Goods storing and taking system

Abstract

The utility model belongs to the technical field of logistics, and discloses a goods storing and taking system. The goods storing and taking system comprises a goods shelf and a goods taking and placing device, the goods shelf is provided with a storage unit, the storage unit comprises a plurality of rows of storage spaces arranged in the vertical direction, and each row of storage space comprises a plurality of storage positions arranged side by side; each storage unit is provided with at least two goods taking and placing devices, the at least two goods taking and placing devices are main goods taking and placing devices with main taking and placing areas, and all the main taking and placing areas are sequentially arranged from top to bottom and jointly cover all the storage spaces of the corresponding storage units. Every two adjacent main pick-and-place areas jointly cover at least one row of storage space and form a first public pick-and-place area, and the main goods pick-and-place device can walk along the surface of a goods shelf so as to pick and place goods at any storage position in the corresponding main pick-and-place area. According to the goods storing and taking system, the warehouse logistics efficiency can be improved, the warehouse density is improved, and the reliability and safety of goods in and out of a warehouse are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics, in particular to a cargo storage and retrieval system. Background Art

[0002] With the rapid development of the e-commerce economy, intelligent cargo storage and retrieval systems that can realize automatic warehousing and out-of-warehouse operations are becoming more and more widely used. They can improve logistics efficiency while reducing logistics costs and improving logistics reliability.

[0003] The existing storage logistics for in-and-out storage usually include the container-to-person system and the shuttle car vertical warehouse system. The container-to-person system uses an autonomous transport robot to pick up and place the containers on the shelf, and the fork mechanism on the transport robot is lifted and lowered on its own vertical frame to achieve the picking and placing of containers on any layer of the shelf; the shuttle car vertical warehouse system includes multi-layer vertical shelves, shuttle cars and lifting and switching mechanisms. Each layer of the vertical shelves is provided with a track for the shuttle car to travel. The shuttle car travels on the track to pick up and place the goods on the shelf on that layer. At the same time, the shuttle car is transferred on different layers of tracks through the lifting and switching mechanism.

[0004] When implementing the above technology, the utility model inventor discovered the following problems: although the cargo box to person system has a high handling efficiency, when the shelf is high, the frame on the handling robot needs to be configured to the same height, which reduces the operating stability of the fork mechanism on the frame, making it difficult for the cargo box to person system to meet the needs of high shelves; although the shuttle car warehouse system can meet the storage and retrieval needs of high-rise shelves, due to the need to set up a lifting and changing mechanism and set tracks on each shelf, the shuttle car warehouse system occupies a large overall space, has a high cost, and has high requirements for site height. Utility Model Content

[0005] The purpose of the embodiment of the utility model is to provide a cargo storage and retrieval system to improve the efficiency of warehousing logistics while improving the reliability and stability of cargo retrieval and placement on the shelf.

[0006] To achieve this purpose, the present invention adopts the following technical solutions:

[0007] A cargo storage and retrieval system, comprising:

[0008] A shelf, wherein the shelf has a storage unit, wherein the storage unit includes a plurality of rows of storage spaces arranged in a vertical direction, and each row of the storage spaces includes a plurality of storage locations arranged side by side in a first direction;

[0009] Cargo picking and placing device, each storage unit is equipped with at least two cargo picking and placing devices, at least two of the cargo picking and placing devices are main cargo picking and placing devices with main picking and placing areas, all the main picking and placing areas are arranged in sequence from top to bottom and jointly cover all the storage spaces of the corresponding storage unit, two adjacent main picking and placing areas jointly cover at least one row of storage spaces and form a first common picking and placing area, and the main cargo picking and placing device can move along the surface of a shelf to pick and place cargo at any storage position in the corresponding main picking and placing area.

[0010] As an optional technical solution of the cargo storage and retrieval system, the surface of the shelf is provided with a plurality of transverse tracks, and the transverse tracks extend along the first direction;

[0011] Each of the cargo picking and placing devices comprises a running mechanism and a storage and retrieval mechanism. The running mechanism can run on the transverse track along the first direction, and the storage and retrieval mechanism can be installed on the running mechanism in a lifting manner along the vertical direction.

