Goods taking and placing method based on stereoscopic warehouse roadway stacker and stacker

Abstract

The invention relates to the technical field of orderly storage of goods in a warehouse, in particular to a goods taking and placing method based on a stereoscopic warehouse roadway stacker and the stacker. The goods taking and placing method based on the stereoscopic warehouse roadway stacker comprises the steps that when picking operation is carried out, one goods taking mechanism on a goods carrying table of the stacker is used for taking away goods taking carriers, the stacker moves to a first goods allocation, the other goods taking mechanism on the goods carrying table is used for taking away goods storage units from the goods allocation, and the goods storage units are moved to a second goods allocation; then the target goods are sorted out of the goods storage units through the unstacking and stacking mechanical arm on the goods carrying table and placed on the goods taking carrier, the goods taking mechanism puts the sorted goods storage units back to the goods allocation, the stacking machine moves to the goods allocation where the next goods needing to be sorted is located, and the process is repeated till all the goods are sorted. And then the stacking machine moves to a set goods placing position to unload and place the goods taking carrier and the picked goods on the goods taking carrier. And the stacking machine carries out the goods in a unified manner after centralized sorting, so that the working efficiency can be improved.

Description

Technical Field

[0001] This invention relates to the field of orderly storage of goods in warehouses, and more specifically to a method for picking up and placing goods based on a stacker crane in an automated warehouse aisle, and the stacker crane itself. Background Technology

[0002] With the rapid development of modern logistics and warehousing industries, automated warehouses (AS / RS) have become key facilities for optimizing warehouse management due to their high storage capacity and space utilization. AS / RS racks are divided into multiple layers vertically, with multiple storage locations arranged horizontally on each layer. Each storage location is used to hold one storage unit. Adjacent racks are connected by aisles, which are equipped with floor rails to facilitate the loading and unloading of goods using stacker cranes.

[0003] Rail-guided stacker cranes are core equipment in automated warehousing and logistics systems, used for handling storage units in and out of racks. Typically, a rail-guided stacker crane is driven horizontally along rails by a traveling geared motor via friction between the wheels. A lifting geared motor drives the loading platform vertically at high speed via a drum and wire rope. After goods are transferred between layers and columns, a fork geared motor drives the forks to extend and retract via gears and chains to complete the transfer. The basic structure of a conventional automated warehouse stacker crane can be found in Chinese invention patent application CN120397950A, which discloses a stacker crane for automated warehouses.

[0004] Goods storage units typically utilize pallets to store goods. The pallet and the goods stacked on it together constitute a unit, known as palletized goods. The stacker crane's forks can pick up palletized goods for storage operations. The fork extension mechanism forms the picking mechanism, and the pallet serves as the goods carrier. Goods storage operations generally encompass various processes such as full pallet outbound, full pallet inbound, picking, and replenishment. The warehouse management system instructs the corresponding equipment to execute different operational processes.

[0005] Rail-guided stacker cranes retrieve and place goods within the aisle, handling only one pallet at a time. When picking is required, multiple trips are necessary because different pallets need to be picked. Each time, the stacker crane retrieves a pallet, transports it to the aisle entrance / exit, picks the desired goods, returns the pallet to its original position, and then moves to the next location to retrieve the next pallet, repeating this process until all goods have been picked. This method of multiple trips for picking results in low retrieval efficiency and is unsuitable for environments with a wide variety of goods and high requirements for efficient inbound and outbound operations. Summary of the Invention

[0006] The purpose of this invention is to provide a method for picking and placing goods based on a stacker crane in an automated warehouse, so as to solve the problem of low efficiency in the current goods picking operation of automated warehouses; the purpose of this invention is also to provide a stacker crane to solve the above problems.

