Automatic stereoscopic warehouse

Abstract

An automated stereoscopic warehouse includes a shelf having a plurality of shelf layers, with at least one pallet shuttle disposed in each shelf layer. The automatic stereoscopic warehouse comprises a goods picking mechanism, the goods picking mechanism comprises a plurality of goods picking units, and one goods picking unit is arranged in each goods shelf layer; a warehouse-out mechanism; one goods conveying line is arranged in each goods shelf layer, and the goods conveying lines are connected between the goods picking units and the warehouse-out mechanisms in the corresponding goods shelf layers. According to the automatic stereoscopic warehouse of the structure, the efficiency of sorting and delivering goods trays stored in the warehouse is improved, and the storage cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of logistics and warehousing, and specifically relates to a structure and arrangement of an automated storage and retrieval system. BACKGROUND

[0002] In the field of logistics and warehousing, an automated storage and retrieval system has high space utilization and storage efficiency, and is therefore widely used. The automated storage and retrieval system includes a pallet library, which is the core part of the automated storage and retrieval system. In the pallet library, goods are carried by pallets and stored on shelves, so that the pallet library stores goods in whole pallets. When goods are delivered, single or multiple small containers need to be picked from the whole pallets stored on the shelves for delivery operation.

[0003] In the automated storage and retrieval system, the delivery operation usually takes out the pallets of goods on the shelves and transports them to a goods sorting area, where the goods on the pallets are sorted. After sorting is completed, the pallets are sent back to the storage position on the shelves. This delivery process of taking out, sorting, and sending back the pallets of goods is time-consuming and labor-intensive. Moreover, due to the space limitation on the shelves, the sorting area is usually set on the ground of the warehouse, and the pallets on the shelves with multiple layers need to be transported to the ground, and then sorted by manual or mechanical hands. This is particularly cumbersome for the delivery operation of goods, especially when the goods are stored at a high position on the shelves.

[0004] Therefore, there is a need to further improve the existing structure of the automated storage and retrieval system to improve the efficiency of picking and delivering the goods on the pallets in the automated storage and retrieval system, reduce the dependence on manual picking, and reduce the picking error rate. In addition, it is also desirable to improve the safety of the delivery and picking operation. SUMMARY

[0005] The present application is made to solve the problems of the existing automated storage and retrieval system. The purpose of the present application is to provide an improved structure of the automated storage and retrieval system, which helps to improve the efficiency of picking and delivering the goods on the pallets stored in the warehouse.

[0006] The application provides an automated warehouse, which comprises a rack, the rack has a length dimension along a first direction, a width dimension along a second direction, and a height dimension along a third direction, wherein the first direction is perpendicular to the second direction, the third direction is perpendicular to the first direction and the second direction, the rack comprises a plurality of rack layers, and at least one pallet shuttle is arranged in each rack layer. In addition, the automated warehouse further comprises a picking mechanism, the picking mechanism comprises a plurality of picking units, one picking unit is arranged in each rack layer; a delivery mechanism; and a plurality of goods conveying lines, one goods conveying line is arranged in each rack layer, and the goods conveying line is connected between the picking unit in the corresponding rack layer and the delivery mechanism.

[0007] In the automated warehouse with the above structure, the picking mechanism is directly arranged in the rack of the warehouse, so that when the goods are delivered, the entire pallet of goods on the rack does not need to be transported to the ground for picking, but is directly picked in the rack, thereby reducing the operation amount of the delivery operation, and without the need to arrange a pallet conveying line, a pallet elevator and other equipment for transporting the pallet to the ground. In addition, the number and requirements of the equipment for transporting the goods to the ground can be significantly reduced, thereby effectively reducing the storage cost.

[0008] In addition, since the picking operation is completely integrated in the rack, there is no need to plan a picking area on the ground, and multi-layer and multi-goods-position simultaneous picking and delivery can be realized, which helps to improve the space utilization of the warehouse and improve the picking efficiency.

[0009] Specifically, for the picking unit in each rack layer, the picking unit extends along the third direction by the height of two rack layers. The height of two rack layers can meet the space requirement for picking the goods on the rack pallet. Further, the plurality of rack layers comprises a plurality of odd-numbered rack layers and a plurality of even-numbered rack layers, wherein the picking unit in the odd-numbered rack layer is an odd-numbered layer picking unit, the picking unit in the even-numbered rack layer is an even-numbered layer picking unit, and the odd-numbered layer picking unit and the even-numbered layer picking unit are arranged at intervals along the first direction or the second direction. By arranging the odd-numbered layer picking unit and the even-numbered layer picking unit at intervals, the arrangement of the picking unit occupying the height of two rack layers is facilitated.

