target storage compartment (116) through the conveying channel (1150), or moves the target material box (100) from the target storage compartment (116) to the carrying platform (34).

6. The bin storage system according to claim 5, characterized in that, Each of the shafts (115) is formed by four adjacent vertical beams (111) and top and bottom crossbeams (112); each vertical beam (111) forming the shaft (115) has a track (1110) arranged along the vertical beam (111) on its inner side; The second lifting platform (32) is provided with guide wheels (320) at its four corners that cooperate with the track (1110) so that the second lifting platform (32) can move up and down along the track (1110) during the lifting process.

7. The bin storage system according to claim 1, characterized in that, The size of each storage compartment (116) is larger than the size of a bin (100), such that there is a first pick-and-place gap (117) between the bins (100) stored in the storage column (114) or a second pick-and-place gap (118) between each bin (100) and the edge of the storage compartment (116) it is located. The first transport vehicle (2) uses the first pick-up and put-down gap (117) or the second pick-up and put-down gap (118) to pick up and put down the material box (100) from the temporary storage bin of the storage column (114); The second transport vehicle (3) uses the first pick-up / placement gap (117) or the second pick-up / placement gap (118) to pick up / place the material box (100) from the storage compartment (116) of the storage compartment column (114).

8. The bin storage system according to claim 1, characterized in that, In the horizontal direction of the three-dimensional storage frame (110), the storage columns (114) are arranged around the shaft (115); and any shaft (115) has a maximum of four storage columns (114) surrounding it.

9. The bin storage system according to claim 1, characterized in that, The workstation (4) is located at the edge of the warehouse shelf (1); the workstation (4) is provided with an operating table (41) for temporarily storing the material box (100) transported by the first transport vehicle (2) from the warehouse shelf (1), or temporarily storing the material box (100) to be stored on the warehouse shelf (1).

10. The bin storage system according to claim 1, characterized in that, Also includes: Control equipment (5); The control device (5) is communicatively connected to the first transport vehicle (2) and the second transport vehicle (3); controls the first transport vehicle (2) to move omnidirectionally in the transport vehicle movement space (10) to move the target material box (100) from the workstation (4) to an empty temporary storage location, or to move the target material box (100) from its temporary storage location to the workstation (4); and controls the second transport vehicle (3) to move omnidirectionally in the transport vehicle movement space (10) to move the target material box (100) from its temporary storage location to the target storage location (116), or to move the target material box (100) from the target storage location (116) to an empty temporary storage location.

11. A warehouse rack, characterized in that: include: The transport vehicle movement space (10) and the material bin storage space (11) are arranged from bottom to top; The material bin storage space (11) includes: a three-dimensional storage frame (110); the three-dimensional storage frame (110) includes: array-arranged bin storage columns (114) and shafts (115), and each bin storage column (114) is adjacent to a shaft (115); Each storage column (114) includes multiple storage compartments (116) arranged sequentially along the vertical direction of the three-dimensional storage frame (110), each storage compartment (116) being used to store a material box (100); the storage compartment (116) at the bottom of each storage column (114) is configured as a temporary storage compartment; each hoistway (115) extends through the three-dimensional storage frame (110) in the vertical direction and is connected at its bottom to the transport vehicle movement space (10); The transport vehicle moving space (10) has a preset height and includes: a plurality of support columns (12) set at the bottom of the three-dimensional storage frame (110); the plurality of support columns (12) extend from the bottom of the three-dimensional storage frame (110) to the ground, for supporting the three-dimensional storage frame (110) and forming the transport vehicle moving space (10).

12. The warehouse rack according to claim 11, characterized in that, The three-dimensional storage frame (110) includes: multiple vertical beams (111), multiple horizontal beams (112), and multiple compartment partition beams (113) that are connected in a preset staggered manner to form the array-arranged compartment storage columns (114) and shafts (115); wherein, the cross-sectional shape and size of each compartment storage column (114) and each shaft (115) are the same; The multiple support columns (12) of the transport vehicle moving space (10) are formed by a predetermined number of vertical beams (111) of the three-dimensional storage frame (110) extending downward to the ground.