[0012] As an optional technical solution of the cargo storage and retrieval system, at least one of the storage units has two adjacent main cargo retrieval devices running on opposite sides of the same shelf and having the first common retrieval area, and the main retrieval areas of the main cargo retrieval devices can cover all the storage units of the same shelf in the second direction, and the second direction is perpendicular to the first direction;

[0013] Alternatively, at least two of the shelves are arranged side by side and at intervals along the second direction, and an alley is formed between two adjacent shelves. The cargo picking and placing device located in the alley can pick and place the cargo in the storage units on both sides of the alley. At least one storage unit has two adjacent main cargo picking and placing devices that travel between two shelves and have the first common picking and placing area, and the second direction is perpendicular to the first direction.

[0014] As an optional technical solution for a cargo storage and retrieval system, in the two main cargo retrieval and placement devices corresponding to the same storage unit and adjacently arranged in the vertical direction, the upper end of the traveling mechanism located on the lower side is higher than the lower end of the traveling mechanism located on the upper side.

[0015] As an optional technical solution of a cargo storage and retrieval system, in two main cargo retrieval and placement devices corresponding to the same storage unit and arranged adjacently in the vertical direction, the upper and lower walking mechanisms are arranged at intervals in the vertical direction;

[0016] The storage and retrieval mechanism located on the upper side can move to extend downwardly from the lower end of the walking mechanism to retrieve and place goods in the storage location in the first public access area, and / or the storage and retrieval mechanism located on the lower side can move to extend upwardly to the upper end of the corresponding walking mechanism to retrieve and place goods in the storage location in the first public access area.

[0017] As an optional technical solution of the cargo storage and retrieval system, at least one of the storage units has two main cargo retrieval devices that travel on the same surface of the same shelf and are adjacently arranged in the vertical direction, and at least one of the main cargo retrieval devices can switch between a first operating state and a second operating state;

[0018] When the main cargo picking and placing device is in the first operating state, the main cargo picking and placing device and the main cargo picking and placing device adjacent to the same side are spaced apart in the vertical direction; when the main cargo picking and placing device is in the second operating state, the main cargo picking and placing device and the main cargo picking and placing device adjacent to the same side are partially overlapped in the vertical direction.

[0019] As an optional technical solution of the cargo storage and retrieval system, the travel mechanism includes two vertical rails arranged parallel and spaced apart along the first direction and a travel wheel mechanism driving the vertical rails to travel along the transverse rails, and the storage and retrieval mechanism can be installed between the two vertical rails in a manner of lifting and lowering along the vertical rails;

[0020] At least one end of the vertical rail toward the adjacent main cargo picking and placing device on the same side can be retracted to enable the main cargo picking and placing device to switch between the first operating state and the second operating state.

[0021] As an optional technical solution of the cargo storage and retrieval system, when the main cargo retrieval device is in the second operating state, the vertical rails of two adjacent main cargo retrieval devices partially overlap in the vertical direction;

[0022] And / or, both ends of each vertical rail are capable of being telescopic.

[0023] As an optional technical solution for a cargo storage and retrieval system, the vertical rail includes a rail body extending along the vertical direction, the rail body is slidably connected to an adjustment rail at least at one end of the rail body adjacent to the main cargo retrieval device on the same side, and the vertical rail also includes an adjustment drive member, which drives the adjustment rail to rise and fall relative to the rail body so that the vertical rail switches between an initial state and an extended state. When the vertical rail is in the initial state, the main cargo retrieval device is in the first operating state, and when the vertical rail is in the extended state, the main cargo retrieval device is in the second operating state.

[0024] As an optional technical solution for a cargo storage and retrieval system, at least two shelves are arranged side by side and at intervals along the second direction, and an alley is formed between two adjacent shelves. The cargo retrieval device located in the alley can retrieve and place the cargo in the storage space on both sides of the alley, and the second direction is perpendicular to the first direction.

[0025] As an optional technical solution for a cargo storage and retrieval system, at least one of the cargo retrieval devices corresponding to one of the storage units is an auxiliary cargo retrieval device, and the auxiliary cargo retrieval device has an auxiliary retrieval area, and the auxiliary retrieval area at least covers the storage space in the lowest row.

[0026] As an optional technical solution of the cargo storage and retrieval system, the retrieval area of ​​each cargo retrieval device covers all the storage units of the same shelf in the second direction, the auxiliary cargo retrieval device and the main cargo retrieval device at the bottom corresponding to the same storage unit are respectively located on opposite sides of the shelf, and the second direction is perpendicular to the first direction;

[0027] Alternatively, at least two of the shelves are arranged side by side and at intervals along the second direction, and an alley is formed between two adjacent shelves. The cargo picking and placing device located in the alley can pick and place the cargo in the storage space on both sides of the alley, and the auxiliary cargo picking and placing device and the main cargo picking and placing device at the bottom of the corresponding same storage unit are respectively installed on two of the shelves, and the second direction is perpendicular to the first direction.

