Warehousing device and warehousing system

Abstract

The embodiment of the utility model provides a warehousing device and a warehousing system. The warehousing device comprises a first robot goods shelf and a second robot goods shelf, the first robot goods shelf comprises a first storage space used for storing containers and a first containing space used for containing the second robot goods shelf. The second robot goods shelf comprises a second storage space used for temporarily storing the containers and a second containing space used for allowing a second robot to move the second robot goods shelf; the warehousing system comprises a warehousing device, a first robot and a second robot. The first robot is installed on the first robot goods shelf and can pick and place containers between the first robot goods shelf and the second robot goods shelf so as to achieve the goods tallying function; and the second robot can drive the second robot shelf to move between the first robot shelf and the destination, so that the warehouse-in and warehouse-out efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing, in particular to a warehousing device and a warehousing system. Background Art

[0002] In the related art, a storage system may include multiple shelves, on which cargo loading and unloading equipment may be fixedly installed, and a transmission line connected to a workstation is installed at the bottom of the shelf. In this way, the cargo loading and unloading equipment may move the cargo transferred from the transmission line to the bottom of the shelf to the shelf, or move the cargo on the shelf to the transmission line at the bottom of the shelf, and then the transmission line will transfer the cargo to the workstation. At the workstation, it is necessary to manually take the cargo from the transmission line away, or manually place the cargo on the transmission line.

[0003] The above method requires setting up a transmission line connected to the workstation at the bottom of the shelf, and in order to cooperate with manual picking and placing operations, the running speed of the transmission line is limited, resulting in the need to improve the efficiency of goods in and out of the warehouse. Utility Model Content

[0004] The purpose of the embodiment of the utility model is to provide a storage device and a storage system to improve the efficiency of goods in and out of the warehouse. The specific technical solution is as follows:

[0005] The embodiment of the utility model provides a storage device, comprising: a first robot shelf and a second robot shelf;

[0006] The first robot shelf comprises a first storage space and a first accommodating space; the first storage space is provided with a plurality of storage bins for storing containers; the first accommodating space is provided at the lower part of the first storage space for accommodating the second robot shelf; the first robot shelf is provided with a supporting frame capable of mounting the first robot; the first robot is used to pick up and place containers between the first robot shelf and the second robot shelf;

[0007] The second robot shelf includes a second storage space and a second accommodating space; the second storage space is provided with a plurality of temporary storage locations for temporarily storing containers; the second accommodating space is provided at the lower part of the second storage space for allowing the second robot to move the second robot shelf.

[0008] In some embodiments, the support frame includes: a plurality of beams spaced apart in a vertical direction of the first robot shelf; so that the first robot can be installed on the outside of the first robot shelf based on the beams.

[0009] In some embodiments, a plurality of first support columns are disposed below the first storage space of the first robot shelf, and the plurality of first support columns extend toward the ground to form the first accommodation space;

[0010] A plurality of second support columns are arranged below the second storage space of the second robot shelf, and the plurality of second support columns extend toward the ground to form the second accommodation space.

[0011] In some embodiments, the first robotic rack is a double-deep rack or a multi-deep rack; the second robotic rack is a double-deep rack or a multi-deep rack.

[0012] In some embodiments, the length of the cross section of the first robot shelf is greater than the length of the cross section of the second robot shelf; the width of the cross section of the first robot shelf is greater than or equal to the width of the cross section of the second robot shelf.

[0013] In some embodiments, the first robot shelf is an integrated shelf; or, the first robot shelf includes: a plurality of sub-shelves; the plurality of sub-shelves are arranged in sequence in a row along their length direction or width direction; or, the plurality of sub-shelves are arranged in sequence in an array form along their length direction and width direction.

[0014] The embodiment of the present application further provides a storage system, comprising: any of the above storage devices, a first robot and a second robot; the first robot is installed on the first robot shelf based on a support frame, and is used to move a container in a storage position in the first robot shelf to a temporary storage position in the second robot shelf, or to move a container in a temporary storage position in the second robot shelf to a storage position in the first robot shelf;

[0015] The second robot is used to transport the second robot shelf carrying the containers to be shipped out to a destination, or to transport the second robot shelf carrying the containers to be shipped in to the first storage space of the first robot shelf.

[0016] In some embodiments, the support frame includes: a plurality of beams spaced apart in a vertical direction of the first robot shelf;

[0017] The first robot comprises: a column gantry, a transport mechanism and at least one sliding guide rail; the column gantry is installed along the vertical direction of the first robot shelf; the transport mechanism is arranged on the column gantry for picking up and placing containers of different heights on the first robot shelf; the at least one sliding guide rail is fixedly installed on the crossbeam; the column gantry is slidably connected to the at least one sliding guide rail so that the column gantry and the transport mechanism slide horizontally along the crossbeam to pick up and place different containers in the length direction of the first robot shelf.

[0018] In some embodiments, the transport mechanism includes: a lifting assembly and a picking assembly; the lifting assembly is arranged on the column door frame, and is used to drive the picking assembly to move up and down along the vertical direction of the first robot shelf; the picking assembly is installed on the lifting assembly, and is used to extend the column door frame to pick up and place containers.

[0019] In some embodiments, the second robot is a lifting mobile robot; the height of the second storage space of the second robot shelf is higher than that of the lifting mobile robot; so that the lifting mobile robot can move into the second storage space, lift the second robot shelf to move or place the second robot shelf on the ground.

[0020] In some embodiments, a height of the first accommodating space of the first robot shelf is higher than a height of the second robot shelf carrying the container lifted by the second robot.