[0010] In a specific structure, the odd-numbered layer picking unit and the even-numbered layer picking unit are connected to the delivery mechanism through respective goods conveying lines. It can be seen that in the application, only one delivery mechanism can be arranged to receive goods from all the picking units, thereby reducing the number of components of the automated warehouse.

[0011] Further, the interval between the single-layer picking unit and the double-layer picking unit is less than the width of the single-layer picking unit and / or the double-layer picking unit. By controlling the interval distance between the single-layer picking unit and the double-layer picking unit, the effect of setting one delivery mechanism to connect all the picking units can be achieved.

[0012] The implementation mode of the delivery mechanism can be various, for example, it can include at least one of the following devices: screw conveyor, elevator, inclined belt conveyor.

[0013] For the picking unit, the structure of each picking unit can include: a walking assembly arranged to be capable of moving along a first direction and / or a second direction; and a picking mechanism mounted on the walking assembly and performing linear motion through the walking assembly.

[0014] The walking assembly can include: a first guide rail extending along the first direction; and a second guide rail extending along the second direction and movably connected with the first guide rail along the first direction, and the picking mechanism is mounted on the second guide rail and is capable of moving along the second direction on the second guide rail.

[0015] Through the combination of the first guide rail and the second guide rail, the omnidirectional motion of the picking mechanism in at least two-dimensional plane can be achieved to realize the effective grabbing of the goods. The exemplary structure of the linear module for realizing the motion on the first guide rail and the second guide rail can include gear-rack, synchronous belt, chain-sprocket, etc.

[0016] The picking mechanism in the picking unit can include: a driving device; a lifting mechanism connected with the driving device and driven by the driving device to move along a third direction; and a picking device for clamping and conveying goods and connected with the lifting mechanism.

[0017] The driving mechanism is for example a servo motor, and the lifting mechanism can take specific structures such as rigid chain, steel wire rope, chain, synchronous belt, etc., and the picking mechanism can include structures such as vacuum suction cup, clamping jaw, etc.

[0018] Preferably, the picking mechanism further includes: a mounting platform connected on the second guide rail and on which the driving device is mounted; and a guide mechanism connected between the mounting platform and the picking device for guiding the lifting motion of the picking device. The mounting platform helps to support the picking assembly on the walking assembly, and components such as the driving device can also be fixed on the mounting platform, and the mounting platform provides improved structural strength. The guide mechanism plays a guiding role for the lifting action of the lifting mechanism, reduces the shaking of the lifting mechanism during lifting, and thus increases the stability of the lifting mechanism during motion. The structure of the guide mechanism can be for example structures including scissor fork, telescopic fork, etc.

[0019] Preferably, the picking mechanism also includes a detection device mounted above the picking mechanism to detect whether the pallet shuttle transports pallets of goods from the shelves to the picking station below the picking mechanism. This detection device detects goods being transported to the picking unit, allowing the picking actions of the picking components to be controlled based on the detection of parameters such as the location of the goods. This detection device is, for example, a vision sensor. Attached Figure Description

[0020] The accompanying drawings illustrate a non-limiting preferred embodiment of this application, and the features and advantages of this application become more apparent when viewed in conjunction with the drawings. Wherein: Figure 1 A partial schematic perspective view of the automated storage and retrieval system of this application is shown, including a picking mechanism installed on the shelves of the automated storage and retrieval system.

[0021] Figure 2 This shows a top view of the racking section of an automated storage and retrieval system, including the picking units.

[0022] Figure 3 This shows a front view of a section of the racking system in an automated storage and retrieval system, including the picking unit.

[0023] Figure 4 A perspective view of a shelf section including a picking unit is shown.

[0024] Figure 5 A perspective view of a picking unit removed from a shelf is shown.

[0025] Figure 6 A front view of an exemplary structure of the picking component of a picking unit is shown.

[0026] Figure 7 It shows Figure 6 A top-down perspective view of the pickup component.

[0027] Figure 8 This is a front view of a variant structure of the picking component of a picking unit.

[0028] Figure 9 It shows Figure 8 A top-down perspective view of the pickup component.