[0028] As an optional technical solution for a cargo storage and retrieval system, corresponding to the same storage unit, the main cargo retrieval device and the auxiliary cargo retrieval device located on the upper side of the main cargo retrieval device located at the bottom are installed on the same side of the same shelf and are spaced apart in the vertical direction.

[0029] As an optional technical solution for a cargo storage and retrieval system, the main retrieval area of ​​the main cargo retrieval device which is on the same side as and adjacent to the auxiliary cargo retrieval device is separated from the auxiliary retrieval area in the vertical direction.

[0030] As an optional technical solution of the cargo storage and retrieval system, in two main access areas corresponding to the same storage unit and adjacent in the vertical direction, the average access frequency of the cargo in the lower main access area is higher than the average access frequency of the cargo in the upper main access area;

[0031] And / or, corresponding to the same storage unit, the number of rows of the storage space covered by the uppermost main access and placement area is n1, and the number of rows of the storage space covered by the lowermost main access and placement area is n2, and n2>n1.

[0032] As an optional technical solution for a cargo storage and retrieval system, among all the storage locations located in the first public pick-and-place area, some of the storage locations are transfer storage locations, and the remaining storage locations are regular storage locations. The transfer storage locations are used to place cargo transferred from one main cargo pick-and-place device to another main cargo pick-and-place device, and the regular storage locations can serve as target storage locations for cargo to be stored.

[0033] As an optional technical solution for a cargo storage and retrieval system, a temporary storage component is provided at the bottom of the shelf, the temporary storage component has a temporary storage position for placing the cargo, the temporary storage component has a side opening, the side opening is for the cargo to enter and exit the temporary storage position, the temporary storage position is located below the storage space at the lowest level, and the cargo taking and placing device at the lowest level can take and place cargo at the temporary storage position through the side opening;

[0034] The cargo storage and retrieval system further comprises a transport vehicle, which can take the cargo out of the temporary storage location through the side opening or place the cargo into the temporary storage location.

[0035] As an optional technical solution of the cargo storage and retrieval system, a low-level passage is formed between the bottom of the temporary storage component and the ground of the cargo storage and retrieval system, and the bottom of the temporary storage component has a bottom opening connected to the low-level passage, and the bottom opening is connected to the side opening;

[0036] The transport vehicle is a top-lift transport vehicle, which can move into the low-level passage, and the cargo bed of the transport vehicle can vertically enter and exit the temporary storage position through the bottom opening, and the cargo bed can carry the goods and enter and exit the temporary storage position horizontally from the side opening.

[0037] As an optional technical solution for a cargo storage and retrieval system, a passage for the transport vehicle to operate is formed between the bottom of the lowermost cargo retrieval device and the ground.

[0038] As an optional technical solution of the cargo storage and retrieval system, the temporary storage component is provided with side openings on two opposite sides along a second direction, and the second direction is perpendicular to the first direction;

[0039] And / or, the temporary storage component includes two temporary storage brackets that are arranged opposite to each other and spaced apart in the first direction, and the upper end of each of the temporary storage brackets is connected to the shelf and the lower end is used to support the goods.

[0040] Beneficial effects of the utility model:

[0041] The cargo storage and retrieval system provided by the embodiment of the utility model has a main cargo picking and placing device that can move along the surface of the shelf to pick and place cargo at any storage position in the corresponding main picking and placing area, and the main picking and placing areas of all the main cargo picking and placing devices cover all the storage spaces together, so that the operation of picking up and taking out cargo from any storage position or storing cargo in and out of the storage position can be realized by moving the main cargo picking and placing device on the surface of the shelf, thereby meeting the demand for cargo in and out of the storage, and reducing the space occupied by the main cargo picking and placing device, thereby reducing the cost; at the same time, since the main picking and placing areas are arranged in sequence from top to bottom to cover all the storage spaces together, the height of a single main picking and placing area in the vertical direction can be reduced, thereby reducing the height of the corresponding main cargo picking and placing device in the vertical direction, avoiding the problem of cargo being removed from a single main cargo picking and placing area by the main picking and placing device. The problems of poor structural stability, reduced control accuracy of access and low efficiency of storage and retrieval due to the high height of the picking and placing device are solved by improving the operation stability and reliability of the main cargo picking and placing device while improving the control accuracy of storage and retrieval. Since some cargo picking and placing devices are arranged at the lower part of the shelf, the overall center of gravity of the shelf and the cargo picking and placing device can be lowered when taking goods from the high-rise storage space to avoid the shelf from tipping over. At the same time, the restriction of the cargo picking and placing device on the shelf height is also reduced, so that the height of the shelf can be increased, the storage capacity of the cargo storage and retrieval system is increased, and the efficiency of warehousing and logistics is improved. Furthermore, when storing and retrieving goods, several cargo picking and placing devices corresponding to the same storage unit can operate at the same time to complete the storage and retrieval operations of multiple goods at the same time, thereby improving the efficiency of goods storage and retrieval, thereby improving logistics efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a side view of the cargo storage and retrieval system provided by the first embodiment of the utility model;

[0043] Figure 2 It is a front view of the cargo storage and retrieval system provided by the first embodiment of the utility model;

[0044] Figure 3 This is a schematic diagram of the shelves on both sides of the same lane provided by the first embodiment of the utility model in the unfolded state;

[0045] Figure 4 It is a schematic diagram of the structure of the transverse track and the cargo picking and placing device provided in the first embodiment of the utility model;

[0046] Figure 5 It is a side view of the cargo storage and retrieval system provided by the second embodiment of the utility model;

[0047] Figure 6 It is a schematic diagram of the arrangement and structure of the cargo picking and placing device provided in the third embodiment of the present utility model;

[0048] Figure 7 It is a side view of the cargo storage and retrieval system provided by the fifth embodiment of the utility model;

[0049] Figure 8 It is a schematic diagram of the structure of the deposit and access mechanism in the initial state provided by the sixth embodiment of the utility model;

[0050] Fig. 9 It is a structural schematic diagram of the storage and access mechanism provided in the seventh embodiment of the present utility model in the extended state;

[0051] Fig.10 This is a schematic diagram of the structure of a single-depth shelf and a temporary storage component provided in Embodiment 8 of the present utility model;

[0052] Fig.11 It is a structural schematic diagram of a temporary storage component provided in Embodiment 8 of the present utility model;

[0053] Fig.12 It is a structural schematic diagram of a double-depth shelf and a temporary storage component provided in Embodiment 8 of the present utility model.

[0054] In the figure:

[0055] 1. Shelf; 11. Cargo compartment; 12. Storage space; 121. Storage location; 122. First public access area;

[0056] 2. Cargo picking and placing device; 2a. Main cargo picking and placing device; 2b. Auxiliary cargo picking and placing device; 21. Traveling mechanism; 211. Vertical rail; 212. Traveling wheel; 213. Traveling drive assembly; 22. Accessing mechanism; 221. Mounting frame; 222. Telescopic fork arm; 223. Sliding seat; 224. Telescopic mechanism;

[0057] 3. Temporary storage assembly; 31. Temporary storage position; 32. Temporary storage bracket; 321. Suspension rack; 3211. Install top beam; 3212. Install vertical beam; 3213. Install plate; 322. Bearing member; 3221. Supporting part; 323. Guide member; 3231. Side baffle part; 3232. Guide plate part; 324. Connecting member; 33. Bottom opening; 34. Connecting beam;

[0058] 4. Horizontal track; 5. Cargo;

[0059] 10. Laneway; 20. Low-level passage; 30. High-level passage. DETAILED DESCRIPTION

[0060] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0061] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0063] In the description of this embodiment, the terms "upper", "lower", "right", etc., are based on the directions or positions shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0064] Embodiment 1

[0065] like Figures 1 to 4 As shown, the utility model provides a cargo storage and retrieval system, which can realize the cargo retrieval and placement device 2 to take and place the cargo 5 on the shelf 1 by walking on the surface of the shelf 1, thereby realizing the storage and retrieval operation of the cargo 5. Among them, the cargo 5 refers to an integral unit that can be transported or carried, and can be a material box filled with goods, an empty material box, or a separately stored original packaged cargo 5, etc.

