A warehousing system and a control method thereof

Abstract

The application provides a warehouse system and a control method thereof, and relates to the technical field of warehouse logistics. The warehouse system comprises at least one lane, at least one side of the lane is provided with a shelf, a plurality of storage spaces are formed in the shelf, and the storage spaces are used for storing goods stacks. The warehouse system further comprises a warehouse robot, the warehouse robot can move along the lane and is provided with a fork mechanism and a disassembling and stacking mechanism. The taking and placing mechanism and the disassembling and stacking mechanism can be lifted along the height direction. The taking and placing mechanism is used for transferring the goods stacks between the warehouse robot and the storage spaces, or transferring target goods between the warehouse robot and a docking device. The disassembling and stacking mechanism is used for transferring the target goods on the top of the warehouse robot along the height direction. The taking and placing mechanism and the disassembling and stacking mechanism work cooperatively, so that the goods disassembling or stacking operation can be completed in the warehouse robot, and a disassembling or stacking platform does not need to be arranged outside the shelf, thereby shortening the operation process and improving the warehouse in-out efficiency.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and more specifically, to a warehousing system and its control method. Background Technology

[0002] In warehousing scenarios, warehouse robots replace manual labor in handling the inbound and outbound processes of goods. One common scenario involves goods stacked on pallets, which are then placed on shelves. To retrieve goods, forklifts or stacker cranes are used to transfer the entire stack to the docking equipment. For goods to be stored, the goods are first stacked on the pallet, and then the pallet is placed on the shelf using a forklift or stacker crane. For goods to be retrieved, the stack is first unstacked to retrieve the goods, and then the pallet is returned to the shelf using a forklift or stacker crane. The problems with this method are: it requires the use of other equipment for palletizing and unstacking, and it necessitates multiple trips between the shelves and the docking equipment, resulting in low work efficiency.

[0003] Another scenario involves goods being stored individually on the shelves. A shuttle or stacker crane then transfers the goods to the docking equipment for outbound processing. Upon inbound processing, the docking equipment transfers the goods to a shuttle or stacker crane, which then stores them on the shelves. The problem with this method is that the shelves need to be multi-layered, resulting in low warehouse space utilization.

[0004] In summary, existing warehouse robots have the problem of not being able to directly depalletize and stack goods inside them. Summary of the Invention

[0005] The purpose of this application is to provide a warehousing system to alleviate the technical problems in the prior art where the destacking or stacking of goods must be completed on the platform, the handling equipment needs to travel back and forth between the racks and the platform multiple times, the operation process is lengthy, and the inbound and outbound efficiency is low.

[0006] This application provides a warehousing system, including: alleyway; Shelving, located on at least one side of the aisle and having multiple storage locations; A warehouse robot capable of moving along the aisle, the warehouse robot comprising: a pick-and-place mechanism and a folding / unfolding mechanism; The picking and placing mechanism is used to transfer stacks of goods between the storage location and / or docking equipment within the storage robot; The stacking mechanism is capable of moving up and down in the height direction to remove at least one target item that is continuously stacked on top of the cargo stack inside the warehouse robot, or to stack at least one target item it carries onto the top of the cargo stack.

[0007] Furthermore, the warehouse robot includes: frame; A loading platform is movably mounted on the frame and can be raised and lowered relative to the frame in the height direction. The loading platform is used to carry goods. Both the loading / unloading mechanism and the folding / unfolding mechanism are located on the loading platform.

[0008] Furthermore, the loading and unloading mechanism is located at the bottom of the loading platform; The folding mechanism is mounted above the picking and placing mechanism and can be raised and lowered relative to the loading platform.

[0009] Furthermore, the folding mechanism includes at least one movable fixing part for securing the target cargo from at least one direction.

[0010] Furthermore, the folding mechanism includes a suction cup assembly and / or a clamping assembly; The suction cup assembly is installed on the loading platform and connected to a negative pressure source. The suction end face of the suction cup assembly faces the loading platform to suction the top goods inside the loading platform. The clamping assembly includes multiple clamping arms, which are arranged opposite to each other on both sides of the loading platform. Each clamping arm is connected to a driving component, and the driving component drives the opposing clamping arms to move towards each other. The suction end of the suction cup assembly and / or the clamping arm of the clamping assembly form the fixing part.

[0011] Furthermore, the folding mechanism is an arc-shaped clamping assembly; The clamping end of the arc-shaped clamping assembly extends circumferentially along the loading platform and forms a plurality of fixing portions circumferentially along the loading platform. Multiple fixing parts are distributed along an arc on the same horizontal plane.

[0012] Furthermore, the arc-shaped clamping assembly includes multiple arc-shaped clamping elements; Multiple arc-shaped clamping components are symmetrically arranged on both sides of the loading platform and can move closer to or further away from each other; The multiple arc-shaped clamping members form multiple fixing parts on the side near the loading platform.

[0013] Furthermore, the picking and placing mechanism includes telescopic forks; The telescopic forks are mounted on the loading platform and their telescopic ends can be moved out or returned relative to the loading platform.

[0014] Furthermore, the forks have a connecting section and a telescopic section; One end of the connecting section is located on the loading platform, and the other end extends horizontally. The telescopic section is connected to the connecting section and can move along the extension direction of the connecting section; The telescopic section is a flat plate structure or a clamping structure.

[0015] Furthermore, the warehousing system also includes a distance adjustment mechanism; The adjustment mechanism is located on the cargo platform; There are multiple telescopic forks, and the multiple telescopic forks are spaced apart on the loading platform along a direction perpendicular to their telescopic direction; Wherein, along the direction of movement perpendicular to the telescopic forks, the telescopic forks located on both sides are connected to the adjusting mechanism to adjust the conveying width of the multiple telescopic forks.

[0016] Furthermore, the picking and placing mechanism includes a self-propelled shuttle car, which is equipped with a lifting component for lifting goods. The shuttle car can be moved out of the loading platform to pick up and place goods.

[0017] Furthermore, both the loading platform and the shelf are equipped with support platforms for the shuttle's wheels to travel on.

[0018] Furthermore, the warehousing system also includes a lifting and transferring mechanism; The lifting and transferring mechanism is provided on the loading platform, and the lifting and transferring mechanism has a lifting part and a moving part provided on the lifting part; The lifting unit can move up and down in the height direction so that the horizontal plane where the moving part is located is higher than the horizontal plane where the telescopic fork is located, so that the target goods or target goods stacks follow the moving part to move along the extension and retraction direction of the telescopic fork.

[0019] Furthermore, the warehousing system also includes a center-finding mechanism; The center-finding mechanism has multiple moving ends, which are respectively arranged on both sides of the width direction of the picking and placing mechanism; The moving ends of the centering mechanism on both sides of the telescopic fork can move toward each other along the width direction of the pick-up and put-down mechanism.

[0020] Furthermore, the bottom of the cargo space is provided with multiple support beams; One end of the support beam is connected to the shelf, and the other end extends upward to meet and support the goods. The multiple support beams within each of the aforementioned storage locations are located on the same horizontal plane and are arranged in parallel and at intervals.

[0021] Furthermore, a gap for taking out objects is formed between two adjacent support beams; The width of the picking gap is greater than the width of the actuating end of the picking and placing mechanism, and the height of the picking gap is greater than the thickness of the actuating end of the picking and placing mechanism, so that the actuating end of the picking and placing mechanism can be inserted into the bottom of the stack of goods through the picking gap.

[0022] Furthermore, the folding mechanism includes a suction cup assembly and / or a clamping assembly; The suction cup assembly is installed on the loading platform and connected to a negative pressure source. The suction end face of the suction cup assembly faces the loading platform to suction the top goods inside the loading platform. The clamping assembly includes multiple clamping arms, which are arranged opposite to each other on both sides of the loading platform, and each clamping arm is connected to a drive unit. The driving element drives the multiple opposing clamping arms to move towards each other.

[0023] Furthermore, this also includes stockpiling organizations; The loading mechanism is located on the loading platform and above the loading and unloading mechanism; The moving end of the pressing mechanism can move out or back relative to the loading platform, and can be raised and lowered in the height direction to press down on the top of the stack of goods when picking up or putting down goods.

[0024] Furthermore, the folding mechanism is an arc-shaped clamping assembly; The clamping end of the arc-shaped clamping assembly extends circumferentially along the loading platform and forms a plurality of fixing parts circumferentially along the loading platform. Multiple fixing parts are distributed along an arc on the same horizontal plane.

[0025] Furthermore, the arc-shaped clamping assembly includes multiple arc-shaped clamping elements; Multiple arc-shaped clamping components are symmetrically arranged on both sides of the loading platform and can move closer to or further away from each other; The multiple arc-shaped clamping members form multiple fixing parts on the side near the loading platform.

[0026] Furthermore, the warehousing system also includes a first track; The first track is located in the alley and extends in the same direction as the alley, and the warehouse robot moves along the alley via the first track.

[0027] Furthermore, the warehousing system also includes a second track; The second track extends at an angle to the direction of the tunnel, and is located on the outside of the tunnel.

[0028] Furthermore, the warehousing system also includes: a reversing mechanism; The reversing mechanism has a second traveling mechanism adapted to the second track and a docking track of the same specifications as the first track. The docking track is used for the warehouse robot to drive into or out of the reversing mechanism.

[0029] Furthermore, a guide assembly is provided on the top of the frame.

[0030] The tunnel is equipped with a guide member adapted to the guide assembly, and the extension direction of the guide member is the same as the extension direction of the tunnel.

[0031] The purpose of this application is also to provide a control method for a warehousing system, applied to the provided warehousing system, the method specifically including: The warehouse robot moves to the target handling location.

[0032] The target goods are removed from the target goods stack and placed into the storage robot.

[0033] The warehouse robot moves to the target destination.

[0034] The cargo carried by the warehouse robot is transferred to the target location.

[0035] The target goods include at least one type of goods.

[0036] Furthermore, before the warehouse robot moves to the target handling location, the following steps are also included: Receive inbound task information.

[0037] Based on the inbound task information, the target handling location, target cargo information, and target destination location are determined.

[0038] The target cargo information includes the location information of the target cargo in the target cargo stack and / or the target cargo stack to be stacked.

[0039] Furthermore, the step of removing the target goods from the target goods stack and transferring them into the warehouse robot includes: The pick-and-place mechanism moves out to retrieve the target stack of goods and then returns.

[0040] The folding mechanism descends to contact the target cargo, and then carries the target cargo and the cargo above it upwards.

[0041] The pick-and-place mechanism moves out to transfer the goods it carries to the target handling location, and then returns.

[0042] The folding mechanism descends to place the goods it carries onto the pick-and-place mechanism.

[0043] Furthermore, the step of removing the target goods from the target goods stack and transferring them into the warehouse robot includes: The pick-and-place mechanism moves out to retrieve the target stack of goods and then returns.

[0044] The disassembly mechanism descends to contact the bottommost target cargo of the target cargo stack, and then carries the target cargo stack upwards.

[0045] The pick-and-place mechanism moves out to retrieve the target cargo stack to be stacked, and then returns so that the target cargo stack to be stacked is located below the target cargo stack.

[0046] The destacking mechanism descends to place the target cargo stack onto the target cargo stack to be stacked.

[0047] Furthermore, the step of retrieving the target goods from the target goods stack and transferring them into the warehouse robot includes: The pick-and-place mechanism moves out to retrieve the target stack of goods and then returns.

[0048] The disassembly mechanism descends to contact the bottommost target cargo of the target cargo stack, and then carries the target cargo stack upwards.

[0049] The pick-and-place mechanism moves out to retrieve the target cargo stack to be stacked, and then returns so that the target cargo stack to be stacked is located below the target cargo stack.

[0050] The destacking mechanism descends to place the target cargo stack onto the target cargo stack to be stacked.

[0051] The stacking mechanism continues to descend until it contacts a layer of goods in the stack of target goods to be stacked, and then carries the layer of goods and the goods above it upwards.

[0052] The pick-and-place mechanism moves out to transfer the goods it carries to the target destination location, and then returns.

[0053] The folding mechanism descends to place the goods it carries onto the pick-and-place mechanism.

[0054] Furthermore, the step of transferring the cargo carried within the warehouse robot to the target location includes: The folding mechanism descends to contact a certain layer of the target cargo, and then carries that layer of cargo and the cargo above it upwards.

[0055] The pick-and-place mechanism moves out to transfer the goods it carries to the target endpoint location, and then returns.

[0056] The folding mechanism descends to place the goods it carries onto the pick-and-place mechanism.

[0057] The pick-and-place mechanism moves out to transfer its carried goods to the target location, and then returns.

[0058] Furthermore, the step of transferring the cargo carried within the warehouse robot to the target location includes: The folding mechanism descends to contact the bottommost target cargo, and then rises carrying all the target cargo.

[0059] The picking and placing mechanism moves out to pick up the goods to be stacked, and then returns so that the goods to be stacked are located below the target goods.

[0060] The folding mechanism descends to place the target goods on top of the goods to be stacked.

[0061] The pick-and-place mechanism moves out to transfer the goods it carries to the target location, and then returns.

[0062] Furthermore, the goods carried inside the warehouse robot are transferred to the target location: The folding mechanism descends to contact the target cargo, and then rises carrying all the target cargo.

[0063] The pick-and-place mechanism moves out to retrieve the target cargo stack to be stacked, and then returns so that the target cargo stack is located below the target cargo.

[0064] The de-stacking mechanism descends to place the target goods onto the stack of target goods to be stacked.

[0065] The folding mechanism rises to connect with a certain layer of the target cargo, and then carries the certain layer of cargo and the cargo above it upwards.

[0066] The pick-and-place mechanism moves out to transfer the goods it carries to the target location, and then returns.

[0067] The warehouse robot moves to another target destination.

[0068] The pick-and-place mechanism moves out to retrieve another target stack of goods to be stacked, and then returns so that the other target stack of goods to be stacked is located below the goods carried by the de-stacking mechanism.

[0069] The folding mechanism descends to place the goods it carries onto the other stack of target goods to be stacked.

[0070] The pick-and-place mechanism moves out to transfer the goods it carries to another target location, and then returns.

[0071] Furthermore, prior to the step of the warehouse robot moving to the target handling location, the method further includes: Receive outbound task information.

[0072] Based on the outbound task information, the target handling location, target cargo information, and target destination location are determined.

[0073] The target cargo information includes the location information of the target cargo in the target cargo stack and / or the target cargo stack to be stacked.

[0074] Furthermore, the step of removing the target goods from the target goods stack and transferring them into the warehouse robot includes: The pick-and-place mechanism moves out to retrieve the target stack of goods and then returns.

[0075] The folding mechanism descends to contact the target cargo, and then carries the target cargo and the cargo above it upwards.

[0076] The pick-and-place mechanism moves out to transfer the goods it carries to the target handling location, and then returns.

[0077] The folding mechanism descends to place the goods it carries onto the pick-and-place mechanism.

[0078] Furthermore, the step of removing the target goods from the target goods stack and transferring them into the warehouse robot includes: The pick-and-place mechanism moves out to retrieve the target stack of goods and then returns.