[0021] In some embodiments, a docking channel and a bottom driving channel that are interconnected are provided at the bottom of the first storage space of the first robot shelf along the length direction of the first robot shelf; the docking channel is used to place the second robot shelf; the second robot travels along the bottom driving channel; so that after the second robot shelf reaches the designated docking position of the docking channel, the first robot moves the container on the temporary storage position of the second robot shelf to the first robot shelf, or moves the container on the first robot shelf to the second robot shelf.

[0022] In some embodiments, the first robot is installed on a side surface of the first robot shelf in the length direction of the first robot shelf, close to the docking channel.

[0023] In some embodiments, a one-way or two-way external driving passage for the second robot to travel is provided between the first robot shelf and the destination.

[0024] In some embodiments, the driving channel includes: a first external driving channel with a destination of a workstation and a second external driving channel with a destination of a review and packaging area;

[0025] The second robot is used to carry the second robot shelf to be shipped out of the warehouse to the workstation along the first external driving channel for picking and shipping; or to carry the second robot shelf to be shipped in to the first robot shelf for shipping containers in;

[0026] The second robot is also used to transport the second robot shelf to be shipped out of the warehouse to the review and packaging area along the second external driving channel, so as to pack all the goods in the container of the second robot shelf for shipment.

[0027] In some embodiments, the system further includes: a control device; the control device is communicatively connected with the first robot and the second robot, and is used to instruct the first robot to pick up and place a container, and to instruct the second robot to move a second robot shelf.

[0028] In the storage device and storage system provided by the embodiment of the utility model, the first robot shelf can accommodate the second robot shelf; the first robot installed on the first robot shelf can pick up and place containers between the first robot shelf and the second robot shelf to realize the tallying function; the second robot can drive the second robot shelf to move between the first robot shelf and the destination to realize the container out of the warehouse and in the warehouse function. In the embodiment of the utility model, the second robot shelf is provided with a plurality of temporary storage positions. Therefore, by driving the second robot shelf to move between the first robot shelf and the destination, the second robot can take out or in warehouse a plurality of containers at a time, thereby improving the efficiency of in and out of the warehouse.

[0029] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0031] Figure 1a A schematic diagram of the three-dimensional structure of a first embodiment of a storage device provided by an embodiment of the utility model;

[0032] Figure 1b for Figure 1a A side view of the storage device shown;

[0033] Figure 2a for Figure 1a A top view of the first robotic shelf in the illustrated embodiment;

[0034] Figure 2b A top view of a first robot shelf in a second embodiment of a storage device provided in an embodiment of the utility model;

[0035] Figure 2c A top view of a first robot shelf in a third embodiment of a storage device provided in an embodiment of the utility model;

[0036] Figure 3 for Figure 1a A top view of the second robotic shelf in the illustrated embodiment;

[0037] Figure 4a A schematic diagram of the three-dimensional structure of a first embodiment of a storage system provided by an embodiment of the utility model;

[0038] Figure 4b for Figure 4a A side view of the storage system shown;

[0039] Figure 5a for Figure 4a A schematic structural diagram of a first angle of a first robot in the illustrated embodiment;

[0040] Figure 5b for Figure 4a A schematic structural diagram of a second angle of the first robot in the illustrated embodiment;

[0041] Figure 6 for Figure 4a A schematic diagram of the structure of the second robot in the illustrated embodiment;

[0042] Figure 7 A schematic top view of a second embodiment of a storage system provided by an embodiment of the utility model;

[0043] Figure 8 A schematic top view of a third embodiment of a storage system provided by an embodiment of the utility model;

[0044] Fig. 9 A schematic top view of a fourth embodiment of a storage system provided by an embodiment of the utility model.

[0045] Reference numerals:

[0046] A first robot shelf 100, a first storage space 110, a storage bin 111, a first layer 112, a first accommodating space 120, a first support column 121, a support frame 130, and a crossbeam 131; a sub-shelf 101;

[0047] The second robot shelf 200, the second storage space 210, the temporary storage position 211, the second layer board 212, the second accommodation space 220, and the second support column 221;

[0048] The first robot 300, the column door frame 310, the door column 311, the transport mechanism 320, the lifting component 321, the picking component 322, the sliding guide rail 330, the slider 331, and the top shell 340;

[0049] A second robot 400, a motion chassis 410, a lifting mechanism 420, and a lifting platform 430;

[0050] Container 500 , docking channel 600 , bottom driving channel 700 , first external driving channel 710 , second external driving channel 720 , workstation 800 , and review and packaging area 900 . DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field based on the utility model belong to the scope of protection of the utility model.

[0052] In order to improve the efficiency of goods in and out of the warehouse, the embodiments of the present utility model provide a storage device and a storage system, which are described in detail below.

[0053] First, the storage device provided in the embodiment of the utility model is described in detail.

[0054] See also Figure 1a and Figure 1b , Figure 1a A schematic diagram of the three-dimensional structure of a storage device provided in an embodiment of the utility model; Figure 1b for Figure 1a A side view of the storage device shown. Figure 1a and Figure 1b As shown, the storage device includes: a first robot shelf 100 and a second robot shelf 200.

[0055] The first robot shelf 100 includes a first storage space 110 and a first accommodating space 120; the first storage space 110 is provided with a plurality of storage positions 111 for storing containers 500; the first accommodating space 120 is provided at the lower part of the first storage space 110, and is used to accommodate the second robot shelf 200; the first robot shelf 100 is provided with a support frame 130 capable of installing the first robot 300; the first robot 300 is used to take and place the container 500 between the first robot shelf 100 and the second robot shelf 200;

[0056] The second robot shelf 200 includes a second storage space 210 and a second accommodating space 220; the second storage space 210 is provided with a plurality of temporary storage locations 211 for temporarily storing containers 500; the second accommodating space 220 is provided at the lower part of the second storage space 210, for allowing the second robot 400 to move the second robot shelf 200.