13. The warehouse rack according to claim 12, characterized in that, Each of the storage bins (114) is formed by four adjacent vertical beams (111) and top and bottom crossbeams (112); each of the storage bins (116) is formed by a section of the four adjacent vertical beams (111) and two bin partition beams (113); the two bin partition beams (113) are arranged opposite each other at the bottom of the storage bin (116), so that the bottom of each storage bin (116) forms a conveying channel (1150) toward the adjacent hoistway (115); and the inner sides of the two bin partition beams (113) extend inward to form a bin support structure for supporting the bin (100).

14. The warehouse rack according to claim 12, characterized in that, Each of the shafts (115) is formed by four adjacent vertical beams (111) and top and bottom crossbeams (112); each vertical beam (111) forming the shaft (115) has a track (1110) arranged along the vertical beam (111) on its inner side.

15. The warehouse rack according to claim 11, characterized in that, In the horizontal direction of the three-dimensional storage frame (110), the storage slot columns (114) are arranged around the shaft (115); and any shaft (115) has a maximum of four storage slot columns (114) arranged in a cross orthogonal pattern.

16. A method for storing material bins, characterized in that, The method is applied to a control device, which is communicatively connected to a first transport vehicle and a second transport vehicle in the bin storage system according to any one of claims 1 to 10; the method includes: Obtain the location of the target storage compartment within the three-dimensional storage frame; Obtain the location of the available target temporary storage space; Control the first idle transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation; Control the first transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the workstation to an idle target temporary storage location; Control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the target temporary storage location to the target storage location.

17. The material bin warehousing method according to claim 16, characterized in that, Each storage compartment has a conveying channel at its bottom that leads to the adjacent shaft; The first transport vehicle includes: a first chassis, a first lifting mechanism, and a first lifting platform; The control of the first transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the workstation to an idle target temporary storage location, includes: Control the first transport vehicle carrying the target material box to move to the bottom of the target shaft adjacent to the target temporary storage location using the first chassis; Control the first transport vehicle, and the first lifting mechanism will lift the lifting platform along the target shaft to the height corresponding to the target idle temporary storage location; Control the first transport vehicle to move to the target temporary storage location via the first chassis through the conveyor channel; Control the first transport vehicle, and the first lifting mechanism drives the first lifting platform to lower, so that the target material box of the first lifting platform is placed in the target temporary storage bin.

18. The material bin warehousing method according to claim 16, characterized in that, Each storage compartment has a conveying channel at its bottom that leads to the adjacent shaft; The second transport vehicle includes: a second chassis, a second lifting mechanism, a second lifting platform, a hopper loading and unloading mechanism, and a load-bearing platform; The second transport vehicle, which is under control and is idle, moves omnidirectionally within the transport vehicle's movement space to transport the target material bin from the target temporary storage location to the target storage location, including: Control the idle second transport vehicle to move to the first target shaft adjacent to the target temporary storage location using the second chassis; Control the second transport vehicle, and the material box picking and placing mechanism will take the target material box from the target temporary storage location to the second carrying platform through the conveying channel; Control the second transport vehicle and use the second chassis to move it to the second target shaft adjacent to the target storage compartment; Control the second transport vehicle, and the second lifting mechanism will lift the second lifting platform along the second target shaft to the height corresponding to the target storage compartment; Control the second transport vehicle, and the material box picking and placing mechanism moves the target material box from the carrying platform to the target storage compartment through the conveying channel.

19. A method for issuing material bins from a warehouse, characterized in that, The method is applied to a control device, which is communicatively connected to a first transport vehicle and a second transport vehicle in the bin storage system according to any one of claims 1 to 10; the method includes: The location of the target storage compartment containing the target bin is obtained within the three-dimensional storage frame. Obtain the location of the available target temporary storage space; Control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, and remove the target material box from the target storage bin and transport it to the target temporary storage bin; Control the first idle transport vehicle to move omnidirectionally within the transport vehicle's movement space, and transport the target material box from the target temporary storage location to the workstation.