[0079] The disassembly mechanism descends to contact the bottommost target cargo of the target cargo stack, and then carries the target cargo stack upwards.

[0080] The pick-and-place mechanism moves out to retrieve the target cargo stack to be stacked, and then returns so that the target cargo stack to be stacked is located below the target cargo stack.

[0081] The de-stacking mechanism descends to place the target goods onto the stack of target goods to be stacked.

[0082] Furthermore, the step of removing the target goods from the target goods stack and transferring them into the warehouse robot includes: The stacking mechanism continues to descend until it contacts a layer of goods in the stack of target goods to be stacked, and then carries the layer of goods and the goods above it upwards.

[0083] The pick-and-place mechanism moves out to transfer the goods it carries to the target endpoint location, and then returns.

[0084] The folding mechanism descends to place the goods it carries onto the pick-and-place mechanism.

[0085] Furthermore, the step of transferring the cargo carried within the warehouse robot to the target location includes: The folding mechanism descends to contact a certain layer of the target cargo, and then carries that layer of cargo and the cargo above it upwards.

[0086] The pick-and-place mechanism moves out to transfer the goods it carries to the target location, and then returns.

[0087] The folding mechanism descends to place the goods it carries onto the pick-and-place mechanism.

[0088] The warehouse robot moves to another target destination.

[0089] The pick-and-place mechanism moves out to transfer the goods it carries to another target location, and then returns.

[0090] Furthermore, the step of transferring the cargo carried within the warehouse robot to the target location includes: The folding mechanism descends to contact the bottommost target cargo, and then rises carrying all the target cargo.

[0091] The pick-and-place mechanism moves out to retrieve the target stack of goods to be stacked, and then returns so that the goods to be stacked are located below the target goods.

[0092] The folding mechanism descends to place the target goods on top of the goods to be stacked.

[0093] The pick-and-place mechanism moves out to transfer the goods it carries to the target location, and then returns.

[0094] Furthermore, the step of transferring the cargo carried within the warehouse robot to the target location includes: The folding mechanism descends to contact the target cargo, and then rises carrying all the target cargo.

[0095] The pick-and-place mechanism moves out to retrieve the target cargo stack to be stacked, and then returns so that the target cargo stack is located below the target cargo.

[0096] The de-stacking mechanism descends to place the target goods onto the stack of target goods to be stacked.

[0097] The folding mechanism rises to connect with a certain layer of the target cargo, and then carries the certain layer of cargo and the cargo above it upwards.

[0098] The pick-and-place mechanism moves out to transfer the goods it carries to the target endpoint location, and then returns.

[0099] The warehouse robot moves to another target destination.

[0100] The pick-and-place mechanism moves out to retrieve another target stack of goods to be stacked, and then returns so that the other target stack of goods to be stacked is located below the goods carried by the de-stacking mechanism.

[0101] The folding mechanism descends to place the goods it carries onto the other stack of target goods to be stacked.

[0102] The pick-and-place mechanism moves out to transfer the goods it carries to another target destination, and then returns.

[0103] Beneficial effects: The warehousing system provided in this application includes a picking and placing mechanism and a stacking and destacking mechanism on the warehousing robot. Both mechanisms are capable of vertical movement. The picking and placing mechanism is used to transfer stacks of goods within the warehousing robot and between storage locations or docking equipment. The stacking and destacking mechanism is used to move the target goods at the top of the warehousing robot vertically. Therefore, during outbound operations, after the warehousing robot retrieves a whole stack of goods from the shelf, the unstacking operation can be completed directly inside the warehousing robot, eliminating the need to transport the entire stack to a station outside the shelf for destacking, and also eliminating the need to transport the remaining goods back to the shelf. The entire picking and destacking process can be completed in a single picking trip. Correspondingly, during inbound operations, after the goods are directly stacked inside the warehousing robot to form a stack, the warehousing robot delivers the stack to one or more storage locations, eliminating the need to transport the stack to the storage location separately after stacking at the station. Throughout the entire outbound or inbound process, warehouse robots can perform in-vehicle depalletizing and palletizing, eliminating the need for handling equipment to make multiple trips between the shelves and the platform. This shortens the work process, reduces the ineffective back-and-forth travel of handling equipment, and effectively improves inbound and outbound efficiency. Attached Figure Description

[0104] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0105] Figure 1 This is a three-dimensional structural diagram of the warehousing system provided in the embodiments of this application; Figure 2 This is a top view of the warehousing system provided in an embodiment of this application; Figure 3 A three-dimensional structural diagram of a warehouse robot in a warehousing system provided in an embodiment of this application; Figure 4 This is a schematic diagram of the rear-side axial view of a warehouse robot in a warehousing system provided in an embodiment of this application; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 This is a schematic diagram of the front axial view of the storage robot in the storage system provided in the embodiments of this application; Figure 7 This is a schematic diagram of the front view structure of a warehouse robot in a warehousing system provided in an embodiment of this application; Figure 8 A schematic diagram of the axial view structure of a warehouse robot using arc-shaped clamping components; Figure 9 This is a three-dimensional structural diagram of a shuttle car and a lifting and transferring mechanism. Figure 10 This is a three-dimensional structural diagram of the shuttle vehicle; Figure 11 This is a three-dimensional structural diagram of a type of shelving used when employing a shuttle vehicle; Figure 12 for Figure 11 Enlarged view at point B in the middle; Figure 13 This is a schematic diagram of the main structure of a shelf in a warehousing system provided in an embodiment of this application; Figure 14 A schematic diagram illustrating the positional relationship between the reversing mechanism and the warehouse robot in a warehousing system provided in this application embodiment; Figure 15 This is a schematic diagram of the reversing mechanism in the warehousing system provided in the embodiments of this application.

[0106] Figure label: 10-First track; 20-Second track; 100-Aisle; 110-Shelf; 111-Support beam; 112-Retrieval gap; 113-First support platform; 120-Maintenance passage; 200-Warehouse robot; 201-Pick-and-place mechanism; 2011-Telescopic fork; 20111-Connecting section; 20112-Telescopic section; 2012-Shuttle; 20121-Lifting assembly; 201211-Lifting motor; 201212-Lifting transmission component; 201213-Lifting plate; 201214-Drive wheel; 201215-Guide wheel; 20122-Second support platform; 202-Folding mechanism; 2020-Suction cup assembly; 2021-Suction cup; 202 2-Cross frame; 2023-Clamping assembly; 2024-Arc-shaped clamping component; 2025-Screw; 2026-Elastic pulley; 210-Frame; 220-First traveling mechanism; 221-Drive motor; 222-Traveling wheel; 230-Loading platform; 240-Lifting frame; 250-Lifting rack; 300-Adjusting mechanism; 310-Rack; 400-Lifting and transferring mechanism; 401-Lifting part; 402-Moving part; 410-Lifting motor; 420-Lifting cam; 430-Lifting frame; 440-Transmission wheel; 500-Centering mechanism; 510-Push plate; 600-Pressing mechanism; 700-Reversing mechanism; 701-Second traveling mechanism; 710-Dating track. Detailed Implementation

[0107] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0108] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0109] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0110] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0111] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0112] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0113] The present application will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0114] Example 1 like Figures 1 to 3 The warehousing system provided in this application includes at least one aisle 100 and a warehousing robot 200. A rack 110 is provided on at least one side of the aisle 100, and multiple storage locations are formed within the rack 110 for storing stacks of goods. It is understood that a stack of goods can consist of multiple goods stacked along its height, or it can consist of a single item.

[0115] It should be noted that the stacks of goods on the shelves can be composed of goods of the same type and specifications (same length, width and height) placed vertically, with all goods placed in the same direction; or they can be stacks of goods of the same specifications but different types, but the goods not at the top of the stack and the goods at the bottom of the stack need to be temporarily stored in conjunction with empty spaces on the shelves during their retrieval and placement.

[0116] It should also be noted that each layer of goods on a single storage location can include two or more goods. The specific number of goods stored depends on the space of the storage robot 200, but the condition that must be met is that the contact surface between each two goods is parallel to the aisle. If the contact surface between each two goods cannot be set to be parallel to the aisle, a rotating mechanism can be set inside the storage robot to change the direction of the stack of goods.

[0117] The warehouse robot 200 can move back and forth along the aisle 100. The warehouse robot 200 has a pick-and-place mechanism 201 and a stacking mechanism 202, both of which can move vertically. The pick-and-place mechanism 201 is used to transfer stacks of goods within the warehouse robot 200 and between storage locations; that is, the pick-and-place mechanism 201 can both remove stacks of goods from storage locations and place them entirely into the warehouse robot 200, and also move stacks of goods from within the warehouse robot 200 entirely into storage locations.

[0118] Meanwhile, the pick-and-place mechanism 201 is also used to transfer target goods or stacks of goods within the warehouse robot 200 and between docking devices. That is, the pick-and-place mechanism 201 can transfer target goods or stacks of goods within the warehouse robot 200 to the docking device, or transfer target goods at the docking device to the warehouse robot 200. The docking device can be an AGV vehicle or a handover station, etc., used to receive and temporarily store goods, realizing the cross-device flow of goods.

[0119] The destacking mechanism 202 is used to move the target goods on top of the stack within the warehouse robot 200 along the height direction. The destacking mechanism 202 can remove the target goods from the top of the stack of goods or stack the target goods on top of the stack of goods by lifting and lowering along the height direction.

[0120] The target cargo stack includes multiple goods stacked along the height direction, and the target cargo includes at least one item.

[0121] In the warehousing system provided in this embodiment, the warehousing robot 200 is equipped with a picking and placing mechanism 201 and a folding and unfolding mechanism 202. The picking and placing mechanism 201 is responsible for the overall transfer of the stack of goods or target goods between the warehousing robot 200 and the shelf 110 or docking equipment, and the folding and unfolding mechanism 202 is responsible for the transfer of the top target goods in the warehousing robot 200.

[0122] In this structure, when a target product needs to be retrieved from a storage location, the storage robot 200 moves along the aisle 100 to the location of the target product stack. The pick-and-place mechanism 201 extends into the storage location and retrieves the entire target product stack into the storage robot 200. Subsequently, the folding mechanism 202 rises and falls vertically until it contacts the target product at the top of the storage robot 200 and removes the target product from the stack. At this point, the pick-and-place mechanism 201 can return the remaining product to the storage location. After the pick-and-place mechanism 201 returns the remaining product, the folding mechanism 202 lowers the target product and places it stably. When a product needs to be stored in a storage location, the pick-and-place mechanism 201 transfers the target product into the storage robot 200, and the folding mechanism 202 stacks the target product piece by piece into a product stack within the storage robot 200. Then, the pick-and-place mechanism 201 moves the entire product stack into the storage location.

[0123] In this embodiment, the division of labor and cooperation between the picking and placing mechanism 201 and the stacking and unstacking mechanism 202 enables efficient transfer of goods between the shelf 110 and the storage robot 200, and between the storage robot 200 and the docking equipment, as well as single-item picking, partial picking, and whole-stack picking and placing of goods within the storage robot 200. Thus, the entire process of picking, unstacking, stacking, and placing goods is completed on the storage robot 200, eliminating the need for dedicated unstacking or stacking stations outside the shelf 110, shortening the workflow, and improving storage efficiency.

[0124] Specifically, the warehouse robot 200 in this embodiment includes a frame 210, a first walking mechanism 220, and a loading platform 230. The frame 210 forms the supporting skeleton of the warehouse robot 200 and is used to support and install other components of the warehouse robot 200.

[0125] The system includes two racks 210, positioned opposite each other on the left and right sides of the storage robot 200. The left and right ends of the loading platform 230 are movably connected to the racks 210. The depalletizing and stacking operations, completed by the pick-and-place mechanism 201 and the depalletizing mechanism 202, are both performed inside the loading platform 230. This internal depalletizing and stacking of goods ensures that the overall center of gravity of the storage robot 200 and the goods lies within the plane formed between the two racks 210, and this center of gravity is lower than or below the center of the loading platform 230. This results in extremely high stability during the depalletizing and stacking of goods.

[0126] The first walking mechanism 220 is mounted on the frame 210 and is used to drive the warehouse robot 200 to move back and forth along the aisle 100. In this embodiment, the first walking mechanism 220 includes a drive motor 221 and multiple walking wheels 222. The drive motor 221 is mounted on the frame 210, and the multiple walking wheels 222 are located at the bottom of the frame 210. The drive motor 221 is connected to the multiple walking wheels 222 through a gear transmission mechanism. When the drive motor 221 rotates, it drives the walking wheels 222 to rotate through the gear transmission mechanism, thereby driving the warehouse robot 200 to move back and forth along the aisle 100.

[0127] In this embodiment, the frame 210 is equipped with multiple winches (not shown in the figure). These winches are all connected to and synchronously driven by the loading platform 230, allowing the loading platform 230 to rise and fall relative to the frame 210 in the height direction. The loading platform 230 is used to carry goods. The loading platform 230 is connected to the frame 210 via a lifting drive mechanism composed of multiple winches, thereby enabling the loading platform 230 to rise and fall relative to the frame 210.

[0128] As an alternative approach, the lifting drive mechanism can also employ a screw and nut mechanism or a chain lifting mechanism, which can also achieve the lifting drive of the loading platform 230.

[0129] The picking and placing mechanism 201 and the folding and unfolding mechanism 202 are both mounted on the loading platform 230. Since the loading platform 230 can be raised and lowered along the height direction, the picking and placing mechanism 201 and the folding and unfolding mechanism 202 mounted on the loading platform 230 can also be raised and lowered along the height direction, thereby enabling them to be aligned with different height positions or goods of different heights.

[0130] The drive motor 221 drives the walking wheels 222 to rotate via gear transmission, enabling the warehouse robot 200 to move along the aisle 100 to the target position. The loading platform 230 rises and falls vertically, driving the picking and placing mechanism 201 and the stacking and destacking mechanism 202 to rise and fall to the target height. Subsequently, the picking and placing mechanism 201 performs picking or placing operations, and the stacking and destacking mechanism 202 stacks or destacking the goods in the loading platform 230. The first walking mechanism 220 uses a motor-driven walking wheel 222, which has a simple structure and reliable transmission. The loading platform 230 can rise and fall vertically, allowing the picking and placing mechanism 201 and the stacking and destacking mechanism 202 to flexibly adapt to different heights of storage locations, improving the adaptability of the warehousing system.

[0131] Please combine Figures 3 to 6 In this embodiment, the loading and unloading mechanism 201 includes a telescopic fork 2011. The telescopic fork 2011 is disposed on the loading platform 230, and the telescopic end of the telescopic fork 2011 can move out or return relative to the loading platform 230. The extension length of the telescopic fork 2011 can be the depth of 1 loading position, the depth of 2 loading positions, or the depth of 3 loading positions.

[0132] Specifically, the telescopic fork 2011 in this embodiment has a connecting section 20111 and a telescopic section 20112. One end of the connecting section 20111 is disposed on the loading platform 230, and the other end extends horizontally. The telescopic section 20112 is connected to the connecting section 20111 and can move along the extending direction of the connecting section 20111. The movement of the telescopic section 20112 relative to the connecting section 20111 is achieved by a gear and rack mechanism 310 driven by a motor.