[0007] The technical solution of the goods retrieval and placement method based on a stacker crane in an automated warehouse is as follows: The cargo handling method based on the stacker crane in an automated warehouse includes: when picking operations are performed, a picking carrier is prepared to receive the picked goods. The stacker crane is moved to the picking carrier storage location. One of the picking mechanisms on the stacker crane's loading platform is used to remove the picking carrier. The stacker crane moves to the location of the first goods to be picked. Another picking mechanism on the loading platform is used to remove the corresponding goods storage unit from the location. Then, the destacking robot on the loading platform picks the target goods from the goods storage unit and places them on the picking carrier. The corresponding picking mechanism is used to return the picked goods storage unit to the location. The stacker crane moves to the location of the next goods to be picked. The above process is repeated until all goods are picked. Then, the stacker crane moves to the designated placement location to unload the picking carrier and the picked goods on it.

[0008] Beneficial Effects: This invention pioneers a highly efficient method for picking and placing goods based on a stacker crane in an automated warehouse aisle. It utilizes two picking mechanisms in cooperation with a robotic arm. One picking mechanism retrieves the picking carrier onto the loading platform, while the other picks up the storage units containing the target goods to be picked, one by one, and places them onto the loading platform. A stacker crane then picks the target goods from the storage units and places them onto the picking carrier. After each item is picked, the storage unit is returned to its original position before the next location is retrieved. Thus, all goods picking and centralized storage are completed on the loading platform. After the stacker crane completes the picking of all goods required for an order within the aisle, the goods are then transported to the placement location, improving operational efficiency.

[0009] Furthermore, a cargo carrier with a designated location on the shelf is used as a picking carrier, and the stacker crane moves to the location of the picking carrier to retrieve it.

[0010] Furthermore, select an empty cargo carrier on the shelf as the pickup carrier.

[0011] Furthermore, the picking mechanism adopts a fork extension mechanism, and the picking carrier and the cargo carrier of the cargo storage unit adopt a pallet. After the forks of the fork extension mechanism pick up the pallet, the pallet is supported on the forks.

[0012] Furthermore, two picking mechanisms are arranged side by side on the loading platform along the direction of the aisle extension, and a stacking robot is positioned between the two picking mechanisms to transfer goods.

[0013] Furthermore, when replenishment operations are performed, the replenished goods are placed on the corresponding cargo carrier to form a replenishment unit. The replenishment unit is transported to the entrance and exit positions of the aisle. The stacker crane moves along the aisle to the entrance and exit positions, and one of the picking mechanisms retrieves the replenishment unit. The stacker crane moves to the storage location of the first cargo storage unit that needs replenishment, and another picking mechanism retrieves the corresponding cargo storage unit from that location. Then, the stacker crane uses a destacking robot to replenish the cargo storage unit from the replenishment unit. After replenishment is completed, the corresponding picking mechanism returns the cargo storage unit to its storage location. The stacker crane moves to the storage location of the next cargo storage unit that needs replenishment, and the above process is repeated until all storage locations are replenished.

[0014] Furthermore, when performing the outbound operation of the entire cargo storage unit, the stacker crane is moved to the first storage location, and one of the picking mechanisms is used to retrieve the cargo storage unit from the storage location. Then the stacker crane is moved to the second storage location, and another picking mechanism is used to retrieve the cargo storage unit from the storage location. After each picking mechanism has a cargo storage unit, the stacker crane is moved to the aisle entrance / exit position to release the goods.

[0015] Furthermore, when performing outbound operations for two related goods storage units, the stacker crane moves to a set position, and two picking mechanisms operate simultaneously to pick up the two related goods storage units. The relative positional relationship between the two picking mechanisms satisfies the simultaneous picking and placing of the two related goods storage units, and the distance between the two related goods storage units is adapted to the distance between the two picking mechanisms.

[0016] Furthermore, at least one storage location is provided between the storage locations of the two related cargo storage units.