[0057] In the embodiment of the utility model, the first robot 300 installed on the first robot shelf 100 can pick up and place containers 500 between the first robot shelf 100 and the second robot shelf 200 to realize the sorting function; the second robot 400 can drive the second robot shelf 200 to move; the second robot shelf 200 is provided with a plurality of temporary storage positions 211, so that the entire second robot shelf 200 is moved by the second robot 400, so that the second robot 400 can take out or put in a plurality of containers 500 at a time, thereby improving the efficiency of taking in and out of the warehouse.

[0058] It should be noted that the container in this embodiment refers to a container that can accommodate goods, such as a material box, a pallet, etc., and this application does not limit this.

[0059] In some embodiments, such as Figure 1a and Figure 1b As shown, the support frame 130 includes: a plurality of beams 131 spaced apart along the vertical direction of the first robot shelf 100 ; so that the first robot 300 is installed on the outside of the first robot shelf 100 based on the beams 131 .

[0060] The first robot 300 can slide along the crossbeam 131 to move horizontally along the first robot shelf 100. The specific coordination method is described in detail in the following.

[0061] It can be seen that based on this embodiment, the first robot 300 can move horizontally in the length direction of the first robot shelf 100 to pick up and place each container 500 in the length direction. In addition, the picking component 322 of the first robot 300 can move up and down along the height direction of the first robot shelf 100 to pick up and place containers 500 at different heights of the first robot shelf 100. The specific picking and placing method is detailed in the subsequent description.

[0062] In this embodiment, Figure 1a and Figure 1b As shown, a plurality of first support columns 121 are disposed below the first storage space 110 of the first robotic shelf 100 , and the plurality of first support columns 121 extend toward the ground to form a first accommodation space 120 .

[0063] A plurality of second support columns 221 are disposed below the second storage space 210 of the second robotic shelf 200 , and the plurality of second support columns 221 extend toward the ground to form a second accommodation space 220 .

[0064] In this embodiment, the first accommodating space 120 is formed by a simple first support column 121, which can provide multiple channels for the second robot 400 to drive the second robot shelf 200 to move, making the storage operation more flexible. At the same time, the second accommodating space 220 is formed by a simple second support column 221, which can provide multiple channels for the second robot 400 to move to the bottom of the second robot shelf 200, so that the second robot 400 can move to the bottom of the second robot shelf 200 from all directions, and the moving direction is not restricted. At the same time, through the second accommodating space 220, the second robot 400 can lift the second robot shelf 200 off the ground, or place the second robot shelf 200 on the ground.

[0065] In the embodiment of the present application, the first robot shelf 100 may be a double-deep shelf or a multi-deep shelf; the second robot shelf 200 may also be a double-deep shelf or a multi-deep shelf. As long as the first accommodation space 120 of the first robot shelf 100 can provide enough moving space for the second robot 400 to drive the second robot shelf 200 to move, it will be sufficient.

[0066] In this embodiment, the first robot shelf 100 and the second robot shelf 200 can both be double-deep shelves; the picking component of the first robot 300 can pick up and place two deep containers. Figure 2a and Figure 3 , Figure 2a for Figure 1a A top view of the first robotic shelf in the illustrated embodiment; Figure 3 for Figure 1a A top view of the second robot shelf in the embodiment shown. Figure 2a and Figure 3 As shown, in this embodiment, the first robot shelf 100 and the second robot shelf 200 can both be double-depth shelves, that is, shelves that can hold two containers 500 in the width direction. In this embodiment, the first robot shelf 100 is provided with a plurality of first layers 112 in the height direction, and each storage location 111 is respectively provided on the first layers 112. The length of the first robot shelf 100 is not limited, for example: Figure 2aAs shown, on the first layer 112 of the first robot shelf 100, four storage locations 111 are arranged along the length direction, and each storage location 111 can hold one container 500, that is, four containers 500 can be placed in the length direction. In this way, in the case of double-depth positions, eight storage locations 111 can be arranged on each first layer 112. In other embodiments, both the first robot shelf 100 and the second robot shelf 200 can be multi-depth shelves, and two, three or more storage locations 111 can be arranged in the length direction of the first robot shelf 100, and two, three or more temporary storage locations 211 can be arranged in the length direction of the second robot shelf 200, which can be arranged according to actual needs.

[0067] In order to facilitate the second robot 400 to drive the second robot shelf 200 to move in the first storage space 120 of the first robot shelf 100, in this embodiment, the length of the cross-section of the first robot shelf 100 is greater than the length of the cross-section of the second robot shelf 200; the width of the cross-section of the first robot shelf is greater than or equal to the width of the cross-section of the second robot shelf. In this embodiment, the second robot shelf 200 is provided with a plurality of second layer plates 212 along the height direction, and each temporary storage position 211 is respectively provided on the second layer plates 212. The number of second layer plates 212 can be set according to the height of the first storage space 120 of the first robot shelf 100 and the height of the second robot. There is no limitation here. For example: Figure 1a and Figure 1b As shown, the second robotic shelf 200 may include three layers of second layer boards 212 .

[0068] like Figure 3 As shown, on the second layer 212 of the second robot shelf 200, two temporary storage positions 211 are arranged along the length direction, and each temporary storage position 211 can hold one container 500, that is, two containers 500 can be placed in the length direction. In this way, in the case of double-depth positions, four temporary storage positions 211 can be arranged on each second layer 212.

[0069] In addition, the first robot shelf 100 may be an integrated wide shelf, or may be formed by sequentially splicing a plurality of narrow shelves in one direction, or may be formed by two narrow shelves spliced ​​together back to back.

[0070] In actual applications, the first robot shelf 100 includes: multiple sub-shelves 101; multiple sub-shelves 101 are arranged in a row along their length or width direction; or, multiple sub-shelves 101 are arranged in an array along their length and width direction.