[0066] The cargo storage and retrieval system includes a shelf 1 and a cargo retrieval device 2. The shelf 1 has a storage unit, each storage unit is provided with multiple rows of storage space 12 in the vertical direction, and each row of storage space 12 includes multiple storage positions 121 arranged side by side along a first direction; each storage unit is provided with at least two cargo retrieval devices 2, and at least two cargo retrieval devices 2 are main cargo retrieval devices 2a with main retrieval areas, all main retrieval areas corresponding to the storage unit are arranged in sequence from top to bottom and cover all storage spaces 12 together, and two adjacent main retrieval areas cover at least one row of storage space 12 together to form a first common retrieval area 122, and the main cargo retrieval device 2a can move along the surface of the shelf 1 to retrieve and place cargo 5 at any storage position 121 in the corresponding main retrieval area.

[0067] In the cargo storage and retrieval system provided by the present embodiment, since the main cargo picking and placing device 2a can move along the surface of the shelf 1 to pick up and place cargo 5 at any storage position 121 in the corresponding main picking and placing area, and the main picking and placing areas of all the main cargo picking and placing devices 2a cover all the storage spaces 12 together, the main cargo picking and placing devices 2a can be moved on the surface of the shelf 1 to realize the operation of picking up and taking out cargo from any storage position 121 or storing and putting cargo into the warehouse, thereby meeting the demand for cargo 5 to be put in and taken out of the warehouse, and reducing the space occupied by the main cargo picking and placing devices 2a and reducing the cost; at the same time, since the main picking and placing areas are arranged in sequence from top to bottom to cover all the storage spaces 12 together, the height of a single main picking and placing area in the vertical direction can be reduced, thereby reducing the height of the corresponding main cargo picking and placing device 2a in the vertical direction, avoiding the problem of cargo 5 being put in and out of the warehouse due to a single main picking and placing area. The problem that the height of the cargo picking and placing device 2a is too high, the structural stability is poor, the storage and retrieval control accuracy is reduced, and the storage and retrieval efficiency is low is solved. The operation stability and reliability of the main cargo picking and placing device 2a are improved, and the storage and retrieval control accuracy is improved; since part of the cargo picking and placing device 2 is arranged at the lower part of the shelf 1, the overall center of gravity of the shelf 1 and the cargo picking and placing device 2 can be lowered when picking up goods from the high-rise storage space 12, thereby avoiding the dumping of the shelf 1, and at the same time, the restriction of the cargo picking and placing device 2 on the height of the shelf 1 is reduced, so that the height of the shelf 1 can be increased, the storage capacity of the cargo storage and retrieval system is increased, and the warehousing and logistics efficiency is improved; furthermore, when storing and retrieving goods, several cargo picking and placing devices 2 corresponding to the same storage unit can operate at the same time, and complete the storage and retrieval operations of multiple goods 5 at the same time, thereby improving the storage and retrieval efficiency of the goods 5, thereby improving the storage and retrieval efficiency of the goods 5, thereby improving the logistics efficiency.

[0068] In this embodiment, at least two shelves 1 are arranged side by side and at intervals along the second direction, and an aisle 10 is formed between two adjacent shelves 1. The cargo retrieval device 2 located on one shelf 1 facing another shelf 1 is located in the aisle 10, thereby increasing the cargo 5 capacity of the cargo storage and retrieval system. The first direction, the second direction and the vertical direction are perpendicular to each other. In other embodiments, the cargo storage and retrieval system may only have one shelf 1.

[0069] The shelf 1 has at least two cargo compartments 11 spaced apart in the vertical direction, and a row of storage spaces 12 is formed between two adjacent cargo compartments 11. Each cargo compartment 11 has crossbeams on both sides along the second direction. In order to facilitate the movement of the cargo picking and placing device 2 on the surface of the shelf 1, a track assembly is arranged on at least one side of the shelf 1, and the track assembly includes at least two transverse tracks 4 spaced apart in the vertical direction. The track assembly is arranged in a one-to-one correspondence with the cargo picking and placing device 2. The transverse track 4 is installed on the crossbeam of the cargo compartment 11 and covers all storage positions 121 along the first direction. It can be understood that the structure of the shelf 1 can be set with reference to the prior art. This is not the focus of the present utility model and will not be repeated here.