[0017] The technical solution of the stacker crane of the present invention is as follows: A stacker crane includes a loading platform equipped with a depalletizing robot and two picking mechanisms. The depalletizing robot and the two picking mechanisms work together to implement a goods handling method based on an automated warehouse aisle stacker crane according to work instructions. The goods handling method based on an automated warehouse aisle stacker crane includes: when picking operations are performed, a picking carrier for receiving the picked goods is prepared, the stacker crane is moved to the picking carrier storage location, one of the picking mechanisms on the loading platform of the stacker crane is used to remove the picking carrier, the stacker crane moves to the storage location of the first goods to be picked, the other picking mechanism on the loading platform is used to remove the corresponding goods storage unit from the storage location, then the depalletizing robot on the loading platform picks the target goods from the goods storage unit and places them on the picking carrier, the corresponding picking mechanism is used to put the picked goods storage unit back into the storage location, the stacker crane moves to the storage location of the next goods to be picked, and the above process is repeated until all goods are picked, and then the stacker crane moves to the set placement location to unload the picking carrier and the picked goods on it.

[0018] Beneficial effects: This invention improves the stacker crane by utilizing two picking mechanisms in cooperation with a robotic arm. One picking mechanism picks up the picking carrier and places it on the loading platform, while the other picking mechanism is responsible for picking up the storage units containing the target goods to be picked one by one and placing them on the loading platform. The stacker crane then picks up the target goods from the storage units and places them on the picking carrier. After each item is picked, the storage unit is returned to its original position before picking up the next item. Thus, all the picking of goods and the centralized storage of the picked goods are completed on the loading platform. After the stacker crane completes the picking of all the goods required for one order in the aisle, it then transports the goods to the delivery position in a unified manner, which can improve the efficiency of operation.

[0019] Furthermore, a cargo carrier with a designated location on the shelf is used as a picking carrier, and the stacker crane moves to the location of the picking carrier to retrieve it.

[0020] Furthermore, select an empty cargo carrier on the shelf as the pickup carrier.

[0021] Furthermore, the picking mechanism adopts a fork extension mechanism, and the picking carrier and the cargo carrier of the cargo storage unit adopt a pallet. After the forks of the fork extension mechanism pick up the pallet, the pallet is supported on the forks.

[0022] Furthermore, two picking mechanisms are arranged side by side on the loading platform along the direction of the aisle extension, and a stacking robot is positioned between the two picking mechanisms to transfer goods.

[0023] Furthermore, when replenishment operations are performed, the replenished goods are placed on the corresponding cargo carrier to form a replenishment unit. The replenishment unit is transported to the entrance and exit positions of the aisle. The stacker crane moves along the aisle to the entrance and exit positions, and one of the picking mechanisms retrieves the replenishment unit. The stacker crane moves to the storage location of the first cargo storage unit that needs replenishment, and another picking mechanism retrieves the corresponding cargo storage unit from that location. Then, the stacker crane uses a destacking robot to replenish the cargo storage unit from the replenishment unit. After replenishment is completed, the corresponding picking mechanism returns the cargo storage unit to its storage location. The stacker crane moves to the storage location of the next cargo storage unit that needs replenishment, and the above process is repeated until all storage locations are replenished.

[0024] Furthermore, when performing the outbound operation of the entire cargo storage unit, the stacker crane is moved to the first storage location, and one of the picking mechanisms is used to retrieve the cargo storage unit from the storage location. Then the stacker crane is moved to the second storage location, and another picking mechanism is used to retrieve the cargo storage unit from the storage location. After each picking mechanism has a cargo storage unit, the stacker crane is moved to the aisle entrance / exit position to release the goods.

[0025] Furthermore, when performing outbound operations for two related goods storage units, the stacker crane moves to a set position, and two picking mechanisms operate simultaneously to pick up the two related goods storage units. The relative positional relationship between the two picking mechanisms satisfies the simultaneous picking and placing of the two related goods storage units, and the distance between the two related goods storage units is adapted to the distance between the two picking mechanisms.