[0133] As an alternative implementation, the movement of the telescopic section 20112 relative to the connecting section 20111 can also be achieved via a screw 2025 nut mechanism or a chain drive mechanism.

[0134] When the telescopic fork 2011 moves out, the telescopic section 20112 extends into the storage location and inserts under the target cargo stack. When the telescopic fork 2011 returns, the telescopic section 20112 moves the target cargo stack out of the storage location and onto the loading platform 230, or moves the cargo stack on the loading platform 230 into the storage location.

[0135] When goods need to be retrieved, the loading platform 230 rises to the target height, aligning the telescopic forks 2011 with the target storage location. The telescopic section 20112 moves outward from the connecting section 20111, extending into the storage location and inserting under the target stack of goods. Then, the loading platform 230 rises to lift the telescopic section 20112, lifting the target stack of goods upward and removing it from the storage location. Subsequently, the telescopic section 20112 returns, transferring the target stack of goods onto the loading platform 230. When unloading, the telescopic section 20112 carries the stack of goods out into the storage location, the loading platform 230 descends to lower the telescopic section 20112, placing the stack of goods on the storage location, and then the telescopic section 20112 returns to the loading platform 230. The telescopic forks 2011 achieve the overall transfer of the stack of goods between the storage location and the loading platform 230 through the outward and return actions, eliminating the need for a pallet, simplifying the retrieval and unloading operations, and improving the efficiency of goods transfer.

[0136] In this embodiment, one end of the connecting section 20111 of the telescopic fork 2011 is disposed on the loading platform 230, and the other end extends horizontally. The telescopic section 20112 is connected to the connecting section 20111 and can move along the extension direction of the connecting section 20111.

[0137] In this embodiment, the telescopic section 20112 is specifically a flat plate structure. The end of the flat plate telescopic section 20112 (the end furthest from the connecting section 20111) has a thinner thickness, allowing it to be inserted between the bottom of the goods and the bottom surface of the storage location (i.e., between the bottom surface of the goods stack and the top surface of the support beam 111), thus supporting the goods from below. The upper surface of the flat plate telescopic section 20112 is flat, enabling it to form surface contact with the bottom surface of the goods, thereby stably supporting the goods.

[0138] As an alternative approach, the telescopic section 20112 can also employ a clamping structure. This clamping structure includes two opposing clamping arms positioned on either side of the cargo when gripping it. When the telescopic section 20112 moves to the location of the target cargo, the two clamping arms move towards each other from both ends of the cargo, clamping it and thus transferring it onto the loading platform 230. This clamping structure is suitable for irregularly shaped cargo or cargo that is unsuitable for bottom lifting.

[0139] The flat-plate telescopic section 20112 smoothly lifts goods from the bottom, suitable for goods with flat bottoms. The clamping telescopic section 20112 grips goods from both sides, suitable for goods with uneven bottoms or those prone to rolling. Different structures of the telescopic section 20112 can be used according to different types of goods, enabling the warehousing system to adapt to different types of goods and improving the system's versatility and adaptability.

[0140] In this embodiment, there are multiple telescopic forks 2011, which are spaced apart on the loading platform 230 along the same direction. The storage system also includes an adjustment mechanism 300, which is disposed on the loading platform 230.

[0141] In this configuration, along the direction of movement perpendicular to the telescopic forks 2011, the telescopic forks 2011 located on both sides are connected to the adjusting mechanism 300 to adjust the overall conveying width of the multiple telescopic forks 2011.

[0142] Specifically, the pitch adjustment mechanism 300 includes a rack 310, multiple gears, and multiple pitch adjustment motors. The rack 310 is arranged on the loading platform 230 along the arrangement direction of the multiple telescopic forks 2011. The multiple gears are respectively and correspondingly arranged on the connecting sections 20111 of two telescopic forks 2011 located on both sides. There are two pitch adjustment motors and two gears, which are connected one-to-one and respectively arranged on two telescopic forks 2011. Each pitch adjustment motor drives its corresponding gear to rotate, and the gear meshes with the rack 310. When a certain pitch adjustment motor drives the gear to rotate, the telescopic fork 2011 corresponding to that gear moves along the length direction of the rack 310, thereby changing the distance between that telescopic fork 2011 and the adjacent telescopic fork 2011.

[0143] In this embodiment, there are two telescopic forks 2011. The distance between the two telescopic forks 2011 can be adjusted by the pitch adjustment mechanism 300. Correspondingly, there are also two gears and pitch adjustment motors, each corresponding to one of the two telescopic forks 2011.

[0144] When handling larger goods, the adjustable-pitch motor drives the gears to rotate, moving the two telescopic forks 2011 further apart, increasing the distance to accommodate larger goods. When handling smaller goods, the two adjustable-pitch motors drive the two gears to rotate in opposite directions, moving the two telescopic forks 2011 closer together, decreasing the distance to accommodate smaller goods. After the distance is adjusted, the two telescopic forks 2011 move out or back synchronously, lifting or lowering the goods together. By adjusting the distance between the two telescopic forks 2011 through the adjustable-pitch mechanism 300, the conveying surface formed by the two telescopic forks 2011 can accommodate goods of different sizes, eliminating the need to change different picking devices for different sized goods and improving the flexibility of the warehousing system. At the same time, the two telescopic forks 2011 share the load, distributing the load and improving the stability and safety of picking.

[0145] As an feasible approach, the number of telescopic forks 2011 can be greater than two, for example, three. In this structure, the telescopic fork 2011 located in the middle position does not need to be connected to the adjusting mechanism 300. The two telescopic forks 2011 located on both sides are respectively equipped with adjusting motors and gears, so that the two telescopic forks 2011 on both sides can move closer to or further away from the telescopic fork 2011 along the rack 310, thereby realizing the width adjustment of the conveying surface formed by multiple telescopic forks 2011.

[0146] In this embodiment, the warehousing system also includes a lifting and transfer mechanism 400. The lifting and transfer mechanism 400 is movably mounted on the loading platform 230 and connected to the fixed end of the telescopic fork 2011 via a connecting component, and can move synchronously with the telescopic fork 2011 via the adjusting mechanism 300.

[0147] The lifting and transferring mechanism 400 includes a lifting section 401 and a moving section 402. The lifting section 401 is capable of moving up and down in the height direction to protrude upward or retract downward relative to the telescopic forks 2011. The moving section 402 is provided on the lifting section 401 and is capable of moving in the telescopic direction of the telescopic forks 2011.

[0148] Please combine again Figure 5Specifically, the lifting and transferring mechanism 400 in this embodiment includes a lifting motor 410, a lifting cam 420, and a lifting frame 430. The lifting motor 410 and the lifting cam 420 are mounted on the loading platform 230. The output end of the lifting motor 410 is connected to the lifting cam 420, and the lifting motor 410 drives the lifting cam 420 to rotate. The lifting frame 430 forms a lifting part 401. A transmission wheel 440 is provided on one side of the lifting frame 430, the bottom surface of the transmission wheel 440 abuts against the top surface of the lifting cam 420, and the axis of the transmission wheel 440 is parallel to the axis of the lifting cam 420. In this structure, when the lifting cam 420 rotates under the drive of the lifting motor 410, the protruding part of the lifting cam 420 pushes the transmission wheel 440 and the lifting frame 430 upward. When the recessed portion of the lifting cam 420 rotates to abut against the drive wheel 440, the drive wheel 440 and the lifting frame 430 move downward. Thus, the rotation of the lifting cam 420 can drive the lifting frame 430 to move up or down relative to the loading platform 230.

[0149] In this embodiment, the moving part 402 is specifically a conveyor belt. The conveyor belt is disposed on the top surface of the lifting frame 430. The conveyor belt extends along the extension direction of the telescopic forks 2011 and can circulate on the top surface of the lifting frame 430.

[0150] After the telescopic forks 2011 transfer the stack of goods onto the loading platform 230, the lifting motor 410 drives the lifting cam 420 to rotate. The lifting cam 420 pushes the transmission wheel 440 and the lifting frame 430 upward. The lifting frame 430 protrudes upward from the upper surface of the telescopic forks 2011, lifting the stack of goods off the telescopic forks 2011. Subsequently, the conveyor belt rotates, causing the stack of goods to move back and forth along the telescopic direction of the forks 2011, thereby adjusting the front and back position of the stack of goods on the loading platform 230 and achieving front and back centering of the stack of goods. After the position adjustment is completed, the lifting motor 410 drives the lifting cam 420 to continue rotating, the lifting frame 430 moves downward to return, and the stack of goods is once again supported on the telescopic forks 2011.

[0151] To ensure the stability of the lifting frame 430 during its ascent and descent, in this embodiment, two drive wheels 440 are provided at both the front and rear ends of each lifting frame 430 along the conveying direction of the telescopic forks 2011. Correspondingly, the same lifting motor is connected to two lifting cams 420 via a drive shaft. The positions of the two lifting cams 420 are opposite to the positions of the two drive wheels 440, thereby achieving two-point drive of the lifting frame 430 and ensuring the stability of lifting.

[0152] It should be noted that the number of drive wheels 440 and lifting cams 420 can also be greater than two.

[0153] Furthermore, in this embodiment, a lifting frame 430, its corresponding transmission wheel 440, lifting motor 410, and lifting cam 420 form a lifting structure. In this embodiment, there are multiple lifting structures, which are alternately arranged with the telescopic fork 2011 along the conveying direction perpendicular to the telescopic fork 2011. That is, in this embodiment, three lifting structures are arranged at intervals, and two telescopic forks 2011 are respectively arranged between the three lifting structures to stabilize the lifting of goods or stacks of goods.

[0154] The lifting and transferring mechanism 400 can smoothly lift the entire stack of goods from the telescopic forks 2011, detaching the stack from contact with the forks and providing conditions for adjusting the stack's position. The conveyor belt can move the stack back and forth, centering it on the loading platform 230 to ensure precise stacking and destacking operations.

[0155] In this embodiment, the warehousing system further includes a centering mechanism 500. The centering mechanism 500 has multiple movable ends, which are respectively disposed on both sides of the pick-and-place mechanism 201 in the width direction. The movable ends of the centering mechanisms 500 on both sides of the pick-and-place mechanism 201 can move towards each other.

[0156] Specifically, the centering mechanism 500 in this embodiment includes a hydraulic drive and two push plates 510. The two push plates 510 are disposed opposite each other on both sides of the loading platform 230. The hydraulic drive is mounted on the frame 210. The two push plates 510 are respectively connected to the drive end of the hydraulic drive. The hydraulic drive drives the two push plates 510 to move towards each other (i.e., move closer to each other) or away from each other (i.e., move away from each other).

[0157] When the two push plates 510 move toward each other, the two push plates 510 approach the stack of goods from both sides of the width direction of the pick-up and place mechanism 201 (i.e., perpendicular to the extension and retraction direction of the pick-up and place mechanism 201), and abut against the left and right side walls of the stack of goods respectively, thereby clamping the stack of goods between the two push plates 510, so that the stack of goods is centered in the left and right direction on the loading platform 230.

[0158] After the loading / unloading mechanism 201 transfers the stack of goods onto the loading platform 230, the hydraulic drive drives two push plates 510 to move towards each other. The two push plates 510 simultaneously approach the stack from its left and right sides until they abut against the left and right side walls of the stack. Under the push of the two push plates 510, the left-right position of the stack on the loading platform 230 is corrected to the center position. Subsequently, the hydraulic drive drives the two push plates 510 to move away from each other, disengaging from the stack and awaiting the next centering operation.

[0159] The centering mechanism 500 applies force simultaneously from both sides of the stack of goods using two push plates 510 to correct the stack of goods to the center position on the loading platform 230, so that the stack of goods is in an accurate position on the loading platform 230, so that the stacking mechanism 202 can accurately remove the top goods, reducing the risk of failure to pick up goods or the stack of goods falling apart due to the goods being tilted.

[0160] Please combine Figure 13 In this embodiment, the shelf 110 has multiple storage locations. The storage locations are arranged horizontally, and the multiple storage locations are spaced apart along the height direction. Each storage location is used to store stacks of goods.

[0161] In this embodiment, the bottom of the storage location is provided with multiple support beams 111. One end of each support beam 111 is fixedly connected to the upright of the shelf 110, and the other end extends upward. The top surface of the support beam 111 is used to abut against the bottom of the stack of goods to support the stack. Each support beam 111 extends upward in the height direction, and the multiple support beams 111 are spaced apart in the horizontal direction. The multiple support beams 111 in each storage location are located in the same horizontal plane, and the multiple support beams 111 are parallel to each other and spaced apart.

[0162] The stack of goods rests directly on the top surface of multiple support beams 111, eliminating the need for pallets. The multiple support beams 111 collectively support the stack, distributing its weight to the uprights of the shelving 110. Because the support beams 111 are spaced apart, gaps are formed between adjacent beams, allowing the picking and placing mechanism 201 to extend and lift the stack from below.

[0163] In this embodiment, goods are supported by multiple parallel and spaced support beams 111, eliminating the need for pallets and saving on pallet procurement and maintenance costs. Simultaneously, eliminating the space occupied by pallets improves the storage space utilization rate of the shelving 110. The support beams 111 are directly connected to the uprights of the shelving 110, resulting in a simple structure and clear stress distribution, thus ensuring the structural strength of the shelving 110.

[0164] It should be noted that the multiple support beams 111 in this embodiment can also support the pallet, that is, the pallet can also be used to hold goods and store them in the storage location.

[0165] Specifically, in this embodiment, the gap formed between two adjacent support beams 111 is the object retrieval gap 112. The width of the object retrieval gap 112 is greater than the width of the retrieval mechanism 201, and the height of the object retrieval gap 112 is greater than the thickness of the retrieval mechanism 201.

[0166] In this structure, the pick-and-place mechanism 201 can be inserted into the bottom of the stack of goods through the pick-and-place gap 112. Specifically, when the pick-and-place mechanism 201 (such as the telescopic section 20112 of the telescopic fork 2011) extends into the storage location, the pick-and-place mechanism 201 passes through the pick-and-place gap 112 between two adjacent support beams 111 and moves to the bottom of the stack of goods supported on the support beams 111.

[0167] After aligning with the target retrieval gap 112, the pick-and-place mechanism 201 extends horizontally into the gap. Since the width of the gap 112 is greater than the width of the pick-and-place mechanism 201, and the height of the gap 112 is greater than the thickness of the pick-and-place mechanism 201, the pick-and-place mechanism 201 can smoothly pass through the gap 112 without interfering with the support beam 111. After passing through the gap 112, the pick-and-place mechanism 201 is positioned between the bottom of the stack of goods and the top surface of the support beam 111. Subsequently, the pick-and-place mechanism 201 moves upward, lifting the stack of goods and detaching it from the support beam 111. When the pick-and-place mechanism 201 returns, it carries the target stack of goods out of the storage location.

[0168] Please combine Figures 9 to 12 There is another way to implement the picking and placing mechanism 201, namely, to use a shuttle 2012 to replace the original telescopic forks 2011 to complete the picking and placing of goods.