[0029] (Symbol Explanation)

[0030] 100 Automated Storage and Retrieval System (AS / RS); 110 Shelves; 111 Odd-numbered shelf levels; 112 Even-numbered shelf levels; 120 Picking mechanism; 130 Outbound mechanism; 131 Cargo conveyor line; 140 Pallet shuttle; 151 Cargo; 152 Pallets; 200 Picking units; 200-1 single-layer picking unit; 200-2 double-layer picking unit; 210 traveling assembly; 211 first guide rail; 212 second guide rail; 220 picking assembly; 221 driving device; 222 mounting platform; 223 lifting mechanism; 224 picking device; 225 guide mechanism; 226 winch; 230 air source; 240 vision sensor. DETAILED DESCRIPTION

[0031] The specific embodiments of the present application will be described below in detail with reference to the accompanying drawings. It should be understood that the drawings shown in the drawings are only the preferred embodiments of the present application, which do not constitute a limitation on the scope of the present application. Those skilled in the art can make various obvious modifications, variations, equivalent replacements to the present application on the basis of the embodiments shown in the drawings, and the technical features described below in the different embodiments can be combined with each other arbitrarily without contradiction, which all fall within the protection scope of the present application.

[0032] Figure 1 A partial schematic perspective view of the structure of the automated stereoscopic warehouse 100 of the present application is shown. The automated stereoscopic warehouse 100 includes a rack 110 having multiple layers. The rack 110 has a length dimension L along a first direction, a width dimension W along a second direction, and a height dimension H along a third direction. It can be understood that the first direction and the second direction are two horizontal directions perpendicular to each other, and the third direction is a vertical direction perpendicular to both the first direction and the second direction.

[0033] In each rack layer of the rack 110 of the automated stereoscopic warehouse 100, goods 151 are stored, which are all carried on pallets 152. At least one pallet shuttle 140, such as a dormant AGV trolley, is arranged in each rack layer. The pallet shuttle 140 carries the goods 151 carried on the pallets 152 in whole-pallet units.

[0034] In the present application, a picking mechanism 120 is provided in the rack 110, Figure 1 A part of the rack 110 including the picking mechanism 120 is shown. As shown in the figure, the picking mechanism 120 includes picking units 200 provided in each rack layer of the rack 110. Each picking unit 200 is located at one end of the rack 110 in the length dimension L (the first direction), and preferably, the picking unit 200 is also located at one end of the rack 110 in the width dimension W (the second direction), so that the picking unit 200 is located at or near the corner of each rack layer of the rack 110.

[0035] The automated storage and retrieval system 100 also includes an outbound mechanism 130, which is connected to each picking unit 200 of the picking mechanism 120 via multiple conveyor lines 131. Goods (boxes) picked from the picking units 200 are transported to the outbound mechanism 130 via the conveyor lines 131. Figure 2 This can be seen more clearly in the image. Then, the outbound mechanism 130 transports the goods to the ground of the automated warehouse 100, thereby enabling the goods to be shipped out.

[0036] Specifically, pallet shuttles 140 in each rack level transport goods 151 from the storage location to the picking unit 200 in whole pallet units. In the picking unit 200, the goods 151 on the pallet 152 are picked. After the picking operation is completed, the pallet shuttle 140 can transport the pallet 152 and any unpicked goods 151 back to the storage location.

[0037] The outbound mechanism 130 can take many forms, such as an elevator, a spiral conveyor, an inclined belt conveyor, etc.

[0038] Figure 3 A partial front view of the portion of shelf 110 in which picking units 200 are provided is shown, which shows more clearly the arrangement of picking units 200 in shelf 110.

[0039] The multiple shelf layers in shelf 110 can be divided into odd-numbered shelf layers 111 and even-numbered shelf layers 112. Each shelf layer is equipped with its corresponding picking unit 200, and the picking unit 200 occupies the space of two shelf layers in height dimension H along the aforementioned third direction. For example, in Figure 3 In the first shelf layer 111 of the odd-numbered shelf layers, there are odd-numbered picking units 200-1 that extend upwards from the first shelf layer along a third direction (height dimension H) to the second shelf layer. The second shelf layer includes even-numbered picking units 200-2 that extend upwards along a third direction (height dimension H) to the third shelf layer.

[0040] Furthermore, in order for the odd-numbered picking unit 200-1 and the even-numbered picking unit 200-2 to occupy the height of two shelf layers along a third direction, the odd-numbered picking unit 200-1 in the odd-numbered shelf layer 111 and the even-numbered picking unit 200-2 in the even-numbered shelf layer 112 are arranged spaced apart from each other along a second direction (width dimension W), such as from... Figure 3 It can be clearly seen in the middle.