[0026] Furthermore, at least one storage location is provided between the storage locations of the two related cargo storage units. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the stacker crane used in the goods handling method based on the automated warehouse aisle stacker crane according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the picking operation in the goods handling method based on a stacker crane in an automated warehouse according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the replenishment operation in the goods retrieval and placement method based on an automated warehouse aisle stacker crane according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the palletized outbound operation in the cargo handling method based on the stacker crane in an automated warehouse according to an embodiment of the present invention. Figure 5 This is a schematic diagram of the associated pallet outbound operation in the goods retrieval and placement method based on the stacker crane in an automated warehouse according to an embodiment of the present invention.

[0028] In the diagram: 1. Upper crossbeam assembly; 2. Support frame; 3. Lifting assembly; 4. Lower crossbeam assembly; 5. Speed ​​limiter safety gear linkage assembly; 6. Cargo platform; 7. Steel wire rope; 61. Platform frame; 62. First fork extension mechanism; 63. Second fork extension mechanism; 64. Palletizing / depalletizing robot; 641. Vision device; 642. Tooling fixture; 101. Picking palletized goods; 102. Picking pallet; 103. Picking palletized goods; 104. Replenishing palletized goods; 105. Storage palletized goods; 106. Associated palletized goods. Detailed Implementation

[0029] The basic concept of the goods picking and placing method based on the stacker crane in the aisle of the present invention is to complete the picking of all goods on the loading platform and store the picked goods in a centralized manner. After the stacker crane completes the picking of all the goods required for one order in the aisle, it will then transport the goods to the placement position in a unified manner, which can improve the operation efficiency.

[0030] The present invention will be described in detail below with reference to specific embodiments.

[0031] An embodiment of the goods handling method based on a stacker crane in an automated warehouse according to the present invention: To facilitate understanding the implementation process of this cargo handling method based on a stacker crane in an automated warehouse, we will first combine... Figure 1 The stacker crane used in this cargo handling method is described below. The stacker crane includes an upper crossbeam assembly 1, a lower crossbeam assembly 4, a loading platform 6, a lifting assembly 3, a speed limiter and safety clamp linkage assembly 5, a support frame 2, and a wire rope 7. The upper crossbeam assembly 1 is located at the top of the stacker crane, and the lower crossbeam assembly 4 is located at the bottom. The support frame 2 is fixedly connected to the upper crossbeam assembly 1 and the lower crossbeam assembly 4, forming a frame structure. The wire rope 7 extends from the lifting assembly 3, passes around the upper crossbeam assembly 1, and connects to the loading platform 6. The lifting assembly 3 is located on the side of the support frame 2. The speed limiter and safety clamp linkage assembly 5 is fixed to the lower crossbeam assembly 4 and the upper crossbeam assembly 1. The support frame 2 is equipped with vertical guide rails, and the loading platform 6 can be raised and lowered by the lifting assembly 3 and the wire rope 7.

[0032] The automated warehouse has aisles between adjacent racks, with floor rails (horizontal guide rails) on the aisle floor. The floor rails extend in the same direction as the aisles. Roller assemblies are installed on the lower crossbeam assembly 4 of the stacker crane, allowing the stacker crane to travel on the floor rails. The racks are divided into multiple layers, with multiple storage locations arranged side-by-side along the aisle direction on each layer. These storage locations hold goods storage units; in this embodiment, the goods storage units are palletized goods, with the pallet serving as the goods carrier.

[0033] The stacker crane's loading platform 6 includes a platform frame 61, a first fork extension mechanism 62, a second fork extension mechanism 63, and a palletizing robot 64. The first fork extension mechanism 62 and the second fork extension mechanism 63 are each equipped with a workstation for placing palletized goods units. The two fork extension mechanisms are spaced side-by-side in the same direction as the aisle extension. The palletizing robot 64 is located between the two fork extension mechanisms. The first fork extension mechanism 62 and the second fork extension mechanism 63 constitute two picking mechanisms.