[0169] The number of shuttle cars 2012 can be one, two, three, or more, without limitation. If there is only one shuttle car 2012, two lifting and transferring mechanisms 400 are set up, and the shuttle car 2012 is located between the two lifting and transferring mechanisms 400. If there are two shuttle cars 2012, the first case is to set up two lifting and transferring mechanisms 400, and the two lifting and transferring mechanisms 400 are located on both sides of the two shuttle cars 2012 as a whole. The second case is to set up two lifting and transferring mechanisms 400, and the two lifting and transferring mechanisms 400 are located between the two shuttle cars. If there are n (n>2) shuttle cars 2012, two lifting and transferring mechanisms 400 can be set up, and the two lifting and transferring mechanisms 400 are located on both sides of the n shuttle cars as a whole, or n+1 lifting and transferring mechanisms 400 can be set up, and the n+1 lifting and transferring mechanisms and the n shuttle cars 2012 are arranged alternately.

[0170] Specifically, the shuttle 2012 can move by its drive wheels 201214 and be guided by the guide wheels 201215 provided on the side.

[0171] Accordingly, a first support platform 113 is provided on the loading platform 230, and a second support platform 20122 is provided on the shelf. The shuttle 2012 can travel on the first support platform 113 and the second support platform 20122, and the guide wheels 201215 guide the movement along the side walls of the first support platform 113 and the second support platform 20122.

[0172] The shuttle 2012 includes a lifting assembly 20121 for lifting goods. The lifting assembly 20121 includes a lifting motor 201211, a lifting transmission component 201212, and a lifting plate 201213. The lifting motor 201211 drives the lifting plate 201213 to move up and down through the lifting transmission component 201212.

[0173] The shuttle 2012 can be moved from the loading platform 230 of the warehouse robot to the shelf 110 or docking equipment via the first support platform 113 and the second support platform 20122, and can complete the picking and placing of goods through its configured lifting components 20121.

[0174] Please combine again Figure 4 , Figure 6 In this embodiment, the folding mechanism 202 includes at least one movable fixing part for fixing the target goods from at least one direction.

[0175] Specifically, the stacking mechanism 202 includes a suction cup assembly 2020. The suction cup assembly 2020 is mounted on the loading platform 230 and connected to a negative pressure source (such as a vacuum pump or vacuum generator). The suction end face of the suction cup assembly 2020 faces the loading platform 230, that is, the suction end face of the suction cup 2021 faces the top of the stack of goods supported on the loading platform 230. The suction end of the suction cup assembly 2020 and / or the clamping arm of the clamping assembly 2023 form the fixing part.

[0176] Specifically, the suction cup assembly 2020 includes at least one suction cup 2021. A suction cup lifting mechanism is provided on the loading platform 230, which drives the suction cup 2021 to rise and fall through the extension and retraction of the cross frame 2022. The cross frame 2022 is formed by multiple connecting rods hinged together, and its bottom end is connected to a suction cup mounting plate. The suction cup lifting mechanism can drive the cross frame 2022 to achieve its extension and retraction function, thereby causing the suction cup mounting plate to rise and fall along the height direction, and thus causing the suction cup 2021 mounted on it to move closer to or away from the top of the stack of goods. The cross frame 2022 structure has good load-bearing capacity and lifting stability, ensuring the smooth movement of the suction cup 2021 during the lifting process.

[0177] In this embodiment, multiple suction cups 2021 are provided, and the multiple suction cups 2021 are evenly and spaced apart at the bottom of the suction cup 2021 mounting plate so that the suction end of each suction cup 2021 can face the goods. The multiple suction cups 2021 are evenly distributed along the bottom surface of the suction cup 2021 mounting plate, so that the suction force between each suction cup 2021 and the top surface of the goods is evenly distributed, improving the stability of the suction.

[0178] In this embodiment, the multiple suction cups 2021 can be arranged relative to each other on the same horizontal plane along the extension direction of the telescopic fork 2011.

[0179] As an alternative approach, multiple suction cups 2021 can also be arranged relative to each other on the same horizontal plane along the extension direction perpendicular to the extension fork 2011.

[0180] When it is necessary to remove the target goods from the top of the stack, the suction cup lifting mechanism drives the suction cup mounting plate to descend, causing the suction end faces of multiple suction cups 2021 mounted at its bottom to simultaneously come into contact with the top surface of the target goods. A negative pressure source is activated, creating a negative pressure between the suction end faces of each suction cup 2021 and the top surface of the target goods, allowing the multiple suction cups 2021 to collectively adhere and fix the target goods. Subsequently, the suction cup lifting mechanism drives the suction cup mounting plate to rise, removing and lifting the target goods from the stack. When it is necessary to release the target goods, the negative pressure source stops operating or positive pressure gas is introduced into the suction cups 2021, causing the suction cups 2021 to detach from the target goods.

[0181] In this embodiment, multiple suction cups 2021 are used to achieve negative pressure adsorption to remove top-mounted goods. The retrieval action is smooth and will not damage the surface of the goods. It is suitable for goods with flat surfaces and a certain degree of sealing, such as goods packaged in cardboard boxes. The multiple suction cups 2021 are evenly distributed, ensuring uniform adsorption force and preventing deformation or damage to the surface of the goods due to excessive local adsorption force. The suction cup lifting mechanism with the cross-frame structure 2022 lifts and lowers smoothly, further ensuring the stability of the goods during the retrieval process.

[0182] In this embodiment, the folding mechanism 202 includes a clamping assembly 2023. The clamping assembly 2023 includes multiple clamping arms, which are disposed opposite to each other on both sides of the loading platform 230. Specifically, in this embodiment, there are two clamping arms, which are disposed opposite to each other on both sides of the loading platform 230. Each of the two clamping arms is connected to a driving component.

[0183] Two drive units can drive two or more clamping arms to move toward each other. That is, the drive units drive the clamping arms on one side of the loading platform 230 to move closer to or further away from the clamping arms on the other side of the loading platform 230.

[0184] It should be noted that, in this embodiment, the loading platform 230 is equipped with a height adjustment mechanism for driving the clamping arm to lift and lower. The height adjustment mechanism specifically includes a lifting motor, a lifting rack 250, and a lifting frame 240. The lifting motor is mounted on the lifting frame 240, and its output end is equipped with a gear adapted to the lifting rack 250. The lifting rack 250 is located on the loading platform 230 and extends along the height direction. The lifting frame 240 is located above the lifting and transferring mechanism 400 and the centering mechanism 500.

[0185] There are two lifting racks 250, which are respectively located on opposite sides of the loading platform 230.

[0186] Furthermore, the lifting frame 240 is equipped with a linear slide rail, and both the clamping assembly 2023 and the suction cup lifting mechanism are mounted on the linear slide rail via sliders to guide the movement path of the two clamping arms of the clamping assembly 2023, thereby achieving accurate and reliable clamping and releasing actions.

[0187] When it is necessary to remove the target goods from the top of the stack, the two clamping arms on both sides of the loading platform 230 move towards each other under the drive of their respective connected drive components, approaching the target goods from both sides until the clamping arms abut against the side walls of the target goods, thereby clamping and fixing the target goods. Subsequently, driven by the lifting motor, the clamping arms move along the lifting rack 250 to achieve an upward movement, removing the target goods from the stack. When it is necessary to release the target goods, the drive components drive the clamping arms to move in the opposite direction, disengaging the clamping arms from contact with the target goods.

[0188] The clamping assembly 2023 grips the target goods from both sides of the cargo using clamping arms, providing a stable and reliable clamping force. It is suitable for goods with uneven surfaces that are difficult to adhere to, such as goods packaged in sacks or goods with rough surfaces. In this embodiment, the clamping assembly 2023 works in conjunction with the suction cup 2021 to achieve stable adsorption and clamping of goods of various sizes and shapes.

[0189] Please combine Figure 7 In this embodiment, the warehousing system also includes a pressing mechanism 600. The pressing mechanism 600 is disposed on the loading platform 230 and located above the picking and placing mechanism 201.

[0190] The pressing mechanism 600 has a movable end. The movable end can move out or return relative to the loading platform 230 and can be raised and lowered in the height direction to press down on the top of the stack of goods when picking up or putting down goods.

[0191] Specifically, the pressing mechanism 600 includes a pressing plate and a pressing plate drive. The pressing plate drive is mounted on the loading platform 230. The drive end of the pressing plate drive is connected to the pressing plate and is used to drive the pressing plate to move out or back in the horizontal direction.

[0192] The end of the pressure plate is provided with a telescopic component. The fixed end of the telescopic component is connected to the end of the pressure plate (the end away from the pressure plate drive component). The moving end of the telescopic component extends downward in the vertical direction. The moving end of the telescopic component is the moving end of the pressing mechanism 600 to realize the pressing action.

[0193] When the pick-and-place mechanism 201 moves to the storage location to retrieve goods, the moving end of the pressing mechanism 600 moves out along with the pick-and-place mechanism 201 and is positioned at the top of the goods stack. The telescopic component descends along the height direction, causing the moving end to abut against the top of the goods stack, thereby applying downward pressure to the goods stack from above. During the process of the pick-and-place mechanism 201 removing the goods stack from the storage location, the moving end maintains pressure against the top of the goods stack. After the goods stack is completely transferred onto the loading platform 230, the moving end rises, and the pressure plate drive component drives the pressure plate back.

[0194] The moving end of the pressing mechanism 600 presses down on the top of the goods stack from above during the picking process to prevent the goods stack from falling apart due to shaking or tilting, thus ensuring the integrity of the goods stack during the picking process and improving the stability and safety of picking.

[0195] As an feasible approach, when dealing with goods whose outer walls are curved or circular, the folding mechanism 202 can employ a curved clamping assembly. The clamping end of the curved clamping assembly extends circumferentially along the loading platform 230 and forms multiple fixing parts circumferentially along the loading platform 230. The multiple fixing parts are distributed in an arc shape in the same horizontal plane, thereby adapting to the outer peripheral wall shape of circular goods (such as tires or barrel-shaped goods).

[0196] When it is necessary to remove round goods, multiple fixing parts of the arc-shaped clamping assembly approach the round goods from the outer periphery. These fixing parts are distributed along the circumference of the round goods and abut against the outer peripheral wall of the round goods from multiple directions, clamping and fixing the round goods. Subsequently, the arc-shaped clamping assembly rises and removes the round goods from the stack of goods.

[0197] Because multiple fixing parts are distributed along an arc, they can fit against the outer peripheral wall of round goods from multiple directions, making the clamping of round goods more stable. This makes it suitable for picking up round goods (such as tires, barrel-shaped goods) or irregularly shaped goods.

[0198] In this structure, the arc-shaped clamping assembly includes multiple arc-shaped clamping members 2024. These multiple arc-shaped clamping members 2024 are symmetrically arranged on both sides of the loading platform 230. The fixing portions on the multiple arc-shaped clamping members 2024 can move closer to or further away from each other; that is, the multiple fixing portions formed by the arc-shaped clamping members 2024 on both sides of the loading platform 230 can move towards each other or away from each other.

[0199] Combination Figure 8As shown, there are two arc-shaped clamping members 2024, and both ends of the arc-shaped clamping members 2024 are inclined towards the support platform. The two ends of the same arc-shaped clamping member 2024 can approach each other under the drive of the lead screw 2025. In this structure, multiple fixing parts are formed on the side of the two arc-shaped clamping members 2024 near the loading platform 230. When the ends of the multiple arc-shaped clamping members 2024 approach each other simultaneously, the fixing parts of each arc-shaped clamping member 2024 abut against the outer peripheral wall of the circular cargo from different directions.

[0200] Furthermore, in this structure, elastic pulleys 2026 can be provided at both ends of the arc-shaped clamping member 2024. The axis of the elastic pulley 2026 extends in the vertical direction. When clamping, it can reduce the friction between the pulley and the goods by rotating. At the same time, it is elastic and avoids damage to the outer wall of the goods.

[0201] When it is necessary to clamp round goods, the fixing parts of the arc-shaped clamping members 2024 on both sides of the loading platform 230 move closer to each other under the drive of the drive mechanism. Each fixing part simultaneously abuts against the outer peripheral wall of the round goods from all sides, thereby clamping and fixing the round goods. When it is necessary to release the round goods, the drive mechanism drives the arc-shaped clamping members 2024 to move away from each other, and the fixing parts disengage from the round goods.

[0202] In this structure, multiple arc-shaped clamping components 2024 are symmetrically arranged to apply force simultaneously from multiple directions on the round cargo, resulting in a uniform distribution of clamping force. This avoids applying excessive pressure to a localized area of ​​the round cargo, which could lead to deformation or damage. Simultaneously, the symmetrically arranged arc-shaped clamping components 2024 can automatically correct the round cargo to the center position of the loading platform 230, assisting in the centering process.

[0203] Please combine Figure 1 , Figure 2 In this embodiment, the storage system further includes a first track 10. The first track 10 is disposed within the aisle 100, and the extension direction of the first track 10 is the same as the extension direction of the aisle 100.

[0204] The first walking mechanism 220 is adapted to the first track 10. The walking wheels 222 of the first walking mechanism 220 roll in cooperation with the first track 10, enabling the warehouse robot 200 to move stably along the first track 10.

[0205] In this embodiment, the first track 10 is a double-track structure, that is, the first track 10 includes two parallel track beams, and the two track beams are respectively engaged with the walking wheels 222 on both sides of the first walking mechanism 220.

[0206] The first walking mechanism 220 has its walking wheels 222 supported on the first track 10. The drive motor 221 drives the walking wheels 222 to rotate through gear transmission, so that the walking wheels 222 roll along the first track 10, thereby driving the warehouse robot 200 to move back and forth along the aisle 100.

[0207] In this embodiment, the first track 10 is a double-track structure, with the walking wheels 222 cooperating with two track beams to provide a stable walking path for the warehouse robot 200. The first track 10 provides a precise walking path for the warehouse robot 200, ensuring the straightness and stability of the warehouse robot 200 when walking along the aisle 100. The double-track structure makes the force on the warehouse robot 200 balanced when walking and picking up goods, reducing swaying and shaking, and improving operational stability.

[0208] In this embodiment, the storage system further includes a second track 20. The extension direction of the second track 20 is set at an angle to the extension direction of the aisle 100. Specifically, in this embodiment, the second track 20 is located on the outside of the aisle 100 and is perpendicular to the plurality of first tracks 10.

[0209] The second track 20 is also a double-track structure, meaning it includes two parallel track beams. The angle between the extension direction of the second track 20 and the extension direction of the tunnel 100 is 90 degrees (i.e., they intersect perpendicularly). The second track 20 is located on the outer side of the end of the tunnel 100. In this embodiment, multiple tunnels 100 are provided, and the second track 20 passes through the ends of multiple tunnels 100, connecting each tunnel 100 and linking it with the first track 10 within each tunnel 100.