[0071] See also Figure 2b , Figure 2bA top view of the first robot shelf in the second embodiment of the storage device provided by the embodiment of the utility model; in this embodiment, a plurality of sub-shelves 101 are arranged in a row along their length direction, such as Figure 2b As shown, four or more sub-racks 101 are arranged in a row. Figure 2c , Figure 2c A top view of the first robot shelf in the third embodiment of the storage device provided by the embodiment of the utility model; in this embodiment, a plurality of sub-shelves 101 are sequentially arranged in an array along their length direction and width direction, such as Figure 2c As shown, they are arranged in a 4*2 array.

[0072] In addition, for Figure 2c In the embodiment shown, in the case of such aisle layout, when the first robot shelf 100 is composed of two rows of narrow shelves (i.e. Figure 2c When the middle shelves 101 are connected back to back, the shelf width of the second robot shelf 200 can be equal to the narrow shelf (i.e. Figure 2c In this way, while ensuring that the second robot 400 drives the second robot shelf 200 to pass through the first storage space 120 of the first robot shelf 100, the first storage space 120 of the first robot shelf 100 can accommodate a larger number of second robot shelves 200, and the second robot shelf 200 can accommodate a larger number of containers 500.

[0073] application Figure 2b and Figure 2c The storage device shown can further improve the storage capacity of the storage device.

[0074] Next, the storage system provided by the embodiment of the utility model is described in detail.

[0075] See also Figure 4a and Figure 4b , Figure 4a A schematic diagram of the three-dimensional structure of a first embodiment of a storage system provided by an embodiment of the utility model; Figure 4b for Figure 4a The side view of the storage system is shown in Figure 1. Figure 4a and Figure 4b As shown, the storage system includes: a first robot shelf 100, a second robot shelf 200, a first robot 300 and a second robot 400; wherein,

[0076] The first robot shelf 100 includes a first storage space 110 and a first accommodating space 120; the first storage space 110 is provided with a plurality of storage locations 111 for storing containers 500; the first accommodating space 120 is provided at the lower part of the first storage space 110, for accommodating the second robot shelf 200; the first robot shelf 100 is provided with a support frame 130 capable of installing the first robot 300.

[0077] The second robot shelf 200 includes a second storage space 210 and a second accommodating space 220 ; the second storage space 210 is provided with a plurality of temporary storage locations 211 for temporarily storing containers 500 ; the second accommodating space 220 is provided at the lower part of the second storage space 210 , and is used for the second robot 400 to move the second robot shelf 200 .

[0078] The first robot 300 is installed on the first robot shelf 100 based on the support frame 130, and is used to move the container 500 in the storage position 111 of the first robot shelf 100 to the temporary storage position 211 of the second robot shelf 200, or move the container 500 on the temporary storage position 211 of the second robot shelf 200 to the storage position 111 of the first robot shelf 100;

[0079] The second robot 400 is used to transport the second robot shelf 200 carrying the container 500 to be shipped out to a destination, or to transport the second robot shelf 200 carrying the container 500 to be shipped in to the first storage space 120 of the first robot shelf 100 .

[0080] In the storage system provided by the embodiment of the utility model, the first robot shelf 100 can accommodate the second robot shelf 200; the first robot 300 installed on the first robot shelf 100 can pick up and place containers 500 between the first robot shelf 100 and the second robot shelf 200 to realize the sorting function; the second robot 400 can drive the second robot shelf 200 to move between the first robot shelf 100 and the destination to realize the outbound and inbound functions of the containers 500. In the embodiment of the utility model, the second robot shelf 200 is provided with a plurality of temporary storage positions 211. Therefore, by driving the second robot shelf 200 by the second robot 400 to move between the first robot shelf 100 and the destination, the second robot 400 can outbound or inbound a plurality of containers 500 at a time, thereby improving the efficiency of inbound and outbound storage.

[0081] It should be noted that the first robot shelf 100 and the second robot shelf 200 in this embodiment constitute the aforementioned storage device, and the specific structure thereof may be the same as that of the aforementioned embodiment, which will not be described in detail here.

[0082] Hereinafter, the first robot 300, the second robot 400, and the specific method of entering and exiting the warehouse in the storage system provided by the embodiment of the utility model are described in detail.

[0083] like Figure 4a As shown, the support frame 130 includes: a plurality of beams 131 arranged at intervals along the vertical direction of the first robot shelf 100 .

[0084] See also Figure 4a , Figure 4b , Figure 5a and Figure 5b , Figure 5a for Figure 4a A schematic structural diagram of a first angle of a first robot in the illustrated embodiment; Figure 5b for Figure 4a The schematic diagram of the structure of the first robot at a second angle in the embodiment shown. Figure 5a and Figure 5b As shown, the first robot 300 includes: a column gantry 310, a transport mechanism 320 and at least one sliding guide rail 330; the column gantry 310 is installed along the vertical direction of the first robot shelf 100; the transport mechanism 320 is arranged on the column gantry 310, and is used to pick up and place containers 500 of different heights of the first robot shelf 100; at least one sliding guide rail 330 is fixedly installed on the crossbeam 131. The column gantry 310 is slidably connected with the at least one sliding guide rail 330, so that the column gantry 310 and the transport mechanism 320 can slide horizontally along the crossbeam 131 to pick up and place different containers 500 in the length direction of the first robot shelf 100.

[0085] In this embodiment, Figure 4a and Figure 4b , a plurality of horizontal beams 131 spaced apart from each other are arranged vertically on the side of the length direction of the first robot shelf 100. In order to ensure the stable installation of the first robot 300, two sliding guide rails 330 are arranged on the first robot 300, which are respectively fixed on the two horizontal beams 131 (for example, they can be fixed on the horizontal beams by screws). The column door frame 310 is slidably connected with the two horizontal beams 131 to realize the horizontal movement of the first robot shelf 100.