[0034] The platform frame 61 includes a main frame, a fork mounting welded base plate, and a robot arm mounting welded base plate. The main frame is a single welded component with a U-shaped structure. The fork mounting welded base plate and the robot arm mounting welded base plate are located on top of the main frame, and their heights are the same. The fork extension mechanism includes a transmission reduction motor and a telescopic fork body. The telescopic fork body consists of three fork sections, and the fork extension and retraction enable the loading and unloading of goods on the shelf. The two fork extension mechanisms are identical and extend in the same direction.

[0035] The depalletizing robot 64 includes a base, a movable arm, a vision device 641, and a tooling fixture 642. The base is fixed to the robot's mounting and welding base plate, the movable arm is mounted on the upper part of the base, the vision device 641 includes a vision system and a camera, and is mounted at the end of the movable arm, and the tooling fixture 642 is designed separately according to the material type and is mounted at the end of the movable arm. The depalletizing robot 64 uses a combination of a four-axis transmission mechanism (joint motion), the vision device 641, and the tooling fixture 642 to realize picking or replenishment operations on the loading platform 6.

[0036] Stacker cranes are used in automated storage and retrieval systems (AS / RS) to transfer goods from the racking storage area to the front conveyor storage unit. The stacker crane moves via a horizontal walking power unit mounted on the lower crossbeam assembly 4, and its loading platform 6 is raised and lowered via lifting components 3 mounted on the side of the support frame 2. Goods are stored and retrieved via two sets of fork extension mechanisms mounted on the loading platform 6, and picking and replenishment are performed by a stacking / destacking robot 64 mounted on the loading platform 6. Under the electrical control system, the stacker crane performs palletized goods storage and retrieval operations, precise layer arrangement and positioning, and picking and replenishment. Deceleration switches and stop switches are installed at both ends of the horizontal guide rails in the aisle to prevent the stacker crane from running out of the aisle. Deceleration switches and stop switches are also installed at the top and bottom of the vertical guide rails on the support frame 2 to prevent the loading platform 6 from hitting the ground or the top of the aisle. A speed limiter and safety clamp linkage assembly 5 is installed on the stacker crane to provide overspeed protection and a safe stop function for the loading platform 6.

[0037] Based on this stacker crane, goods can be picked up and placed according to work instructions. These instructions can be generated based on orders, issued through the warehouse management system, and executed by the stacker crane. All operations of the stacker crane can be achieved through programmed settings. The goods picking and placing methods of the stacker crane in the automated warehouse aisle warehouse are as follows: When performing picking and outbound operations, especially picking operations based on orders: Combined with Figure 2 Prepare the picking carrier, i.e., the picking pallet 102, for receiving picked goods. Move the stacker crane to the picking carrier storage location. Use one of the picking mechanisms on the stacker crane's loading platform to pick up the picking carrier. The stacker crane moves to the storage location of the first goods to be picked. Use another picking mechanism on the loading platform to pick up the corresponding goods storage unit from that storage location. The goods storage unit of the goods to be picked is the picking pallet goods 103. Then, use the stacking robot 64 on the loading platform to pick up the target goods from the goods storage unit and place them on the picking carrier. Use the corresponding picking mechanism to put the picked goods storage unit back into the storage location. The stacker crane moves to the storage location of the next goods to be picked. Repeat the above process until all goods are picked. Then, the stacker crane moves to the set placement location to unload the picking carrier and the picked goods on it.

[0038] By utilizing two picking mechanisms in collaboration with a robotic arm, one picking mechanism retrieves the picking carrier onto the loading platform, while the other picking mechanism is responsible for retrieving the storage units containing the target goods to be picked one by one onto the loading platform. The palletizing robot 64 then picks out the target goods from the storage units and places them onto the picking carrier. After each goods is picked, the storage unit is returned to its original position before picking up the goods from the next storage location. This process completes the picking of all goods and the centralized storage of the picked goods on the loading platform. After the stacker crane completes the picking of all the goods required for an order in the aisle, it then transports the goods to the placement location, which can improve the efficiency of the picking operation.