[0210] In this embodiment, the second track 20 serves as a reversing channel. After the warehouse robot 200 moves along the first track 10 to the end of the aisle 100, it can transfer to the second track 20, move along the second track 20 to the end of the target aisle 100, and then transfer back to the first track 10 of the target aisle 100, thereby achieving reversing across aisles 100. The warehouse robot 200 can switch between different aisles 100, realizing cross-aisle 100 scheduling of the warehouse robot 200 and improving the utilization rate of the warehouse robot 200. Furthermore, the second track 20 is located on the outside of the aisle 100, without occupying the working space inside the aisle 100, thus improving the utilization rate of warehouse space.

[0211] Please see Figure 14 , Figure 15 In this embodiment, the warehousing system further includes a reversing mechanism 700 and a second traveling mechanism 701. The reversing mechanism 700 has a docking track 710, the specifications of which are the same as those of the first track 10. The docking track 710 is used for the warehousing robot 200 to drive into or out of the reversing mechanism 700.

[0212] The second traveling mechanism 701 is mounted on the reversing mechanism 700 and adapted to the second track 20, so that the second traveling mechanism 701 drives the reversing mechanism 700 to move along the second track 20.

[0213] Specifically, in this embodiment, the reversing mechanism 700 is a reversing trolley. The reversing trolley has a body, and the docking track 710 is disposed on the top of the reversing trolley. The second traveling mechanism 701 is disposed on the bottom of the reversing trolley.

[0214] When the warehouse robot 200 needs to switch from the current aisle 100 to the target aisle 100, the reversing trolley moves along the second track 20 to the end of the current aisle 100, aligning the docking track 710 of the reversing trolley with the first track 10 within the current aisle 100. The warehouse robot 200 then moves along the first track 10 onto the docking track 710 of the reversing trolley. Subsequently, the reversing trolley moves along the second track 20 to the end of the target aisle 100, aligning the docking track 710 of the reversing trolley with the first track 10 within the target aisle 100. The warehouse robot 200 then moves along the docking track 710 out of the reversing trolley and into the first track 10 of the target aisle 100.

[0215] In this structure, the reversing trolley achieves smooth transfer of the warehouse robot 200 between the first track 10 and the second track 20 via the docking track 710. The docking track 710 has the same specifications as the first track 10, ensuring the smoothness of the warehouse robot 200 when entering and exiting the reversing trolley. The reversing trolley moves along the second track 20, enabling flexible scheduling of the warehouse robot 200 between different aisles 100, thus improving the overall operational efficiency of the warehousing system.

[0216] In addition, the warehousing system provided in this embodiment also includes a maintenance aisle 120. The maintenance aisle 120 is located on one side of the rack 110 and the aisle 100, and the maintenance aisle 120 is connected to the second track 20.

[0217] Specifically, in this embodiment, the maintenance aisle 120 is located on the outside of the shelf 110 and on one side of the extension direction of the second track 20 at the end of the multiple aisles 100. The maintenance aisle 120 is used for the storage robot 200 to park and receive maintenance and repair.

[0218] Because the maintenance aisle 120 is connected to the second track 20, the warehouse robot 200 can move autonomously from the end of the aisle 100 along the second track 20 to the maintenance aisle 120 when it completes its work or requires periodic maintenance. Maintenance personnel can perform electrical testing, mechanical component replacement, and software debugging on the warehouse robot 200 within the maintenance aisle 120. In this embodiment, by setting up the maintenance aisle 120 connected to the second track 20, the warehouse robot 200 can move autonomously to the maintenance area without the need for additional transport equipment or manual pushing, reducing the labor intensity of maintenance work. Simultaneously, the maintenance aisle 120 is located on one side of the rack 110 and aisle 100, without occupying the storage space inside the rack 110 or the working space of the aisle 100, which helps improve the utilization rate of warehouse space. Furthermore, the reversing trolley can directly move to the maintenance area without the need for a dedicated maintenance aisle 120 entrance, further improving the space utilization efficiency and maintenance convenience of the warehousing system.

[0219] In this embodiment, a guide assembly is provided on the top of the frame 210. A guide member is installed within the aisle 100, extending in the same direction as the aisle 100 and adapted to the guide assembly. The guide member cooperates with the guide assembly to provide auxiliary guidance when the warehouse robot 200 moves along the aisle 100, preventing lateral swaying or tilting during movement or retrieval, and further improving the stability of the warehouse robot 200's operation.

[0220] Specifically, the guiding assembly in this embodiment includes multiple guide wheels. The guide component is a ceiling rail erected above the tunnel 100. The ceiling rail is fixedly installed above the tunnel 100, erected along the extension direction of the tunnel 100, and has a rectangular cross-section with a certain thickness.

[0221] In the guiding assembly, two guide wheels are spaced apart to form a guiding structure. The axes of the two guide wheels in the same guiding structure are parallel to each other, and the distance between the two guide wheels is approximately the same as the thickness of the overhead track. Thus, when the overhead track is embedded between the two guide wheels, the two guide wheels abut against or gap fit with the side walls of the overhead track, thereby constraining and guiding the walking direction of the warehouse robot 200.

[0222] Two guide structures are provided, parallel and spaced apart at both ends of the top of the frame 210. Specifically, one guide structure is located at one end of the top of the frame 210, and the other is parallel to it at the other end. The line connecting the two guide structures runs in the same direction as the width of the aisle 100. After the storage robot 200 enters the aisle 100, both guide structures simultaneously cooperate with the overhead rail to guide and constrain the storage robot 200 from both ends of the top of the frame 210.

[0223] When the warehouse robot 200 moves along the aisle 100, the overhead track is embedded between the two guide wheels of each guide structure. The two guide wheels abut against the sidewalls of the overhead track from both sides. If the warehouse robot 200 exhibits a lateral swaying tendency during movement, the sidewall of the overhead track abuts against the corresponding guide wheel, and the guide wheel exerts a reaction force on the overhead track, thereby constraining the walking direction of the warehouse robot 200 and preventing lateral deviation. When the warehouse robot 200 performs a picking operation, the picking and placing mechanism 201 moves out of the loading platform 230 and carries the stack of goods. The center of gravity of the warehouse robot 200 may shift. At this time, the cooperation between the overhead track and the guide structure can resist the tilting moment generated by the shift in the center of gravity, preventing the warehouse robot 200 from tilting.

[0224] In this embodiment, the guide component works with the overhead rail to provide guidance and anti-tilt function, providing auxiliary guidance and anti-tilt function during the walking and picking process of the warehouse robot 200. This ensures the straightness and stability of the warehouse robot 200 when walking in the aisle 100. In particular, when the picking and placing mechanism 201 moves out and carries heavy goods during the picking process, it can prevent the warehouse robot 200 from tilting due to the shift of the center of gravity, thus improving the safety and reliability of the operation.

[0225] Example 2 The method for the warehousing system provided in this embodiment is applied to the warehousing system provided in Embodiment 1 above. The method includes the following steps: S100: The warehouse robot moves to the target handling location.

[0226] S200: Remove the target goods from the target goods stack and transfer them into the warehouse robot.

[0227] S300: The warehouse robot moves to the target destination.

[0228] S400: Transfers the cargo carried in the warehouse robot to the target location.

[0229] The target goods include at least one type of goods.

[0230] Understandably, the target cargo stack comprises multiple goods stacked along the height direction.

[0231] Specifically, firstly, the target handling location is determined according to the task instructions issued by the warehouse management system. The target handling location can be the location of the target goods stack to be retrieved, or the location of the target goods to be stored. The first walking mechanism 220 is started, and the drive motor 221 drives the walking wheel 222 to rotate through gear transmission, and the warehouse robot 200 moves along the first track 10 to the target handling location.

[0232] When the target handling location is the location of the stack of goods to be retrieved, the target destination location can be the location of the docking equipment. This process is called goods outbound.

[0233] When the target handling location is the location of the target goods to be stored, that is, the target handling location can be the location of the docking equipment, the target destination location can be the location corresponding to the storage location used to store the goods. This process is called goods warehousing.

[0234] The docking equipment can be an AGV (Automated Guided Vehicle) or a handover platform.

[0235] Specifically, the control mechanism 201 transfers the goods it carries to the docking equipment. The transfer method can be: the control mechanism 201 moves out and pushes the target goods carried on it to the docking equipment; or the picking mechanism on the docking equipment takes the target goods away from the control mechanism 201.

[0236] Through the above steps, the warehousing system method provided in this embodiment realizes a complete outbound process for target goods from shelf 110 to warehousing robot 200 and then to docking equipment, as well as an inbound process for target goods from docking equipment to warehousing robot 200 and then to shelf 110. Throughout the outbound and inbound processes, the depalletizing or stacking is completed inside warehousing robot 200 through the coordinated operation of pick-and-place mechanism 201 and depalletizing mechanism 202, eliminating the need for a depalletizing station outside shelf 110, thus shortening the operation process and improving outbound / inbound efficiency. Target goods can include at least one item, meaning single-item outbound / inbound or multiple-item outbound / inbound can be performed simultaneously, improving the flexibility of outbound / inbound operations.

[0237] In this embodiment, step S100, before the warehouse robot moves to the target handling location, further includes: S10: Receive inbound task information; S20: Based on the inbound task information, determine the target handling location, target cargo information, and target destination location; The target cargo information includes the location information of the target cargo in the target cargo stack and / or the target cargo stack to be stacked.

[0238] In this embodiment, before the warehouse robot 200 moves to the target handling location, the control system of the warehouse robot 200 first receives outbound task information from the warehouse management system. The outbound task information includes at least the location information of the storage location corresponding to the goods to be outbound, the location information of the goods to be outbound in the stack of goods, and the location information of the outbound destination.

[0239] The information includes the location of the goods to be shipped, which is the target handling location, used to determine which location the warehouse robot 200 needs to go to for retrieval. The location of the goods within the stack is the target goods information, specifically indicating the height and layer position of the target goods within the stack. For example, "first item from top to bottom" means the target goods are the first item at the top of the stack, and "first three items from top to bottom" means the target goods are the three items at the top of the stack from top to bottom. This location information is used to determine the quantity of goods that the folding mechanism 202 needs to retrieve and the lifting stroke of the folding mechanism 202. The destination location information, or target endpoint location, is used to determine which docking device the warehouse robot 200 needs to transfer the target goods to after retrieval.

[0240] After determining the above information, the control system of the warehouse robot 200 plans the walking path according to the target handling location, determines the quantity of goods to be picked up by the folding mechanism 202 and the lifting stroke according to the target goods information, and plans the delivery path according to the target destination location.

[0241] By receiving outbound task information and determining the target handling location, target cargo information, and target destination location, the warehouse robot 200 can automatically obtain the location and cargo information required for the outbound operation, eliminating the need for manual input. The target cargo information includes the location information of the target cargo within the target cargo stack, enabling the warehouse robot 200 to determine the number of actions and lifting height of the dismantling mechanism 202 based on the layer number of the target cargo, thereby accurately retrieving the target cargo.

[0242] In one embodiment of this invention, step S200, which involves retrieving the target goods from the target goods stack into the warehouse robot, includes: S201: The pick-and-place mechanism moves out to retrieve the target stack of goods and then returns.

[0243] S202: The folding mechanism descends to contact the target cargo, and then carries the target cargo and the cargo above it upwards.

[0244] S203: The pick-and-place mechanism moves out to transfer the goods it carries to the target handling location, and then returns.

[0245] S204: The folding mechanism descends to place the goods it carries onto the pick-and-place mechanism.

[0246] Specifically, first, the telescopic section 20112 of the telescopic fork 2011 is moved out to the bottom of the target cargo stack, and the pick-and-place mechanism 201 is raised so that the upper surface of the telescopic section 20112 abuts against the bottom surface of the target cargo stack and lifts the target cargo stack upward and returns it into the warehouse robot 200.

[0247] Subsequently, the control mechanism 202 (suction cup 2021 or clamping assembly 2023) moves downward along the height direction, so that the control mechanism 202 contacts and establishes a connection relationship (adsorption or clamping) with the top goods of the target stack.

[0248] Afterwards, the disassembly mechanism 202 fixes the target goods at the top and moves upward along the height direction to remove the target goods from the target goods stack, thus separating the target goods from the remaining goods in the target goods stack.

[0249] Then, after the target goods are taken away, the remaining goods on the stack of goods are placed on the pick-and-place mechanism 201. The pick-and-place mechanism 201 is then moved out to transfer the remaining goods back to the original docking equipment and then back into the warehouse robot.

[0250] Finally, the control mechanism 202 carries the target goods downward along the height direction, so that the bottom surface of the bottom layer of the target goods abuts against the top surface of the pick-and-place mechanism 201. The disassembly mechanism 202 releases the target goods, and the stack of target goods is supported on the pick-and-place mechanism 201.

[0251] In this embodiment, through the above steps, the pick-and-place mechanism 201 removes the entire target goods stack from the shelf 110, and the destacking mechanism 202 removes the target goods from the top of the goods stack. Then, the pick-and-place mechanism 201 moves the remaining goods back to the original docking equipment. Thus, the entire destacking operation is completed on the warehouse robot 200, eliminating the need to transport the entire goods stack to the destacking station for destacking, reducing the number of back-and-forth movements of the warehouse robot 200. Simultaneously, removing the target goods from the top of the goods stack eliminates the need to rummage through other goods, making the retrieval operation more direct.

[0252] In one embodiment of this invention, step S200, which involves retrieving the target goods from the target goods stack into the warehouse robot, includes: S201: The pick-and-place mechanism moves out to retrieve the target stack of goods and then returns.

[0253] S202: The stacking mechanism descends to contact the bottom layer of the target cargo stack, and then carries the target cargo stack upward.

[0254] S203: The pick-and-place mechanism moves out to pick up the target cargo stack to be stacked, and then returns so that the target cargo stack to be stacked is below the target cargo stack.

[0255] S204: The destacking mechanism descends to place the target goods onto the stack of target goods to be stacked.

[0256] S205: The pick-and-place mechanism moves out to transfer the goods it carries to the target handling location, and then returns.

[0257] Specifically, first, the telescopic section 20112 of the telescopic fork 2011 is moved out to the bottom of the target cargo stack, and the pick-and-place mechanism 201 is raised so that the upper surface of the telescopic section 20112 abuts against the bottom surface of the target cargo stack and lifts the target cargo stack upward and returns it into the warehouse robot 200.

[0258] Next, control the disassembly mechanism 202 (suction cup 2021 or clamping assembly 2023) to move downward along the height direction, so that the disassembly mechanism 202 contacts and establishes a connection relationship (adsorption or clamping) with the bottom layer of the target goods stack; after the disassembly mechanism 202 fixes the bottom layer of the target goods stack, control the disassembly mechanism 202 to move upward along the height direction, so as to lift the entire target goods stack.

[0259] Next, control the warehouse robot to move to another target handling location.

[0260] Then, control the pick-and-place mechanism 201 to move out to the bottom of the target goods stack to be stacked, control the pick-and-place mechanism 201 to rise, so that the upper surface of the telescopic section 20112 abuts against the bottom surface of the target goods stack to be stacked and lifts the target goods stack to be stacked upward; control the telescopic section 20112 to carry the target goods stack to be stacked back into the storage robot.