[0086] Specifically, Figure 5aAs shown, a slider 331 is provided on two door columns 311 fixed to the column door frame 310; the slider 331 can drive the column door frame 310 and the transport mechanism 320 provided between the two door columns 311 to slide horizontally along the sliding guide rail 330. Since the sliding guide rail 330 is fixedly connected to the crossbeam 131 of the first robot shelf 100, the column door frame 310 and the transport mechanism 320 provided between the two door columns 311 can move horizontally along the crossbeam 131 of the first robot shelf 100. In other embodiments, rollers can be provided on the two door columns 311 to replace the slider 331, so as to increase the speed of horizontal movement of the first robot shelf 100.

[0087] like Figure 5a and Figure 5b As shown, in this embodiment, the transport mechanism 320 includes: a lifting component 321 and a picking component 322; the lifting component 321 is arranged on the column door frame 310, and is used to drive the picking component 322 to move up and down along the vertical direction of the first robot shelf 100; the picking component 322 is installed on the lifting component 321, and is used to extend out of the column door frame 310 to pick up and place the container 500.

[0088] In this embodiment, the lifting assembly 321 may include: a driving motor, a driving wheel, a driven wheel and two synchronous belts. The driving motor and the driving wheel are arranged in the top shell 340, the driven wheel is arranged at the bottom of the two door posts 311, and the two synchronous belts are sleeved outside the driving wheel, the door posts 311 and the driven wheel. The picking assembly 322 is connected to the two synchronous belts through the connecting blocks on both sides.

[0089] In this way, the two synchronous belts of the lifting component 321 can drive the connecting block to move up and down, thereby driving the picking component 322 to move up and down, so as to realize the vertical movement of the picking component 322 along the first robot shelf 100.

[0090] The picking component 322 may include a telescopic mechanism, which extends into the first robot shelf 100 or the second robot shelf 200 to pick up and place the container 500 located in a single-depth position and / or a multi-depth position.

[0091] In this embodiment, the form of the picking component 322 includes but is not limited to a fork arm type, a suction cup type, a roller type, a hook arm, etc.

[0092] In this embodiment, the first robot 300 can pick up and place containers 500 on the first robot shelf 100 and / or the second robot shelf 200 in the horizontal direction based on the relative sliding between the slider 331 and the sliding guide rail 330 fixedly set on the beam 131 on the first robot shelf 100; and can pick up and place containers 500 on the first robot shelf 100 and / or the second robot shelf 200 in the up and down direction based on the lifting component 321.

[0093] See also Figure 6 , Figure 6 for Figure 4a The schematic diagram of the structure of the second robot in the embodiment shown. Figure 6 As shown, the second robot 400 is a lifting mobile robot. Figure 4a and Figure 4b As shown, the height of the second storage space 220 of the second robot shelf 200 is higher than that of the lifting mobile robot, so that the lifting mobile robot can move into the second storage space 220, lift the second robot shelf 200 to move or place the second robot shelf 200 on the ground.

[0094] like Figure 6 As shown, the second robot 400 includes: a motion chassis 410, a lifting mechanism 420 and a lifting platform 430. The motion chassis 410 is arranged at the bottom of the second robot 400 and may include universal wheels to achieve multi-directional movement; the lifting mechanism 420 and the lifting platform 430 are arranged on the top of the motion chassis 410. When the second robot 400 is located in the second accommodation space 220 of the second robot shelf 200, the lifting mechanism 420 can lift the lifting platform 430 to a certain height, so that the second robot shelf 200 can be lifted off the ground as a whole and move with the second robot 400.

[0095] Specifically, Figure 4a and Figure 4b As shown, the height of the second storage space 220 of the second robot shelf 200 is higher than that of the lifting mobile robot; in this way, the lifting mobile robot can move into the second storage space 220, lift the lifting platform 430 through the lifting mechanism 420, so that the lifting platform 430 contacts the top of the second storage space 220, and then lift the entire second robot shelf 200 and drive the entire second robot shelf 200 to move; or lower the lifting platform 430 through the lifting mechanism 420 to place the second robot shelf 200 on the ground.

[0096] like Figure 4a and Figure 4b As shown, in this embodiment, the height of the first storage space 120 of the first robot shelf 100 is higher than the height of the second robot shelf 200 carrying the container 500 lifted by the second robot 400. In this way, the second robot 400 can drive the second robot shelf 200 carrying the container 500 to move in the first storage space 120 of the first robot shelf 100.

[0097] See also Figure 7 , Figure 7A schematic top view of a second embodiment of a warehousing system provided for an embodiment of the utility model; in some embodiments, a docking channel 600 and a bottom driving channel 700 that are interconnected are provided at the bottom of the first accommodating space 120 of the first robot shelf 100 along the length direction of the first robot shelf 100; the docking channel 600 is used to place the second robot shelf 200; the second robot 400 travels along the bottom driving channel 700; so that after the first robot 300 reaches the designated docking position of the docking channel 600 on the second robot shelf 200, the container 500 on the temporary storage position 211 of the second robot shelf 200 is moved to the first robot shelf 100, or the container 500 on the first robot shelf 100 is moved to the second robot shelf 200.

[0098] In this embodiment, the second robot shelf 200 is placed on the docking channel 600. When the second robot 400 is unloaded, it can also travel along the docking channel 600, and needs to avoid the second support column 221 of the second robot shelf 200 during travel.