[0039] A designated location on the shelf is used as the picking carrier. The stacker crane moves to the location of the picking carrier to retrieve it, places it on the shelf, and selects an empty pallet on the shelf as the picking carrier. This means designating an empty pallet at a specific location on the shelf as the picking carrier for storing the picked goods. This method is flexible, facilitates goods identification, and is convenient for management and scheduling. In other embodiments, the picking carrier can also be transported separately to the entrance or exit of the aisle for the stacker crane to retrieve.

[0040] In this embodiment, the picking mechanism uses a fork extension mechanism, and the cargo carrier of the picking carrier and cargo storage unit is a pallet. After the forks of the fork extension mechanism pick up the pallet, the pallet is supported on the forks. In other embodiments, a cargo basket can also be used as the cargo carrier, and the cargo is stored in the basket. In this case, the picking mechanism can use a clamping robotic arm, which extends its gripper to clamp the cargo basket to perform the picking and placing operations.

[0041] In this embodiment, two picking mechanisms are arranged side by side on the loading platform along the direction of the aisle extension. The depalletizing robot 64 is arranged between the two picking mechanisms to transfer goods. The depalletizing robot 64 is located in the center of the loading platform, with a compact structure that saves space and can take into account the picking and placing of goods on the shelves on both sides of the aisle.

[0042] The stacker crane travels along the aisle to the empty pallet storage location. The first fork extension mechanism 62 extends and retracts to retrieve the empty pallet from the designated location, i.e., the picking pallet 102. Then, the stacker crane travels along the aisle to the location of the first picking pallet 103. The second fork extension mechanism 63 extends and retracts to retrieve the picking pallet 103 from the location. After retrieval, the stacker robot 64 uses the vision device 641 and tooling fixture 642 to sequentially pick from the picking pallet 103. The picked items are placed on the empty pallet. After picking is completed, the second fork extension mechanism 63 extends and retracts its forks to perform storage operations, and the picking pallet 103 is returned. Then, the stacker crane travels to the location of the second picking pallet 103 and performs picking operations according to the above steps until the current order is completed. The stacker crane then travels along the aisle to the entrance / exit position to complete the unloading.

[0043] The use of vision device 641 to identify goods is a well-known technology in the field; barcode scanning can also be used for identification, which will not be elaborated here. The goods on the pallet can be the same or different. The first fork extension mechanism 62 and the second fork extension mechanism 63 can each hold an empty pallet and a picking pallet of goods 103, respectively.

[0044] When replenishment operations are carried out, combined with Figure 3The replenishment goods are placed on the corresponding cargo carrier to form a replenishment unit, which is the replenishment pallet goods 104. The replenishment unit is transported to the entrance and exit positions of the aisle. The stacker crane moves along the aisle to the entrance and exit positions and uses one of the picking mechanisms to pick up the replenishment unit. The stacker crane moves to the storage location of the first cargo storage unit that needs replenishment and uses another picking mechanism to pick up the corresponding cargo storage unit from that location. This cargo storage unit is the storage pallet goods 105. Then, the stacker crane uses the destacking robot 64 to replenish the cargo storage unit from the replenishment unit. After the replenishment is completed, the cargo storage unit is returned to its storage location using the corresponding picking mechanism. The stacker crane moves to the storage location of the next cargo storage unit that needs replenishment and repeats the above process until all storage locations are replenished.