[0261] Finally, the destacking mechanism 202 (suction cup 2021 or clamping assembly 2023) is controlled to move downwards along the height direction. The destacking mechanism 202 carries the target goods stack downwards along the height direction, so that the bottom surface of the target goods stack abuts against the top surface of the goods stack to be stacked. The destacking mechanism 202 releases the target goods stack, allowing it to rest on the goods stack to be stacked. The target goods stack and the goods stack to be stacked are stacked together to form a new goods stack, completing the stacking operation of goods within the warehouse robot 200.

[0262] In this embodiment, after the target goods stack is lifted by the dismantling mechanism 202 through the above steps, the picking and placing mechanism 201 can obtain the goods stack to be stacked and place it below the target goods stack. Then, the dismantling mechanism 202 descends and places the target goods stack on the goods stack to be stacked, realizing the stacking of goods within the storage robot 200. By repeating the above steps multiple times, multiple goods can be stacked one by one to form a new goods stack, and the entire stacking process is completed within the storage robot 200.

[0263] The above-described embodiments also include: S206: The destacking mechanism continues to descend until it contacts a layer of goods in the stack of target goods to be stacked, and then carries the layer of goods and the goods above it upward.

[0264] S207: The pick-and-place mechanism moves out to transfer the goods it carries to the target location, and then returns.

[0265] S208: The folding mechanism descends to place the goods it carries onto the pick-and-place mechanism.

[0266] Specifically, firstly, based on the previous embodiment, the disassembly mechanism 202 is controlled to continue moving downward along the height direction, so that the disassembly mechanism 202 contacts and establishes a connection with a certain layer of goods in the new goods stack (formed by stacking the target goods stack and the target goods stack to be stacked). The connection is specifically the clamping of the goods by the clamping component 2023.

[0267] Secondly, the control mechanism 202 fixes a certain layer of goods in the new goods stack and moves upward along the height direction to remove the target goods from the new goods stack, thus separating the target goods from the remaining goods in the new goods stack.

[0268] Next, the control mechanism 201 moves out, transfers the remaining goods back to the original docking equipment, and then retracts back into the storage robot 200.

[0269] Finally, the control mechanism 202 moves the target goods downward along the height direction, so that the bottom surface of the target goods at the bottom layer comes into contact with the top surface of the pick-and-place mechanism 201, and the folding mechanism 202 releases the goods it carries onto the pick-and-place mechanism 201.

[0270] In this embodiment, through the above steps, after the target goods stack is lifted by the destacking mechanism 202, the pick-and-place mechanism 201 can obtain the goods stack to be stacked and place it below the target goods stack. Then, the destacking mechanism 202 descends to stack the target goods stack on the goods stack to be stacked, and then continues to descend. After fixing a certain layer of goods in the goods stack to be stacked, it rises, carrying the target goods (i.e., the certain layer of goods and the goods above it) to rise. This realizes the destacking of a new goods stack composed of multiple goods stacks in the warehouse robot 200, reducing the number of back-and-forth handling times of the warehouse robot 200.

[0271] In one embodiment of this invention, step S400, transferring the cargo carried within the warehouse robot to the target location, includes: S401: The folding mechanism descends to contact a certain layer of goods in the target cargo, and then carries the certain layer of goods and the goods above it upwards; S402: The pick-and-place mechanism moves out to transfer the goods it carries to the target location, and then returns; S403: The folding mechanism lowers to place the goods it carries onto the pick-and-place mechanism; S404: The warehouse robot moves to another target destination; S405: The pick-and-place mechanism moves out to transfer the goods it carries to another target location, and then returns.

[0272] Specifically, firstly, the de-folding mechanism 202 (suction cup 2021 or clamping assembly 2023) is controlled to move downward along the height direction, so that the de-folding mechanism 202 contacts and establishes a connection with a certain layer of goods in the target goods. This connection can be the suction cup adsorbing the goods or the clamping assembly 2023 clamping the goods.

[0273] Secondly, after the control disassembly mechanism 202 fixes a certain layer of goods in the target goods, it moves upward along the height direction to remove the certain layer of goods and the goods above it from the target goods, so that the certain layer of goods and the goods above it are separated from the remaining goods of the target goods.

[0274] Next, control the removal and placement mechanism 201 to move the goods it carries to the storage location.

[0275] Then, the control mechanism 202 moves downward along the height direction with the cargo it carries (i.e., a layer of cargo in the target cargo and the cargo above it), so that the bottom surface of the cargo it carries comes into contact with the top surface of the pick-and-place mechanism 201, and the folding mechanism 202 releases the cargo it carries onto the pick-and-place mechanism 201.

[0276] Finally, control the warehouse robot 200 to move to another target destination (i.e. another storage location), and then control the pick-and-place mechanism 201 to place the goods it carries at the other target location.

[0277] In this embodiment, after the destacking mechanism 202 removes a portion of the target goods (already located inside the warehouse robot) from the top, the pick-and-place mechanism 201 transfers the remaining target goods to the storage location. Then, the destacking mechanism 202 lowers with the target goods it carries and releases them onto the pick-and-place mechanism 201. Thus, the entire destacking operation is completed within the warehouse robot 200, eliminating the need for a separate destacking station and reducing the number of back-and-forth movements by the warehouse robot 200. Simultaneously, removing the target goods from the top of the stack of goods eliminates the need to tamper with other goods, making the placement operation more direct.

[0278] In one embodiment of this invention, step S400, transferring the cargo carried within the warehouse robot to the target location, includes: S401: The folding mechanism descends to contact the target cargo at the bottom layer, and then rises carrying all the target cargo; S402: The pick-and-place mechanism moves out to pick up the target stack of goods to be stacked, and then returns so that the goods to be stacked are below the target goods; S403: The de-stacking mechanism descends to stack the target goods on top of the goods to be stacked; S404: The pick-and-place mechanism moves out to transfer the goods it carries to the target location and then returns.

[0279] Specifically, firstly, the destacking mechanism 202 is controlled to move downward along the height direction, so that the destacking mechanism 202 comes into contact with the target goods at the bottom and establishes a connection.

[0280] Secondly, after the control folding mechanism 202 fixes the bottom layer of target goods, it moves all the target goods upwards along the height direction and separates them from the pick-up and put-down mechanism 201.

[0281] Next, the telescopic section 20112 of the control pick-up and place mechanism 201 is moved out, so that the telescopic section 20112 passes through the pick-up gap 112 between two adjacent support beams 111 and is inserted between the bottom of the target stack of goods to be stacked and the top surface of the support beam 111.

[0282] Then, control the picking and placing mechanism 201 to rise, so that the upper surface of the telescopic section 20112 abuts against the bottom surface of the target goods stack to be stacked and lifts the target goods stack upward, so that the bottom surface of the target goods stack to be stacked is separated from the top surface of the support beam 111. Control the telescopic section 20112 to carry the target goods stack to be stacked through the picking gap 112 and return to the storage robot.

[0283] Next, the destabilizing mechanism 202 moves downwards along the height direction, carrying all the target goods downwards until the bottom surface of the target goods contacts the top surface of the stack of target goods to be stacked. The destabilizing mechanism 202 releases all the target goods, allowing them to rest on the stack of target goods to be stacked. The target goods and the stack of target goods to be stacked are then stacked together to form a new stack, completing the stacking operation of the goods within the warehouse robot 200 during unloading.

[0284] Finally, the control mechanism 201 moves out and transfers the goods it carries (i.e., the new stack of goods) to the storage location.

[0285] In this embodiment, after the disassembly mechanism 202 removes all the target goods (already located inside the storage robot), the pick-and-place mechanism 201 retrieves the stack of target goods to be stacked from the storage location and places the target goods on top of the stack through the disassembly mechanism 202, forming a new stack. This achieves the stacking of goods within the storage robot 200 during the placement process. After stacking is completed, the pick-and-place mechanism 201 moves the new stack of goods to the storage location. By repeating the above steps multiple times, multiple goods can be stacked one by one to form a new stack of goods. The entire stacking process is completed within the storage robot 200.

[0286] The above-described embodiments also include: S405: The warehouse robot moves to another target destination; S406: The pick-and-place mechanism moves out to pick up another target stack of goods to be stacked, and then returns so that the other target stack of goods to be stacked is below the goods carried by the destabilizing mechanism; S407: The destacking mechanism descends to place the goods it carries onto another stack of goods to be stacked; S408: The pick-and-place mechanism moves out to transfer the goods it carries to another target location, and then returns.

[0287] Specifically, firstly, based on the above implementation method, the warehouse robot 200 is controlled to move to another target destination (i.e., another storage location).

[0288] Next, the telescopic section 20112 of the control pick-up and place mechanism 201 is moved out, so that the telescopic section 20112 passes through the pick-up gap 112 between two adjacent support beams 111 and is inserted between the bottom of the target stack of goods to be stacked and the top surface of the support beam 111.

[0289] Then, the lifting and placing mechanism 201 is raised so that the upper surface of the telescopic section 20112 abuts against the bottom surface of another stack of target goods to be stacked and lifts the other stack of target goods to be stacked upward, so that the bottom surface of the other stack of target goods to be stacked is separated from the top surface of the support beam 111. The telescopic section 20112 is then controlled to carry the other stack of target goods to be stacked through the picking gap 112 back into the storage robot, so that the other stack of target goods to be stacked is located below the goods carried by the stacking mechanism 202 (i.e., a certain layer of goods in the target goods and the goods above it).

[0290] Next, the destabilizing mechanism 202 moves downwards along the height direction, carrying the loaded goods downwards until the bottom surface of the loaded goods contacts the top surface of another stack of goods to be stacked. The destabilizing mechanism 202 releases all the loaded goods, allowing them to be placed on another stack of goods to be stacked. The loaded goods and the other stack of goods to be stacked together form a new stack, completing the stacking operation of goods within the warehouse robot 200 during unloading.

[0291] Finally, the control mechanism 201 moves out and transfers the goods it carries (i.e., the new stack of goods) to the storage location.

[0292] In this embodiment, after the stacking mechanism 202 secures all target goods (already located within the storage robot 200) and rises, the pick-and-place mechanism 201 transfers the stack of target goods to be stacked from the storage location to the storage robot 200. The stacking mechanism 202 then places the target goods on top of the stack, forming a new stack. The stacking mechanism 202 secures a portion of the goods in the new stack and lifts that portion upwards, while the remaining target goods are transferred to the storage location. The storage robot then moves to another storage location, where the pick-and-place mechanism 201 retrieves another stack of target goods to be stacked from that location. The stacking mechanism 202 lowers with the carried target goods and releases them onto the top of another stack of target goods below. Finally, the pick-and-place mechanism 201 transfers all the goods to the other storage location. Thus, the entire stacking and destacking operation is completed within the storage robot 200, eliminating the need for a separate stacking and destacking station and reducing the number of reciprocating movements required by the storage robot 200. At the same time, the target goods can be removed from the top of the stack of goods without having to turn over other goods, making the loading and unloading operation more direct.

[0293] Through the above steps, the goods to be received are transferred from the docking equipment to the warehouse robot 200, where they are stacked to form a pallet. Finally, the warehouse robot 200 moves the entire pallet to the storage location. The entire stacking and destacking operation is completed on the warehouse robot 200, eliminating the need for an additional stacking and destacking station outside the rack 110. The entire pallet is moved into the storage location, reducing the number of times the warehouse robot 200 travels between the storage location and the docking equipment.

[0294] In this embodiment, step S100, before the warehouse robot moves to the target handling location, further includes: S11: Receive outbound task information.

[0295] S21: Based on the outbound task information, determine the target handling location, target cargo information, and target destination location.

[0296] The target cargo information includes the location information of the target cargo in the target cargo stack and the target cargo stack to be stacked.

[0297] In this embodiment, before the warehouse robot 200 moves to the target handling location, the control system of the warehouse robot 200 first receives outbound task information from the warehouse management system. The outbound task information includes at least the location information of the storage location corresponding to the goods to be outbound, the location information of the goods to be outbound in the stack of goods, and the location information of the outbound destination.

[0298] The information includes the location of the goods to be shipped, which is the target handling location, used to determine which location the warehouse robot 200 needs to go to for retrieval. The location of the goods within the stack is the target goods information, specifically indicating the height and layer position of the target goods within the stack. For example, "first item from top to bottom" means the target goods are the first item at the top of the stack, and "first three items from top to bottom" means the target goods are the three items at the top of the stack from top to bottom. This location information is used to determine the quantity of goods that the folding mechanism 202 needs to retrieve and the lifting stroke of the folding mechanism 202. The destination location information, or target endpoint location, is used to determine which docking device the warehouse robot 200 needs to transfer the target goods to after retrieval.

[0299] After determining the above information, the control system of the warehouse robot 200 plans the walking path according to the target handling position, determines the quantity of goods to be picked up by the folding mechanism 202 and the lifting stroke according to the target goods information, and plans the delivery path according to the target destination position.

[0300] By receiving outbound task information and determining the target handling location, target cargo information, and target destination location, the warehouse robot 200 can automatically obtain the location and cargo information required for the outbound operation, eliminating the need for manual input. The target cargo information includes the location information of the target cargo within the target cargo stack, enabling the warehouse robot 200 to determine the number of actions and lifting height of the dismantling mechanism 202 based on the layer number of the target cargo, thereby accurately retrieving the target cargo.

[0301] In one embodiment of this invention, step S200, which involves retrieving the target goods from the target goods stack into the warehouse robot, includes: S211: The pick-and-place mechanism moves out to retrieve the target stack of goods and then returns.

[0302] S212: The folding mechanism descends to contact the target cargo, and then carries the target cargo and the cargo above it upwards.

[0303] S213: The pick-and-place mechanism moves out to transfer the goods it carries to the target handling location, and then returns.

[0304] S214: The folding mechanism descends to place the goods it carries onto the pick-and-place mechanism.

[0305] Specifically, firstly, the telescopic section 20112 of the telescopic fork 2011 is moved out, so that the telescopic section 20112 passes through the picking gap 112 between two adjacent support beams 111 and is inserted between the bottom of the target cargo stack and the top surface of the support beam 111.

[0306] Secondly, control the lifting and placing mechanism 201 to rise, so that the upper surface of the telescopic section 20112 abuts against the bottom surface of the target cargo stack and lifts the target cargo stack upward, so that the bottom surface of the target cargo stack is separated from the top surface of the support beam 111.

[0307] Next, the telescopic section 20112 is controlled to carry the target cargo stack through the retrieval gap 112 back into the storage robot.

[0308] Subsequently, the control mechanism 202 (suction cup 2021 or clamping assembly 2023) moves downward along the height direction, so that the control mechanism 202 contacts and establishes a connection relationship (adsorption or clamping) with the top goods of the target stack.

[0309] Afterwards, the disassembly mechanism 202 fixes the target goods at the top and moves upward along the height direction to remove the target goods from the target goods stack, thus separating the target goods from the remaining goods in the target goods stack.

[0310] Then, after the target goods are taken away, the remaining goods on the stack are carried on the pick-and-place mechanism 201. The pick-and-place mechanism 201 is moved out to transfer the remaining goods back to their original storage location. After placing the remaining goods on the support beam 111, the pick-and-place mechanism 201 retracts and returns to the storage robot.