[0099] Since the first robot 300 needs to pick up and place the containers 500 on the first robot shelf 100 and the second robot shelf 200, the column gantry 310 of the first robot 300 needs to extend from the first storage space 110 to the first accommodation space 120 in the vertical direction, and the height of the column gantry 310 of the first robot 300 can ensure that the picking component 322 of the first robot 300 can pick up and place the bottom container 500 of the second robot shelf 200. In actual application, the first robot 300 is installed at the position of the first robot shelf 100, and needs to avoid the docking channel 600 to avoid interference, resulting in the second robot 400 being unable to move the second robot shelf 200 out of the first robot shelf 100. For example, the docking channel 600 can be arranged from one end of the first robot shelf 100 to the other end along the length direction; the first robot 300 is installed on the outer side of the first robot shelf 100 along the length direction close to the docking channel 600, so that the column gantry 310 of the first robot 300 is not arranged in the docking channel 600, and will not block the second robot 400 from moving the second robot shelf 200 out of the first robot shelf 100.

[0100] In some embodiments, a one-way or two-way driving passage for the second robot 400 to travel may be provided between the first robot shelf 100 and the destination.

[0101] In practical applications, the destination of the second robot 400 may be a workstation or a review and packaging area. Figure 7As shown, the driving channel between the first robot shelf 100 and the destination may include: a first external driving channel 710 with the destination being the workstation 800 and a second external driving channel 720 with the destination being the review and packaging area 900.

[0102] In this way, the second robot 400 can transport the second robot shelf 200 to be shipped out of the warehouse to the workstation 800 along the first external driving channel 710 for picking and shipping out of the warehouse; or transport the second robot shelf 200 to be stored in the warehouse to the first robot shelf 100 for container storage.

[0103] Moreover, the second robot 400 can also transport the second robot shelf 200 to be shipped out to the review and packaging area 900 along the second external driving channel 720 to package all the goods in the container 500 of the second robot shelf 200 for shipment.

[0104] The following is based on Figure 7 The illustrated embodiment provides a detailed description of the storage and warehousing process.

[0105] In the warehousing system of this embodiment, a control device can also be set up, which is communicated with the first robot 300 and the second robot 400 to instruct the first robot 300 to pick up and place the container 500, and to instruct the second robot 400 to move the second robot shelf 200 to complete the sorting and warehousing functions.

[0106] Specifically, the process of outbound delivery can be instructed by the control device, which specifically includes the following steps:

[0107] Step A, according to the position of the storage location 111 where the container 500 to be shipped out is located in the first robot shelf 100, the second robot shelf 200 which is closest is selected to determine the optimal docking position of the docking channel 600.

[0108] Here, the selected second robot shelf 200 may be one that does not carry containers 500, that is, is completely idle, or may be one that has carried some containers 500 but has an idle temporary storage position 211. As long as the second robot shelf 200 can carry the containers to be shipped out 500, it will be fine. Optionally, the optimal docking position may be the position of the second robot shelf 200 that is closest to the containers to be shipped out 500 and can carry the containers to be shipped out on the docking channel 600.

[0109] In some embodiments, multiple operation areas of the first robots 300 can be divided according to the distribution of the containers 500 to be shipped out on the first robot shelf 100, that is, the area where the containers 500 to be shipped out are relatively concentrated is divided into one operation area, and each operation area corresponds to a docking position 600.

[0110] In some embodiments, the principle for determining the optimal docking position is as follows: the position of the second robot shelf 200 that is closer to the operating area and has an empty temporary storage location 211 is preferentially selected as the optimal docking position. If there is no such second robot shelf 200 on the docking channel 600, the second robot shelf 200 that can carry the container 500 is transported by the second robot 400 to the position closest to the operating area for the first robot 300 to place.

[0111] Step B, instructing the second robot 400 to drive the selected second robot shelf 200 to move to the optimal docking position.

[0112] Step C, instructing the first robot 300 to move to the position of the storage column where the container 500 to be shipped out is located based on the support frame 130. The storage column refers to a column formed by a plurality of storage locations 111 in the up and down direction.

[0113] Step D, instructs the first robot 300 to use the lifting component 321 to move the picking component 322 up and down along the height direction of the first robot shelf 100, so that it moves to the height corresponding to the storage position 111 where the container 500 to be shipped is located, and uses the picking component 322 to take out the container 500 to be shipped, and moves it to the vacant temporary storage position 211 of the second robot shelf 200.

[0114] If there are multiple containers 500 to be shipped out, a new optimal docking position can be determined based on the position of the containers 500 to be shipped out on the first robot shelf 100, and the above steps B to D can be repeated to move all the containers 500 to be shipped out to the vacant temporary storage position 211 of the second robot shelf 200.

[0115] Step F: After the second robot shelf 200 is full or reaches a predetermined time, instruct the second robot 400 to move the second robot shelf 200 to a destination along the driving channel.

[0116] When the goods to be shipped are in the shipping container 500 and there are goods that do not need to be shipped in the shipping container 500 , the second robot 400 is instructed to drive to the workstation 800 along the first external driving channel 710 .

[0117] At the workstation 800, the goods to be shipped out can be picked out manually and shipped out, and other goods that do not need to be shipped out can be kept in the original container 500. At the same time, the goods to be entered into the warehouse can be replenished into the original container 500. As a container 500 to be entered into the warehouse, the second robot 400 transports the second robot shelf 200 to the first storage space 120 of the first robot shelf 100, and then the first robot 300 transports the goods to the first storage space 110 for warehousing.

[0118] When the container 500 to be shipped out needs to be shipped out in its entirety, that is, when the container 500 to be shipped out is full of goods to be shipped out, the second robot 400 is instructed to drive along the second external driving channel 720 to the review and packaging area 900, and directly ship out after completing the automatic review and packaging.

[0119] During the warehousing process, first, the goods are manually moved to the second robot shelf 200. Specifically, at the workstation 800, the goods to be stored can be manually placed in the storage container 500. The storage container 500 is placed on the idle temporary storage position 211 of the second robot 400. Then, the control device can instruct to perform the following steps:

[0120] Step E, according to the position of the free storage position 111 of the first robot shelf 100, based on the principle of from near to far and / or the number of containers 500 to be stored on the second robot shelf 200 ≤ the number of multiple free storage positions 111 concentrated in the position of the first robot shelf 100, allocate the free storage position 111 to the second robot shelf 200.