20. The material bin release method according to claim 19, characterized in that, Each storage compartment has a conveying channel at its bottom that leads to the adjacent shaft; The second transport vehicle includes: a second chassis, a second lifting mechanism, a second lifting platform, a hopper loading and unloading mechanism, and a load-bearing platform; The second transport vehicle, which is under control and is idle, moves omnidirectionally within the transport vehicle's movement space to remove the target material box from the target storage location and transport it to the target temporary storage location, including: Control the idle second transport vehicle to move to the first target shaft adjacent to the target storage compartment using the second chassis; Control the second transport vehicle, and the second lifting mechanism will lift the second lifting platform along the first target shaft to the height corresponding to the target storage compartment; Control the second transport vehicle to move the target bin from the target storage location to the carrying platform via the conveying channel using the bin picking and placing mechanism. Control the second transport vehicle, and the second lifting mechanism drives the second lifting platform to lower along the first target shaft, so that the overall height of the second transport vehicle is lower than the height of the transport vehicle movement space; Control the second transport vehicle and use the second chassis to move it to the second target shaft adjacent to the target temporary storage location; Control the second transport vehicle, and the material box picking and placing mechanism moves the target material box from the carrying platform to the target temporary storage location through the conveying channel.

21. The material bin release method according to claim 19, characterized in that, Each storage compartment has a conveying channel at its bottom that leads to the adjacent shaft; The first transport vehicle includes: a first chassis, a first lifting mechanism, and a first lifting platform; The first transport vehicle, which is under control and is idle, moves omnidirectionally within the transport vehicle's movement space to transport the target material bin from the target temporary storage location to the workstation, including: Control the idle first transport vehicle to move to the second target shaft adjacent to the target temporary storage location using the first chassis; Control the first transport vehicle to move to the bottom of the target temporary storage location using the first chassis; Control the first transport vehicle to lift the first lifting platform by the first lifting mechanism so that the target material box is taken out onto the first lifting platform and returned to the second target shaft through the conveying channel; Control the first transport vehicle, and lower the first lifting platform driven by the first lifting mechanism so that the overall height of the first transport vehicle is lower than the height of the transport vehicle movement space; Control the first transport vehicle to move to the workstation using the first chassis.

22. A material bin receiving device, characterized in that, The device is applied to a control device, which is communicatively connected to a first transport vehicle and a second transport vehicle in the bin storage system according to any one of claims 1 to 10; the device includes: The first acquisition module is used to acquire the position of the target storage compartment in the three-dimensional storage frame; The second acquisition module is used to obtain the location of the available target temporary storage space; The first control module is used to control the idle first transport vehicle to move omnidirectionally within the transport vehicle's movement space and load the target material box from the workstation. The second control module is used to control the first transport vehicle carrying the target material box to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the workstation to an idle target temporary storage location; The third control module is used to control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the target temporary storage location to the target storage location.

23. A material bin dispensing device, characterized in that, The device is applied to a control device, which is communicatively connected to a first transport vehicle and a second transport vehicle in the bin storage system according to any one of claims 1 to 10; the device includes: The third acquisition module is used to obtain the position of the target storage compartment where the target bin is located in the three-dimensional storage frame; The fourth module is used to obtain the location of the available target temporary storage space; The fourth control module is used to control the idle second transport vehicle to move omnidirectionally within the transport vehicle's movement space, and to take the target material box from the target storage bin and transport it to the target temporary storage bin; The fifth control module is used to control the idle first transport vehicle to move omnidirectionally within the transport vehicle's movement space, transporting the target material box from the target temporary storage bin to the workstation.

24. A control device, characterized in that, include: Memory, used to store computer programs; The processor, when executing a program stored in the memory, implements the bin receiving method according to any one of claims 16-18, or the bin discharging method according to any one of claims 19-21.

25. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the bin receiving method according to any one of claims 16-18, or the bin discharging method according to any one of claims 19-21.

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