[0041] The interval distance between the single-layer picking unit 200-1 and the double-layer picking unit 200-2 can be set as required. Preferably, however, the single-layer picking unit 200-1 and the double-layer picking unit 200-2 are arranged as close to each other as possible, for example, the interval distance between the single-layer picking unit 200-1 and the double-layer picking unit 200-2 can be less than or equal to the width of the single-layer picking unit 200-1 and the double-layer picking unit 200-2 themselves. In this way, the single-layer picking unit 200-1 and the double-layer picking unit 200-2 can be connected to the same delivery mechanism 130, thereby simplifying the structure of the automated storage and retrieval system 100. For example, as shown schematically in Figure 3 the interval distance between the single-layer picking unit 200-1 and the double-layer picking unit 200-2 is substantially equal to the width of the pallet shuttle 140.

[0042] In other alternative structures, the single-layer picking unit 200-1 and the double-layer picking unit 200-2 can also be arranged at intervals along the first direction (length dimension L). In addition, in the case where the single-layer picking unit 200-1 and the double-layer picking unit 200-2 are spaced apart at a large distance as required, for example, the single-layer picking unit 200-1 and the double-layer picking unit 200-2 are respectively located at the two ends of the shelf layer in the first direction or the second direction, the single-layer picking unit 200-1 and the double-layer picking unit 200-2 can also be respectively provided with a delivery mechanism 130, which is also within the scope of the present application.

[0043] Figure 4 A partial schematic view of a shelf portion including one picking unit 200 is shown. The picking unit 200 includes a traveling assembly 210 and a picking assembly 220. The picking assembly 220 is mounted on the traveling assembly 210, and the traveling assembly 210 is configured to enable movement (linear motion) in the first direction and / or the second direction. Specifically, as shown in Figure 5 the traveling assembly 210 includes a first guide rail 211 and a second guide rail 212. The first guide rail 211 extends along the first direction, and the second guide rail 212 extends along the second direction and is movably mounted on the first guide rail 211, so that the second guide rail 212 can linearly move along the first guide rail 211 in the first direction. The picking assembly 220 is mounted on the second guide rail 212 and is configured to linearly move along the second direction on the second guide rail 212.

[0044] Thus, by the combination of the first guide rail 211 and the second guide rail 212, linear movement of the picking assembly 220 in the first direction and the second direction is achieved. In the first guide rail 211 and the second guide rail 212, a linear module for enabling linear motion is provided, which can take various different forms, such as a gear-and-rack structure, a synchronous belt, a chain-and-sprocket structure, etc.

[0045] Picking unit 200 is preferably also equipped with a detection device, such as Figure 4 The visual sensor 240 is schematically shown. This visual sensor 240 is capable of detecting goods 151 carried on pallets 152 and transported to the picking unit 200. The control unit (not shown) of the automated warehouse 100 is capable of controlling the picking component 220 of the picking unit 200 to pick up the goods 151 based on the detection of parameters such as position of the goods 151 by the detection device.

[0046] Figure 6 A plan view of an exemplary structure of the pickup assembly 220 is shown. Figure 7 The diagram shows a top perspective view of the picking assembly 220. The picking assembly 220 includes a drive unit 221 and a lifting mechanism 223. The lifting mechanism 223 is connected to the drive unit 221 and is driven by the drive unit 221 to move along the aforementioned third direction. The drive unit 221 is, for example, a servo motor.

[0047] exist Figure 6 and 7 In the exemplary structure shown, the lifting mechanism 223 is a steel wire rope, one end of which is associated with the output shaft of the drive device 221, so that the steel wire rope can be wound up and down by the drive device 221. The other end of the steel wire rope is connected to the picking device 224. In this way, when the drive device 221 is running, the steel wire rope is wound up and down, thereby lowering or raising the picking device 224.

[0048] The picking device 224 may include, for example, a vacuum suction cup, which uses vacuum suction to secure and lift the goods. The vacuum suction cup picking device 224 is connected to an air source 230 located on the shelf 110, such as... Figure 4 As shown, the air source 230 provides a vacuum to the vacuum suction cup of the picking device 224.

[0049] In other alternative configurations, the picking device 224 may also employ a gripper structure to pick up the goods. Alternatively, the picking device 224 may also employ other forms of goods picking structures known in the prior art. These variations are all within the scope of this application.

[0050] Preferably, the picking assembly 220 also includes a mounting platform 222, through which the picking assembly 220 is mounted on the second guide rail 212. The drive unit 221 is mounted on the upper surface of the mounting platform 222, and the picking device 224 is disposed on the lower surface of the mounting platform 222. One end of a lifting mechanism 223, such as a wire rope, passes through the mounting platform 222 and is connected to the drive unit 221, while the other end is connected to the picking device 224.