[0045] In this embodiment, the first fork extension mechanism 62 retrieves the goods 104 from the replenishment pallet by extending and retracting. After retrieval, the stacker crane travels along the aisle to the first replenishment location. The second fork extension mechanism 63 then retrieves the goods 105 from the target location by extending and retracting. After retrieval, the stacker robot 64 uses the vision device 641 and tooling fixture 642 to perform replenishment operations from the goods 104 to the goods 105. After replenishment, the second fork extension mechanism 63 returns the replenished pallet to its original position by extending and retracting. The stacker crane then travels to the second replenishment location and repeats the above steps until the current order is completed. The stacker crane then travels along the aisle to the zero position and waits for the next operation instruction.

[0046] When performing an outbound operation for the entire goods storage unit, combined with Figure 4 The entire cargo storage unit, i.e., a single palletized cargo unit, is used for whole-pallet outbound operations. During operation, according to pre-input instructions, the stacker crane travels along the aisle to the first target location. The first fork extension mechanism 62 extends and retracts to retrieve the cargo from the target location. After retrieval, the palletized cargo at the first target location is transferred to the workstation on the first fork extension mechanism 62, where the palletized cargo is the whole-palletized cargo 101. Then, the stacker crane moves to the second target location, and the second fork extension mechanism 63 extends and retracts to retrieve the cargo from the second target location. After each retrieval mechanism has a cargo storage unit, the stacker crane moves to the aisle entrance / exit position to unload the cargo. The two whole-palletized cargo 101 are then transferred to the conveyor for outbound processing. This allows for the storage and retrieval of two whole pallets of cargo at once, improving efficiency.

[0047] When performing outbound operations on two related storage units, the materials on both pallets need to be either outbound or inbound simultaneously. Figure 5The stacker crane is moved to a set position, and two picking mechanisms operate simultaneously to pick up two associated cargo storage units. These two cargo storage units are two associated palletized goods 106. The relative positional relationship between the two picking mechanisms satisfies the simultaneous picking and placing of the two associated cargo storage units, and the distance between the two associated cargo storage units is adapted to the distance between the two picking mechanisms.

[0048] There is at least one storage location between the storage locations of two related goods storage units. In this embodiment, there is a gap of one storage location, that is, there is another palletized goods between the two related palletized goods 106. The distance between the two fork extension mechanisms on the corresponding loading platform can be relatively large, which is convenient for placing the robotic arm.

[0049] In this embodiment, when the associated palletized goods 106 need to be retrieved, the stacker crane moves to the target storage location, and the first fork extension mechanism 62 and the second fork extension mechanism 63 simultaneously extend and retract to retrieve the two associated palletized goods 106. After retrieval, the stacker crane moves along the aisle to the entrance / exit position to release the goods, achieving the retrieval of two storage units in one location. This also reduces the number of management and scheduling instructions sent, lowering the error rate. The same principle applies to inbound operations.

[0050] When the palletized goods to be stored or retrieved are whole pallets, each fork operates independently. During picking operations, one fork picks an empty pallet, while the other picks the target pallet. The palletizing robot then picks the pallets according to the task. After picking, the fork units sequentially pick the remaining target pallets, and the palletizing robot picks the remaining materials until the order is completed. During replenishment operations, one fork places the replenishment pallet, while the other fork continuously picks up the target pallets to be replenished within the aisle. The palletizing robot then replenishes the goods according to the task. After replenishment, the remaining empty pallets can be directly stored in the empty storage location within the aisle. When related pallet handling operations are required, the stacker crane in the aisle travels to the target location according to the task instructions, and both fork units simultaneously perform picking and placing operations, completing the inbound / outbound operation with a single positioning. This system offers diverse control methods and is suitable for work scenarios with relatively few SKUs, diverse packaging units, numerous storage units, and high requirements for inbound / outbound efficiency.

[0051] Embodiments of the stacker crane of the present invention: The stacker crane in this embodiment is the same as the stacker crane described in the above embodiments, and will not be repeated here.