[0121] The second robot shelf 200 in this step may be a second robot shelf 200 that has been fully loaded at the workstation 800 , or may be an unfilled second robot shelf 200 , as long as it carries containers 500 to be stored.

[0122] Step F, determining the optimal docking position of the docking channel 600 according to the position of the allocated free storage bin 111.

[0123] Step G, instructing the second robot 400 to drive the second robot shelf 200 carrying the container 500 to be stored to move to the optimal docking position.

[0124] Step H, instructing the first robot 300 to move to the position of the storage column where the vacant storage location 111 is located based on the support frame 130.

[0125] Step I, instructs the first robot 300 to use the lifting component 321 to move the picking component 322 up and down along the height direction of the first robot shelf 100, so that it moves to the height corresponding to the container 500 to be stored on the second robot 400, and use the picking component 322 to carry the container 500 to be stored onto the picking component 322; and use the lifting component 321 to move the picking component 322 upward along the height direction of the first robot shelf 100, so that the carried container 500 to be stored is moved to the height corresponding to the vacant storage position 111, and use the picking component 322 to move the container 500 to be stored to the vacant storage position 111 of the first robot shelf 100.

[0126] If there are multiple containers 500 to be stored, a new optimal docking position can be determined according to the position of the containers 500 to be stored on the first robot shelf 100, and the above steps G to I are repeated to move all the containers 500 to be stored to the vacant storage positions 111 of the first robot shelf 100. The storage operation is completed.

[0127] By applying the above embodiments, the following beneficial effects can be obtained:

[0128] First, in this embodiment, the first robot 300 is used for sorting, and can move the container 500 on the first robot shelf 100 to the second robot shelf 200, or store the container 500 on the second robot shelf 200 on the first robot shelf 100. Only the second robot 400 moves the second robot shelf 200 to the workstation for picking or shipping out the goods, which improves the sorting efficiency of the first robot 300.

[0129] Second, in this embodiment, through the sorting of the first robot 300, the container 500 containing the goods that need to be shipped out can be transported to the second robot shelf 200, and the goods that do not need to be shipped out can be retained on the first robot shelf 100, so that the containers 500 on the second robot shelf 200 transported by the second robot 400 all need to be shipped out, which improves the shelf hit rate of the second robot 400, reduces the number of transportation times of the second robot 400, and improves the transportation efficiency of the second robot 400.

[0130] Third, in this embodiment, the containers 500 stored in the first robot shelf 100 and the second robot shelf 200 can be transported by the second robot 400 through the second robot shelf 200, and the second robot shelf 200 is provided with a plurality of temporary storage positions 211, so that a plurality of containers 500 can be transported during one transport process of the second robot 400, thereby improving the transport efficiency. In addition, in this embodiment, the first robot shelf 100 and the second robot shelf 200 are used to store and transport the containers 500, and compared with the solution of using only the second robot shelf to store and transport the containers 500, the existence of the first robot shelf 100 increases the vertical storage space.

[0131] Fourth, in this embodiment, for the scenario of full-box delivery, that is, the scenario where all the goods in the container 500 need to be delivered, the first robot 300 can move the container 500 from the first robot shelf 100 to the second robot shelf 200, and then the second robot 400 can move the second robot shelf 200 to the review and packaging area, and after the process is completed, the second robot 400 is triggered to move the second robot shelf 200 back. Therefore, the second robot shelf 200 can play the dual role of transportation and caching.

[0132] Fifth, in this embodiment, for the scenario of full-box delivery, the container 500 is transported from the first robot shelf 100 to the picking area of ​​the workstation 800 and shipped out. Since full-box delivery does not require manual picking, unmanned picking can be achieved, which has the effect of reducing costs and increasing efficiency.

[0133] Figure 7 In the illustrated embodiment, the second robot 400 brings the second robot shelf 200 into the docking channel 600 of the first robot shelf 100 from the side in the width direction of the first robot shelf 100. In other embodiments, see Figure 8 , Figure 8 A schematic top view of a third embodiment of a storage system provided by an embodiment of the utility model; Figure 8 As shown, the second robot 400 can also carry the second robot shelf 200 from the side of the first robot shelf 100 in the length direction into the docking channel 600 of the first robot shelf 100 .

[0134] Depend on Figure 7 and Figure 8 It can be seen from the illustrated embodiment that in the warehousing system provided by the embodiment of the utility model, the way in which the second robot 400 enters the first robot shelf 100 can be flexibly set according to the actual storage site, thereby improving practicality.

[0135] In addition, as mentioned above, the first robotic rack 100 can be a double-deep rack or a multi-deep rack. Fig. 9 , Fig. 9 This is a top view of a fourth embodiment of a storage system provided by an embodiment of the utility model. In this embodiment, the first robotic shelf 100 is a four-deep shelf capable of storing more containers 500.

[0136] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A storage device, characterized in that: include: A first robot shelf (100) and a second robot shelf (200); The first robot shelf (100) comprises a first storage space (110) and a first accommodating space (120); the first storage space (110) is provided with a plurality of storage positions (111) for storing containers (500); the first accommodating space (120) is provided at the lower part of the first storage space (110) and is used to accommodate the second robot shelf (200); the first robot shelf (100) is provided with a support frame (130) capable of installing a first robot (300); the first robot (300) is used to take and place the container (500) between the first robot shelf (100) and the second robot shelf (200); The second robot shelf (200) comprises a second storage space (210) and a second accommodating space (220); the second storage space (210) is provided with a plurality of temporary storage locations (211) for temporarily storing containers (500); the second accommodating space (220) is provided at the bottom of the second storage space (210) and is used for the second robot (400) to move the second robot shelf (200).