[0051] Preferably, the picking assembly 220 further comprises a guiding mechanism 225, which helps to guide the direction of the lifting and lowering of the picking device 224, and reduces or avoids the risk of the picking device 224 shaking during the lifting and lowering. Figure 6 and 7 In the structure shown in

[0052] Figure 8 A front view of an alternative variant of the picking assembly 220 is shown, Figure 9 A top perspective view of the variant of the picking unit 200 is shown.

[0053] Unlike the structure shown in Figure 6 and 7 In Figure 8 and 9 , the lifting mechanism 223 adopts a rigid chain structure. And the guiding mechanism 225 adopts a scissor fork structure. The rigid chain and the scissor fork structure respectively help to further improve the stability of the picking device 224 during the lifting and lowering.

[0054] In addition, in addition to the structures shown in the drawings, the lifting mechanism 223 and the guiding mechanism 225 can also adopt other structures, for example, the lifting mechanism 223 can also be a synchronous belt structure, etc.

[0055] Those skilled in the art can know that Figures 6-9 The specific structure of the lifting mechanism 223 such as steel wire rope, rigid chain or other alternative structure shown in

[0056] The above specifically describes the preferred embodiment of the automated stereoscopic warehouse of the present application, and those skilled in the art can make various obvious modifications and modifications on the basis of the above disclosure, and these are still within the scope of the present application.

Claims

1. An automated storage and retrieval system (AS / RS), the AS / RS comprising racks having a length dimension along a first direction, a width dimension along a second direction, and a height dimension along a third direction, wherein the first direction is perpendicular to the second direction, the third direction is perpendicular to both the first and second directions, and the racks comprising a plurality of rack layers, and at least one pallet shuttle is provided in each rack layer, characterized in that, The automated storage and retrieval system also includes: The picking mechanism includes multiple picking units, with one picking unit provided in each of the shelf layers; Outbound agency; and Multiple goods conveyor lines, wherein one goods conveyor line is provided in each of the shelf layers, and the goods conveyor line is connected between the picking unit and the outbound mechanism in the corresponding shelf layer.

2. The automated storage and retrieval system as described in claim 1, characterized in that, The picking unit in each of the three shelf layers extends along the third direction by the height of two of the shelf layers; and / or The plurality of shelf layers includes a plurality of odd-numbered shelf layers and a plurality of even-numbered shelf layers, wherein the picking unit in the odd-numbered shelf layer is an odd-numbered shelf layer picking unit, and the picking unit in the even-numbered shelf layer is an even-numbered shelf layer picking unit, wherein the odd-numbered shelf layer picking units and the even-numbered shelf layer picking units are arranged at intervals along the first direction or the second direction.

3. The automated storage and retrieval system as described in claim 2, characterized in that, The system includes an outbound mechanism, wherein the odd-numbered picking units and the even-numbered picking units are connected to the outbound mechanism via their respective cargo conveyor lines.

4. The automated storage and retrieval system as described in claim 3, characterized in that, The spacing between the odd-numbered picking units and the even-numbered picking units is less than the width of the odd-numbered picking units and / or the even-numbered picking units.

5. The automated storage and retrieval system as described in claim 1, characterized in that, The outbound mechanism includes at least one of the following devices: screw conveyor, elevator, and inclined belt conveyor.

6. The automated storage and retrieval system as described in any one of claims 1-5, characterized in that, Each of the picking units includes: a walking assembly configured to move along the first direction and / or the second direction; and a picking mechanism mounted on the walking assembly and moving linearly via the walking assembly.

7. The automated storage and retrieval system as described in claim 6, characterized in that, The walking assembly includes: a first guide rail extending along the first direction; and a second guide rail extending along the second direction and movably connected to the first guide rail along the first direction, wherein the picking mechanism is mounted on the second guide rail and is movable along the second direction on the second guide rail.

8. The automated storage and retrieval system as described in claim 7, characterized in that, The picking mechanism includes: a drive device; a lifting mechanism connected to the drive device and driven by the drive device to move along the third direction; and a picking device for gripping and conveying the goods and connected to the lifting mechanism.

9. The automated storage and retrieval system as described in claim 8, characterized in that, The picking mechanism further includes: an installation platform connected to the second guide rail, and the drive device mounted on the installation platform; and a guide mechanism connected between the installation platform and the picking device for guiding the lifting and lowering movement of the picking device.

10. The automated storage and retrieval system as described in claim 6, characterized in that, The picking mechanism also includes a detection device installed above the picking mechanism to detect whether the pallet shuttle transports the pallet of goods from the shelf to the picking station below the picking mechanism.

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