[0052] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for picking and placing goods based on a stacker crane in an automated warehouse, characterized in that: When a picking operation is performed, prepare the picking carrier for receiving the picked goods, move the stacker crane to the picking carrier storage location, use one of the picking mechanisms on the stacker crane's loading platform to remove the picking carrier, move the stacker crane to the first location of the goods to be picked, use another picking mechanism on the loading platform to remove the corresponding goods storage unit from the location, then use the destacking robot on the loading platform to pick the target goods from the goods storage unit and place them on the picking carrier, use the corresponding picking mechanism to put the picked goods storage unit back into the location, move the stacker crane to the next location of the goods to be picked, and repeat the above process until all goods are picked, then move the stacker crane to the designated placement location to unload the picking carrier and the picked goods on it.

2. The method for picking and placing goods based on a stacker crane in an automated warehouse according to claim 1, characterized in that, The goods carrier with a designated location on the shelf is used as the picking carrier, and the stacker crane moves to the location of the picking carrier to pick it up.

3. The method for picking and placing goods based on a stacker crane in an automated warehouse according to claim 2, characterized in that, Select an empty cargo container on the shelf as the pickup container.

4. The method for picking and placing goods based on a stacker crane in an automated warehouse according to claim 1, 2, or 3, characterized in that, The picking mechanism uses a fork extension mechanism. The picking carrier and the cargo carrier of the cargo storage unit are pallets. After the forks of the fork extension mechanism pick up the pallet, the pallet is supported on the forks.

5. The method for picking and placing goods based on a stacker crane in an automated warehouse according to claim 1, 2, or 3, characterized in that, Two picking mechanisms are arranged side by side on the loading platform along the direction of the aisle, and a palletizing robot is positioned between the two picking mechanisms to transfer goods.

6. The method for picking and placing goods based on a stacker crane in an automated warehouse according to claim 1, 2, or 3, characterized in that, When replenishment is performed, the replenishing goods are placed on the corresponding cargo carrier to form a replenishment unit. The replenishment unit is transported to the entrance / exit of the aisle. The stacker crane moves along the aisle to the entrance / exit and uses one of the picking mechanisms to pick up the replenishment unit. The stacker crane then moves to the storage location of the first goods storage unit that needs replenishment and uses another picking mechanism to pick up the corresponding goods storage unit from that location. Then, the stacker crane uses a destacking robot to replenish the goods storage unit from the replenishment unit. After replenishment is completed, the corresponding picking mechanism returns the goods storage unit to its storage location. The stacker crane then moves to the storage location of the next goods storage unit that needs replenishment, and repeats the above process until all storage locations are replenished.

7. The method for picking and placing goods based on a stacker crane in an automated warehouse according to claim 1, 2, or 3, characterized in that, When performing an outbound operation of the entire storage unit, the stacker crane is moved to the first storage location, and one of the picking mechanisms is used to retrieve the storage unit from the storage location. Then the stacker crane is moved to the second storage location, and another picking mechanism is used to retrieve the storage unit from the storage location. After each picking mechanism has a storage unit, the stacker crane is moved to the aisle entrance / exit position to unload the goods.

8. The method for picking and placing goods based on a stacker crane in an automated warehouse according to claim 1, 2, or 3, characterized in that, When two related storage units are being retrieved, the stacker crane moves to a set position, and two picking mechanisms operate simultaneously to retrieve the two related storage units. The relative positions of the two picking mechanisms are such that they can simultaneously pick up and place the two related storage units, and the distance between the two related storage units is adapted to the distance between the two picking mechanisms.

9. The method for picking and placing goods based on a stacker crane in an automated warehouse according to claim 8, characterized in that, There is at least one storage location between the storage locations of two related cargo storage units.

10. A stacker crane, including a loading platform, characterized in that, The loading platform is equipped with a stacker crane and two picking mechanisms. The stacker crane and the two picking mechanisms work together to implement the cargo picking and placing method based on the stacker crane of the automated warehouse aisle as described in any one of claims 1-9 according to the operation instructions.

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