[0311] Finally, the control mechanism 202 carries the target goods downward along the height direction, so that the bottom surface of the bottom layer of the target goods abuts against the top surface of the pick-and-place mechanism 201. The disassembly mechanism 202 releases the target goods, and the stack of target goods is supported on the pick-and-place mechanism 201.

[0312] In this embodiment, through the above steps, the pick-and-place mechanism 201 removes the entire target goods stack from the shelf 110, the destacking mechanism 202 removes the target goods from the top of the goods stack, and then the pick-and-place mechanism 201 moves the remaining goods back to the storage location. Thus, the entire destacking operation is completed on the warehouse robot 200, eliminating the need to transport the entire goods stack to the destacking station outside the shelf 110 for destacking, reducing the number of back-and-forth movements by the warehouse robot 200. Simultaneously, removing the target goods from the top of the goods stack eliminates the need to rummage through other goods, making the retrieval operation more direct.

[0313] In one embodiment of this invention, step S200, which involves retrieving the target goods from the target goods stack into the warehouse robot, includes: S211: The pick-and-place mechanism moves out to retrieve the target stack of goods and then returns.

[0314] S212: The stacking mechanism descends to contact the bottom layer of the target cargo stack, and then carries the target cargo stack upward.

[0315] S213: The pick-and-place mechanism moves out to pick up the target cargo stack to be stacked, and then returns so that the target cargo stack to be stacked is below the target cargo stack.

[0316] S214: The destacking mechanism descends to place the target goods onto the stack of target goods to be stacked.

[0317] Specifically, firstly, the telescopic section 20112 of the telescopic fork 2011 is moved out, so that the telescopic section 20112 passes through the picking gap 112 between two adjacent support beams 111 and is inserted between the bottom of the target cargo stack and the top surface of the support beam 111.

[0318] Next, control the lifting and placing mechanism 201 to rise, so that the upper surface of the telescopic section 20112 abuts against the bottom surface of the target cargo stack and lifts the target cargo stack upward, so that the bottom surface of the target cargo stack is separated from the top surface of the support beam 111. Control the telescopic section 20112 to carry the target cargo stack through the picking gap 112 and return to the storage robot.

[0319] Next, control the disassembly mechanism 202 (suction cup 2021 or clamping assembly 2023) to move downward along the height direction, so that the disassembly mechanism 202 contacts and establishes a connection relationship (adsorption or clamping) with the bottom layer of the target goods stack; after the disassembly mechanism 202 fixes the bottom layer of the target goods stack, control the disassembly mechanism 202 to move upward along the height direction, so as to lift the entire target goods stack.

[0320] Then, control the warehouse robot to move to another target handling location.

[0321] Finally, control the pick-and-place mechanism 201 to move out and insert into the pick-and-place gap 112 of another target handling position, control the pick-and-place mechanism 201 to rise, so that the upper surface of the telescopic section 20112 abuts against the bottom surface of the target goods stack to be stacked and lifts the target goods stack to be stacked upward; control the telescopic section 20112 to carry the target goods stack to be stacked back into the storage robot.

[0322] Finally, the destacking mechanism 202 (suction cup 2021 or clamping assembly 2023) is moved downwards along the height direction. The destacking mechanism 202 carries the target goods stack downwards along the height direction, so that the bottom surface of the target goods stack abuts against the top surface of the goods stack to be stacked. The destacking mechanism 202 releases the target goods stack, which is then placed on top of the goods stack to be stacked. The target goods stack and the goods stack to be stacked are stacked together to form a new goods stack, completing the stacking operation of goods within the warehouse robot 200.

[0323] In this embodiment, after the target goods stack is lifted by the dismantling mechanism 202 through the above steps, the picking and placing mechanism 201 can obtain the goods stack to be stacked and place it below the target goods stack. Then, the dismantling mechanism 202 descends and places the target goods stack on the goods stack to be stacked, realizing the stacking of goods within the storage robot 200. By repeating the above steps multiple times, multiple goods can be stacked one by one to form a new goods stack, and the entire stacking process is completed within the storage robot 200.

[0324] The above-described embodiments also include: S216: The stacking mechanism continues to descend until it contacts a layer of goods in the stack of target goods to be stacked, and then carries the layer of goods and the goods above it upward.

[0325] S217: The pick-and-place mechanism moves out to transfer the goods it carries to the target destination location, and then returns.

[0326] S218: The folding mechanism descends to place the goods it carries onto the pick-and-place mechanism.

[0327] Specifically, firstly, based on the above implementation method, the disassembly mechanism 202 is controlled to continue moving downward along the height direction, so that the disassembly mechanism 202 contacts and establishes a connection relationship with a certain layer of goods in the new goods stack (formed by stacking the target goods stack and the target goods stack to be stacked). The connection relationship is specifically the clamping of the goods by the clamping component 2023.

[0328] Secondly, the control mechanism 202 fixes a certain layer of goods in the new goods stack and moves upward along the height direction to remove the target goods from the new goods stack, thus separating the target goods from the remaining goods in the new goods stack.

[0329] Next, the pick-and-place mechanism 201 is moved out to transfer the remaining goods back to their original storage location. After placing the remaining goods on the support beam 111, the pick-and-place mechanism 201 retracts and returns to the storage robot.

[0330] Finally, the control mechanism 202 carries the target goods downward along the height direction, so that the bottom surface of the bottom layer of target goods abuts against the top surface of the pick-and-place mechanism 201. The control mechanism 202 releases the target goods stack, and the target goods stack is supported on the pick-and-place mechanism 201.

[0331] In this embodiment, through the above steps, after the target goods stack is lifted by the destacking mechanism 202, the pick-and-place mechanism 201 can obtain the goods stack to be stacked and place it below the target goods stack. Then, the destacking mechanism 202 descends to stack the target goods stack on the goods stack to be stacked, and then continues to descend. After fixing a certain layer of goods in the goods stack to be stacked, it rises, carrying the target goods (i.e., the certain layer of goods and the goods above it) to rise. This realizes the destacking of a new goods stack composed of multiple goods stacks in the warehouse robot 200, reducing the number of back-and-forth handling times of the warehouse robot 200.

[0332] In one embodiment of this invention, step S400, transferring the cargo carried within the warehouse robot to the target location, includes: S411: The folding mechanism descends to contact a certain layer of goods in the target cargo, and then carries that layer of goods and the goods above it upwards; S412: The pick-and-place mechanism moves out to transfer the goods it carries to the target location, and then returns; S413: The folding mechanism lowers to place the goods it carries onto the pick-and-place mechanism; S414: The warehouse robot moves to another target destination; S415: The pick-and-place mechanism moves out to transfer the goods it carries to another target location, and then returns.

[0333] Specifically, firstly, the destacking mechanism 202 (suction cup 2021 or clamping assembly 2023) is controlled to move downward along the height direction, so that the destacking mechanism 202 contacts and establishes a connection with a certain layer of goods in the target goods. The connection is specifically the clamping of the goods by the clamping assembly 2023.

[0334] Secondly, after the control disassembly mechanism 202 fixes a certain layer of goods in the target goods, it moves upward along the height direction to remove the certain layer of goods and the goods above it from the target goods, so that the certain layer of goods and the goods above it are separated from the remaining goods of the target goods.

[0335] Next, control the removal and placement mechanism 201 to move out and transfer the goods it carries to the docking equipment.

[0336] Then, the control mechanism 202 moves downward along the height direction with the cargo it carries (i.e., a layer of cargo in the target cargo and the cargo above it), so that the bottom surface of the cargo it carries comes into contact with the top surface of the pick-and-place mechanism 201. The folding mechanism 202 releases the cargo it carries, so that the cargo is finally carried on the pick-and-place mechanism 201.

[0337] Finally, control the warehouse robot 200 to move to another target endpoint (i.e., another docking device), and then control the pick-and-place mechanism 201 to place the goods it carries at the other target endpoint.

[0338] In this embodiment, after the destacking mechanism 202 removes a portion of the target goods (already located inside the warehouse robot) from the top, the pick-and-place mechanism 201 transfers the remaining target goods to the docking device. Then, the destacking mechanism 202 lowers and releases the target goods onto the pick-and-place mechanism 201. Thus, the entire destacking operation is completed within the warehouse robot 200, eliminating the need for a separate destacking station and reducing the number of back-and-forth movements of the warehouse robot 200. Simultaneously, removing the target goods from the top of the stack of goods eliminates the need to tamper with other goods, making the placement operation more direct.

[0339] In one embodiment of this invention, step S400, transferring the cargo carried within the warehouse robot to the target location, includes: S411: The folding mechanism descends to contact the target cargo at the bottom layer, and then rises carrying all the target cargo; S412: The pick-and-place mechanism moves out to pick up the target stack of goods to be stacked, and then returns so that the goods to be stacked are below the target goods; S413: The de-stacking mechanism descends to stack the target goods on top of the goods to be stacked; S414: The pick-and-place mechanism moves out to transfer the goods it carries to the target location, and then returns.

[0340] Specifically, firstly, the destacking mechanism 202 is controlled to move downward along the height direction, so that the destacking mechanism 202 comes into contact with the target goods at the bottom and establishes a connection.

[0341] Secondly, after the control folding mechanism 202 fixes the bottom layer of target goods, it moves all the target goods upwards along the height direction and separates them from the pick-up and put-down mechanism 201.

[0342] Next, the telescopic section 20112 of the control pick-and-place mechanism 201 is moved out so that it is located below the stack of target goods to be stacked on the docking equipment.

[0343] Then, the pick-and-place mechanism 201 is raised so that the upper surface of the telescopic section 20112 abuts against the bottom surface of the target cargo stack to be stacked and lifts the target cargo stack upward and returns it to the storage robot.

[0344] Next, the destabilizing mechanism 202 moves downwards along the height direction, carrying all the target goods downwards until the bottom surface of the target goods contacts the top surface of the stack of target goods to be stacked. The destabilizing mechanism 202 releases all the target goods, allowing them to rest on the stack of target goods to be stacked. The target goods and the stack of target goods to be stacked are then stacked together to form a new stack, completing the stacking operation of the goods within the warehouse robot 200 during unloading.

[0345] Finally, the control pick-and-place mechanism 201 moves out and transfers the goods it carries (i.e., the new stack of goods) to the docking equipment.

[0346] In this embodiment, after the disassembly mechanism 202 removes all the target goods (already located inside the storage robot), the pick-and-place mechanism 201 places the target goods stack to be stacked on the docking device and, through the disassembly mechanism 202, places the target goods on top of the stack to be stacked, forming a new stack. This achieves the stacking of goods within the storage robot 200 during the placement process. After stacking is completed, the pick-and-place mechanism 201 transfers the new stack to the docking device. By repeating the above steps multiple times, multiple goods can be stacked one by one to form a new stack, and the entire stacking process is completed within the storage robot 200.

[0347] The above-described embodiments also include: S415: The warehouse robot moves to another target destination; S416: The pick-and-place mechanism moves out to pick up another target stack of goods to be stacked, and then returns so that the other target stack of goods to be stacked is below the goods carried by the destabilizing mechanism; S417: The destacking mechanism descends to place the goods it carries onto another stack of goods to be stacked; S418: The pick-and-place mechanism moves out to transfer the goods it carries to another target location, and then returns.

[0348] Specifically, firstly, based on the above implementation method, the warehouse robot 200 is controlled to move to another target destination (i.e., another storage location).

[0349] Next, the telescopic section 20112 of the control pick-up and place mechanism 201 is moved out, so that the telescopic section 20112 passes through the pick-up gap 112 between two adjacent support beams 111 and is inserted between the bottom of the target stack of goods to be stacked and the top surface of the support beam 111.

[0350] Then, the lifting and placing mechanism 201 is raised so that the upper surface of the telescopic section 20112 abuts against the bottom surface of another stack of target goods to be stacked and lifts the other stack of target goods to be stacked upward, so that the bottom surface of the other stack of target goods to be stacked is separated from the top surface of the support beam 111. The telescopic section 20112 is then controlled to carry the other stack of target goods to be stacked through the picking gap 112 back into the storage robot, so that the other stack of target goods to be stacked is located below the goods carried by the stacking mechanism 202 (i.e., a certain layer of goods in the target goods and the goods above it).

[0351] Next, the destabilizing mechanism 202 moves downwards along the height direction, carrying the loaded goods downwards until the bottom surface of the loaded goods contacts the top surface of another stack of goods to be stacked. The destabilizing mechanism 202 releases all the loaded goods, allowing them to be placed on another stack of goods to be stacked. The loaded goods and the other stack of goods to be stacked together form a new stack, completing the stacking operation of goods within the warehouse robot 200 during unloading.

[0352] Finally, the control pick-and-place mechanism 201 moves out and transfers the goods it carries (i.e., the new stack of goods) to the docking equipment.

[0353] In this embodiment, after the stacking mechanism 202 secures all target goods (already located within the storage robot 200) and rises, the pick-and-place mechanism 201 transfers the stack of target goods to be stacked from the docking device to the storage robot 200. The stacking mechanism 202 then places the target goods on top of the stack, forming a new stack. The stacking mechanism 202 secures a portion of the goods in the new stack and lifts that portion upwards, while the remaining target goods are transferred to the docking device. The storage robot then moves to another docking device, where the pick-and-place mechanism 201 retrieves another stack of target goods to be stacked from that docking device. The stacking mechanism 202 lowers with the carried target goods and releases them onto the top of the other stack below. Finally, the pick-and-place mechanism 201 transfers all the goods to the other docking device. Thus, the entire stacking and destacking operation is completed within the storage robot 200, eliminating the need for a separate stacking and destacking station and reducing the number of reciprocating movements required by the storage robot 200. At the same time, the target goods can be removed from the top of the stack of goods without having to turn over other goods, making the loading and unloading operation more direct.

[0354] It should be noted that the warehousing system provided in this embodiment can also realize the intra-warehouse transfer of goods and stacks of goods, that is, the transfer of goods or stacks of goods from one storage location to another storage location, and the destacking and stacking operations can be completed within the storage robot 200 during the transfer process.

[0355] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A warehousing system, characterized in that, include: Lane (100); A shelving unit (110) is provided on at least one side of the aisle (100) and has multiple storage locations; A warehouse robot (200) is capable of moving along the aisle (100), and the warehouse robot (200) includes: a pick-and-place mechanism (201) and a folding mechanism (202); The picking and placing mechanism (201) is used to transfer stacks of goods between the storage location and / or docking equipment within the storage robot (200); The stacking mechanism (202) is capable of moving up and down in the height direction to remove at least one target item that is continuously stacked on top of the cargo stack within the warehouse robot (200), or to stack at least one target item carried by it onto the top of the cargo stack.

2. The warehousing system according to claim 1, characterized in that, The warehouse robot (200) includes: Rack (210); A loading platform (230) is movably mounted on the frame (210) and can be raised and lowered relative to the frame (210) in the height direction. The loading platform (230) is used to carry goods. Both the loading and unloading mechanism (201) and the folding and unfolding mechanism (202) are located on the loading platform (230).