2. The storage device according to claim 1, characterized in that: The support frame (130) comprises: a plurality of beams (131) arranged at intervals along the vertical direction of the first robot shelf (100); so that the first robot (300) is installed on the outside of the first robot shelf (100) based on the beams (131).

3. The storage device according to claim 1, characterized in that: A plurality of first support columns (121) are arranged below the first storage space (110) of the first robot shelf (100), and the plurality of first support columns (121) extend toward the ground to form the first accommodation space (120); A plurality of second support columns (221) are arranged below the second storage space (210) of the second robot shelf (200), and the plurality of second support columns (221) extend toward the ground to form the second accommodation space (220).

4. The storage device according to claim 1, characterized in that: The first robot shelf (100) is a double-deep shelf or a multi-deep shelf; the second robot shelf (200) is a double-deep shelf or a multi-deep shelf.

5. The storage device according to claim 1, characterized in that: The length of the cross section of the first robot shelf (100) is greater than the length of the cross section of the second robot shelf (200); and the width of the cross section of the first robot shelf (100) is greater than or equal to the width of the cross section of the second robot shelf (200).

6. The storage device according to claim 1, characterized in that: The first robot shelf (100) is an integrated shelf; or, The first robot shelf (100) comprises: a plurality of sub-shelves (101); the plurality of sub-shelves (101) are arranged in sequence in a row along their length direction or width direction; or, the plurality of sub-shelves (101) are arranged in sequence in an array along their length direction and width direction.

7. A storage system, characterized in that: include: The storage device, the first robot (300) and the second robot (400) according to any one of claims 1 to 6; The first robot (300) is installed on the first robot shelf (100) based on the support frame (130), and is used to move the container (500) in the storage position (111) of the first robot shelf (100) to the temporary storage position (211) of the second robot shelf (200), or to move the container (500) on the temporary storage position (211) of the second robot shelf (200) to the storage position (111) of the first robot shelf (100); The second robot (400) is used to transport the second robot shelf (200) carrying the container (500) to be shipped out to a destination, or to transport the second robot shelf (200) carrying the container (500) to be shipped in to the first storage space (120) of the first robot shelf (100).

8. The storage system according to claim 7, characterized in that: The support frame (130) comprises: a plurality of beams (131) arranged at intervals in the vertical direction of the first robot shelf (100); The first robot (300) comprises: a column gantry (310), a transport mechanism (320) and at least one sliding guide rail (330); the column gantry (310) is installed along the vertical direction of the first robot shelf (100); the transport mechanism (320) is arranged on the column gantry (310) and is used to take and place containers (500) of different heights on the first robot shelf (100); the at least one sliding guide rail (330) is fixedly installed on the crossbeam (131); the column gantry (310) is slidably connected to the at least one sliding guide rail (330) so that the column gantry (310) and the transport mechanism (320) slide horizontally along the crossbeam (131) to take and place different containers (500) in the length direction of the first robot shelf (100).

9. The storage system according to claim 8, characterized in that: The transport mechanism (320) comprises: a lifting component (321) and a picking component (322); The lifting component (321) is arranged on the column door frame (310) and is used to drive the picking component (322) to move up and down in the vertical direction of the first robot shelf (100); The picking component (322) is installed on the lifting component (321) and is used to extend out of the column door frame (310) to pick up and place the container (500).

10. The storage system according to claim 7, characterized in that: The second robot (400) is a lifting mobile robot; The height of the second storage space (220) of the second robot shelf (200) is higher than that of the lifting mobile robot, so that the lifting mobile robot can move into the second storage space (220), lift the second robot shelf (200) or place the second robot shelf (200) on the ground.

11. The storage system according to claim 10, characterized in that: The height of the first accommodating space (120) of the first robot shelf (100) is higher than the height of the second robot shelf (200) carrying the container (500) lifted by the second robot (400).

12. The storage system according to claim 7, characterized in that: At the bottom of the first accommodating space (120) of the first robot shelf (100), a docking channel (600) and a bottom driving channel (700) that are interconnected are arranged along the length direction of the first robot shelf (100); the docking channel (600) is used to place the second robot shelf (200); the second robot (400) drives along the bottom driving channel (700); so that after the second robot shelf (200) reaches a designated docking position of the docking channel (600), the first robot (300) moves the container (500) on the temporary storage position (211) of the second robot shelf (200) to the first robot shelf (100), or moves the container (500) on the first robot shelf (100) to the second robot shelf (200).

13. The storage system according to claim 12, characterized in that: The first robot (300) is installed on a side surface of the first robot shelf (100) in the length direction and close to the docking channel (600).

14. The storage system according to claim 7, characterized in that: A one-way or two-way external driving passage for the second robot (400) to drive is provided between the first robot shelf (100) and the destination.

15. The storage system according to claim 14, characterized in that: The driving channel comprises: a first external driving channel (710) whose destination is a workstation (800) and a second external driving channel (720) whose destination is a review and packaging area (900); The second robot (400) is used to carry the second robot shelf (200) to be shipped out of the warehouse to the workstation (800) along the first external driving channel (710) to carry out picking and shipping; or to carry the second robot shelf (200) to be shipped in to the first robot shelf (100) to carry out container shipping; The second robot (400) is also used to transport the second robot shelf (200) to be shipped out of the warehouse to the review and packaging area (900) along the second external driving channel (720), so as to package all the goods in the container (500) of the second robot shelf (200) for shipment.

16. The storage system according to any one of claims 7 to 15, characterized in that: Also includes: Control equipment; The control device is communicatively connected with the first robot (300) and the second robot (400), and is used to instruct the first robot (300) to pick up and place a container (500), and to instruct the second robot (400) to move a second robot shelf (200).

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