3. The warehousing system according to claim 2, characterized in that, The loading and unloading mechanism is located at the bottom of the loading platform; The folding mechanism is mounted above the picking and placing mechanism and can be raised and lowered relative to the loading platform (230).

4. The warehousing system according to claim 2 or 3, characterized in that, The folding mechanism (202) includes at least one movable fixing part for fixing the target goods from at least one direction.

5. The warehousing system according to claim 4, characterized in that, The folding mechanism (202) includes a suction cup assembly (2020) and / or a clamping assembly (2023); The suction cup assembly (2020) is installed on the loading platform (230) and connected to a negative pressure source. The suction end face of the suction cup assembly (2020) faces the loading platform (230) to suction the top goods inside the loading platform (230). The clamping assembly (2023) includes multiple clamping arms, which are arranged opposite to each other on both sides of the loading platform (230), and the multiple clamping arms are respectively connected to a driving member, which drives the opposing multiple clamping arms to move towards each other. The suction end of the suction cup assembly (2020) and / or the clamping arm of the clamping assembly (2023) form the fixing part.

6. The warehousing system according to claim 4, characterized in that, The folding mechanism (202) is an arc-shaped clamping component; The clamping end of the arc-shaped clamping assembly extends circumferentially along the loading platform (230) and forms a plurality of the fixing portions circumferentially along the loading platform (230); Multiple fixing parts are distributed along an arc on the same horizontal plane.

7. The warehousing system according to claim 6, characterized in that, The arc-shaped clamping assembly includes multiple arc-shaped clamping elements (2024); Multiple arc-shaped clamping members (2024) are symmetrically arranged on both sides of the loading platform (230) and can move closer to or further away from each other; The multiple arc-shaped clamps (2024) form multiple fixing parts on the side near the loading platform (230).

8. The warehousing system according to claim 4, characterized in that, The picking and placing mechanism (201) includes telescopic forks (2011). The telescopic forks (2011) are located on the loading platform (230) and their telescopic ends can be moved out or returned relative to the loading platform (230).

9. The warehousing system according to claim 8, characterized in that, The telescopic fork (2011) has a connecting section (20111) and a telescopic section (20112); One end of the connecting section (20111) is located on the loading platform (230), and the other end extends horizontally; The telescopic section (20112) is connected to the connecting section (20111) and can move along the extension direction of the connecting section (20111); The telescopic section (20112) is a flat plate structure or a clamping structure.

10. The warehousing system according to claim 8, characterized in that, The warehousing system also includes a distance adjustment mechanism (300); The adjusting mechanism (300) is located on the loading platform (230); There are multiple telescopic forks (2011), and the multiple telescopic forks (2011) are spaced apart on the loading platform (230) along a direction perpendicular to their telescopic direction; The telescopic forks (2011) located on both sides are connected to the adjusting mechanism (300) along the moving direction perpendicular to the telescopic forks (2011) to adjust the conveying width of the multiple telescopic forks (2011).

11. The warehousing system according to claim 4, characterized in that, The picking and placing mechanism (201) includes a self-propelled shuttle (2012) equipped with a lifting component (20121) for lifting goods. The shuttle (2012) can be moved out from the loading platform (230) to pick up and place goods.

12. The warehousing system according to claim 11, characterized in that, Both the loading platform (230) and the shelf (110) are equipped with support platforms for the wheels of the shuttle (2012) to travel on.

13. The warehousing system according to any one of claims 8 to 12, characterized in that, The warehousing system also includes a lifting and transfer mechanism (400); The lifting and transfer mechanism (400) is provided on the loading platform (230), and the lifting and transfer mechanism (400) has a lifting part (401) and a moving part (402) provided on the lifting part; The lifting part (401) can be raised and lowered in the height direction so that the horizontal plane where the moving part (402) is located is higher than the horizontal plane where the picking and placing mechanism (201) is located, so that the target goods or target goods stack can move along the conveying direction of the moving part (402).

14. The warehousing system according to claim 8, characterized in that, The warehousing system also includes a centering mechanism (500); The center-finding mechanism (500) has multiple moving ends, which are respectively arranged on both sides of the width direction of the picking and placing mechanism (201); The moving ends of the centering mechanism (500) on both sides of the telescopic fork (2011) can move toward each other along the width direction of the pick-up and put-down mechanism (201).

15. The warehousing system according to claim 1, characterized in that, The bottom of the storage location is provided with multiple support beams (111); One end of the support beam (111) is connected to the shelf (110), and the other end extends upward to abut against and support the goods; The multiple support beams (111) in each of the storage locations are located in the same horizontal plane and are arranged in parallel and at intervals.

16. The warehousing system according to claim 15, characterized in that, A gap (112) for taking out objects is formed between two adjacent support beams (111); The width of the picking gap (112) is greater than the width of the execution end of the picking and placing mechanism (201), and the height of the picking gap (112) is greater than the thickness of the execution end of the picking and placing mechanism (201), so that the execution end of the picking and placing mechanism (201) can be inserted into the bottom of the goods stack through the picking gap (112).

17. The warehousing system according to claim 2, characterized in that, It also includes a stockpiling mechanism (600); The loading mechanism (600) is located on the loading platform (230) and above the loading and unloading mechanism (201); The movable end of the pressing mechanism (600) can be moved out or returned relative to the loading platform (230), and can be raised and lowered in the height direction to press down on the top of the stack of goods when picking up or putting down goods.

18. The warehousing system according to claim 1, characterized in that, The storage system also includes a first track (10); The first track (10) is located in the alley (100) and has the same extension direction as the alley (100). The warehouse robot (200) moves along the first track (10) via the first walking mechanism (220).

19. The warehousing system according to claim 18, characterized in that, The warehousing system also includes a second track (20); The extension direction of the second track (20) is set at an angle to the extension direction of the tunnel (100), and the second track (20) is set on the outside of the tunnel (100); The warehouse robot moves along the second track via the first walking mechanism (220).

20. The warehousing system according to claim 19, characterized in that, The warehousing system also includes: The reversing mechanism (700) has a second traveling mechanism (701) adapted to the second track and a docking track (710) of the same specifications as the first track (10). The docking track (710) is used for the warehouse robot (200) to drive into or out of the reversing mechanism (700).

21. The warehousing system according to claim 2 or 3, characterized in that, A guide assembly is provided on the top of the frame (210); The tunnel (100) is equipped with a guide member adapted to the guide assembly, and the extension direction of the guide member is the same as the extension direction of the tunnel (100).

22. A control method for a warehousing system, characterized in that, Applied to the warehousing system as described in any one of claims 1-21, the method comprises: The warehouse robot (200) moves to the target handling position; The target goods are removed from the target goods stack and placed into the warehouse robot (200); The warehouse robot (200) moves to the target endpoint position; The cargo carried inside the warehouse robot (200) is transferred to the target location; The target goods include at least one type of goods.

23. The control method according to claim 22, characterized in that, Before the warehouse robot (200) moves to the target handling location, the following is also included: Receive inbound task information; Based on the inbound task information, the target handling location, target cargo information, and target destination location are determined; The target cargo information includes the location information of the target cargo in the target cargo stack and / or the target cargo stack to be stacked.

24. The control method according to claim 23, characterized in that, The step of retrieving the target goods from the target goods stack and transferring them into the warehouse robot (200) includes: The picking and placing mechanism (201) moves out to pick up the target stack of goods and then returns; The folding mechanism (202) descends to contact the target cargo, and then carries the target cargo and the cargo above it upwards; The pick-and-place mechanism (201) moves out to transfer the goods it carries to the target handling location, and then returns; The folding mechanism (202) descends to place the goods it carries onto the pick-and-place mechanism (201).

25. The control method according to claim 23, characterized in that, The step of retrieving the target goods from the target goods stack and transferring them into the warehouse robot (200) includes: The picking and placing mechanism (201) moves out to pick up the target stack of goods and then returns; The stacking mechanism (202) descends to contact the bottommost target cargo of the target cargo stack, and then carries the target cargo stack upward; The pick-and-place mechanism (201) moves out to pick up the target cargo stack to be stacked, and then returns so that the target cargo stack to be stacked is located below the target cargo stack; The destacking mechanism (202) descends to place the target cargo stack on top of the target cargo stack to be stacked.

26. The control method according to claim 25, characterized in that, The step of retrieving the target goods from the target goods stack and transferring them into the warehouse robot (200) further includes: The picking and placing mechanism (201) moves out to pick up the target stack of goods and then returns; The stacking mechanism (202) descends to contact the bottommost target cargo of the target cargo stack, and then carries the target cargo stack upward; The pick-and-place mechanism (201) moves out to pick up the target cargo stack to be stacked, and then returns so that the target cargo stack to be stacked is located below the target cargo stack; The destacking mechanism (202) descends to stack the target cargo stack onto the target cargo stack to be stacked; The stacking mechanism (202) continues to descend until it contacts a layer of goods in the stack of target goods to be stacked, and then carries the layer of goods and the goods above it upwards; The pick-and-place mechanism (201) moves out to transfer the goods it carries to the target endpoint location, and then returns; The folding mechanism (202) descends to place the goods it carries onto the pick-and-place mechanism (201).

27. The control method according to claim 23, characterized in that, Transferring the cargo carried within the warehouse robot (200) to the target location includes: The folding mechanism (202) descends to contact a certain layer of goods in the target goods, and then carries the certain layer of goods and the goods above it upwards; The pick-and-place mechanism (201) moves out to transfer the goods it carries to the target endpoint location, and then returns; The folding mechanism (202) descends to place the goods it carries onto the picking and placing mechanism (201); The pick-and-place mechanism (201) moves out to transfer its carried goods to the target location and then returns.

28. The control method according to claim 23, characterized in that, Transferring the cargo carried within the warehouse robot (200) to the target location includes: The folding mechanism (202) descends to contact the bottommost target cargo, and then rises carrying all the target cargo; The picking and placing mechanism (201) moves out to pick up the goods to be stacked, and then returns so that the goods to be stacked are located below the target goods; The folding mechanism (202) descends to place the target goods on top of the goods to be stacked; The pick-and-place mechanism (201) moves out to transfer the goods it carries to the target location, and then returns.

29. The control method according to claim 28, characterized in that, The process of transferring the cargo carried within the warehouse robot (200) to the target location also includes: The folding mechanism (202) descends to contact the target cargo, and then rises carrying all the target cargo; The picking and placing mechanism (201) moves out to pick up the target goods stack to be stacked, and then returns so that the target goods stack to be stacked is located below the target goods; The de-stacking mechanism (202) descends to stack the target goods onto the stack of target goods to be stacked; The folding mechanism (202) rises to contact a certain layer of goods in the target goods, and then carries the certain layer of goods and the goods above it up. The pick-and-place mechanism (201) moves out to transfer the goods it carries to the target location, and then returns; The warehouse robot (200) moves to another target endpoint location; The pick-and-place mechanism (201) moves out to pick up another target stack of goods to be stacked, and then returns so that the other target stack of goods to be stacked is located below the goods carried by the de-stacking mechanism (202); The destacking mechanism (202) descends to stack the goods it carries onto the other stack of target goods to be stacked. The pick-and-place mechanism (201) moves out to transfer the goods it carries to another target location, and then returns.

30. The control method according to claim 22, characterized in that, Before the warehouse robot (200) moves to the target handling location, the following is also included: Receive outbound task information; Based on the outbound task information, the target handling location, target cargo information, and target destination location are determined.

31. The control method according to claim 30, characterized in that, The step of retrieving the target goods from the target goods stack and transferring them into the warehouse robot (200) includes: The picking and placing mechanism (201) moves out to pick up the target stack of goods and then returns; The folding mechanism (202) descends to contact the target cargo, and then carries the target cargo and the cargo above it upwards; The pick-and-place mechanism (201) moves out to transfer the goods it carries to the target handling location, and then returns; The folding mechanism (202) descends to place the goods it carries onto the pick-and-place mechanism (201).

32. The control method according to claim 30, characterized in that, The step of retrieving the target goods from the target goods stack and transferring them into the warehouse robot (200) includes: The picking and placing mechanism (201) moves out to pick up the target stack of goods and then returns; The stacking mechanism (202) descends to contact the bottommost target cargo of the target cargo stack, and then carries the target cargo stack upward; The pick-and-place mechanism (201) moves out to pick up the target cargo stack to be stacked, and then returns so that the target cargo stack to be stacked is located below the target cargo stack; The destacking mechanism (202) descends to stack the target goods onto the stack of target goods to be stacked.

33. The control method according to claim 32, characterized in that, The step of retrieving the target goods from the target goods stack and transferring them into the warehouse robot (200) includes: The stacking mechanism (202) continues to descend until it contacts a layer of goods in the stack of target goods to be stacked, and then carries the layer of goods and the goods above it upwards; The pick-and-place mechanism (201) moves out to transfer the goods it carries to the target endpoint location, and then returns; The folding mechanism (202) descends to place the goods it carries onto the pick-and-place mechanism (201).

34. The control method according to claim 30, characterized in that, Transferring the cargo carried within the warehouse robot (200) to the target location includes: The folding mechanism (202) descends to contact a certain layer of goods in the target goods, and then carries the certain layer of goods and the goods above it upwards; The pick-and-place mechanism (201) moves out to transfer the goods it carries to the target location, and then returns; The folding mechanism (202) descends to place the goods it carries onto the picking and placing mechanism (201); The warehouse robot (200) moves to another target endpoint location; The pick-and-place mechanism (201) moves out to transfer the goods it carries to another target location, and then returns.

35. The control method according to claim 30, characterized in that, Transferring the cargo carried within the warehouse robot (200) to the target location includes: The folding mechanism (202) descends to contact the bottommost target cargo, and then rises carrying all the target cargo; The picking and placing mechanism (201) moves out to pick up the target goods stack to be stacked, and then returns so that the goods to be stacked are located below the target goods; The folding mechanism (202) descends to place the target goods on top of the goods to be stacked; The pick-and-place mechanism (201) moves out to transfer the goods it carries to the target location, and then returns.

36. The control method according to claim 35, characterized in that, The process of transferring the cargo carried within the warehouse robot (200) to the target location also includes: The folding mechanism (202) descends to contact the target cargo, and then rises carrying all the target cargo; The picking and placing mechanism (201) moves out to pick up the target goods stack to be stacked, and then returns so that the target goods stack to be stacked is located below the target goods; The de-stacking mechanism (202) descends to stack the target goods onto the stack of target goods to be stacked; The folding mechanism (202) rises to contact a certain layer of goods in the target goods, and then carries the certain layer of goods and the goods above it up. The pick-and-place mechanism (201) moves out to transfer the goods it carries to the target endpoint location, and then returns; The warehouse robot (200) moves to another target endpoint location; The pick-and-place mechanism (201) moves out to pick up another target stack of goods to be stacked, and then returns so that the other target stack of goods to be stacked is located below the goods carried by the de-stacking mechanism (202); The destacking mechanism (202) descends to stack the goods it carries onto the other stack of target goods to be stacked. The pick-and-place mechanism (201) moves out to transfer the goods it carries to another target destination location, and then returns.

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