[0070] The cargo picking and placing device 2 includes a running mechanism 21 and a storage and retrieval mechanism 22. The running mechanism 21 can run along the transverse track 4, so that the storage and retrieval mechanism 22 can pick up and place cargo 5 from any column of storage positions 121 in the main picking and placing area; the storage and retrieval mechanism 22 can be vertically lifted and lowered along the running mechanism 21, so as to pick up and place cargo 5 from any row of storage spaces 12 in the main picking and placing area. That is, with the movement of the running mechanism 21 along the transverse track 4 and the movement of the storage and retrieval mechanism 22 along the running mechanism 21 in the vertical direction, it is possible to pick up and place cargo 5 from all storage positions 121 in the picking and placing area.

[0071] It is worth noting that each storage and retrieval mechanism 22 has a lowest limit position and a highest limit position relative to the walking mechanism 21. When the storage and retrieval mechanism 22 is at the lowest limit position, the cargo picking and placing device 2 has the lowest picking position; when the storage and retrieval mechanism 22 is at the highest limit position, the cargo picking and placing device 2 has the highest picking position. The storage space 12 corresponding to the lowest picking position and the storage space 12 corresponding to the highest picking position of the cargo picking and placing device 2 and the storage space 12 between the two are the picking and placing areas where the cargo picking and placing device 2 can store and retrieve goods. The picking and placing area corresponding to the main cargo picking and placing device 2a is the main picking and placing area.

[0072] For the same storage unit, two main cargo picking and placing devices 2a are arranged adjacent to each other in the vertical direction, and the highest picking position of the main cargo picking and placing device 2a located on the lower side is equal to or higher than the lowest picking position of the main cargo picking and placing device 2a located on the upper side, thereby making the two main cargo picking and placing devices 2a have at least one row of first common picking and placing areas 122.

[0073] The travel mechanism 21 includes two vertical rails 211 arranged opposite to each other in the first direction and a travel wheel mechanism installed on the vertical rails 211. The travel wheel mechanism drives the vertical rails 211 to travel along the transverse rails 4. The access mechanism 22 can be installed between the two vertical rails 211 in a vertically movable manner. The travel wheel mechanism includes a travel wheel 212 and a travel drive assembly 213. The vertical rails 211 are respectively provided with a group of travel wheels 212. Each group of travel wheels 212 includes a plurality of travel wheels 212 arranged in a one-to-one correspondence with the transverse rails 4. At least one travel wheel 212 is a driving wheel. The travel drive assembly drives the travel wheel 212 to move on the transverse rails 4.

[0074] In this embodiment, two transverse rails 4 are correspondingly arranged for each cargo access device 2 to reduce the number of transverse rails 4 and reduce costs. For each cargo access device 2, the two corresponding transverse rails 4 are preferably arranged at the upper and lower ends of the corresponding access area, so that the upper and lower ends of the running mechanism 21 are stably and reliably supported, thereby improving the operational stability of the cargo access device 2. The spacing between the two vertical rails 211 is greater than the spacing between the storage positions 121 in the first direction, so that the cargo 5 carried by the access mechanism 22 can enter and exit the storage position 121 through the two vertical rails 211.

[0075] In order to reduce the cost of the cargo storage and retrieval system, in this embodiment, the cargo retrieval device 2 located in the lane 10 can retrieve and place cargo from the storage units on the shelves 1 on both sides, thereby reducing the number of cargo retrieval devices 2 required while meeting the storage and retrieval of multiple shelves 1, thereby reducing costs. The arrangement of a storage and retrieval mechanism 22 that can meet the two-way retrieval is relatively common in the art, and the present utility model does not limit or elaborate on the specific structure of the storage and retrieval mechanism 22.

[0076] In other embodiments, the cargo picking and placing device 2 on each shelf 1 can only pick up and place cargo 5 in the storage unit on the shelf 1, so as to simplify the structure of a single cargo picking and placing device 2, and make the shelf 1 and the cargo picking and placing device 2 installed thereon form an integral module, and the user can select the number and arrangement of modules according to needs.

[0077] In this embodiment, in order to improve the efficiency of the cargo storage and retrieval system, a temporary storage component 3 is provided at the bottom of the shelf 1. The temporary storage component 3 has a temporary storage position 31 for placing the cargo 5. The temporary storage component 3 has a side opening for the cargo 5 to enter and exit the temporary storage position 31. The temporary storage position 31 is located below the bottom storage space 12. The bottom cargo retrieval device 2 can take and place cargo in the temporary storage position 31 through the side opening. The cargo storage and retrieval system also includes a transport vehicle, which can take the cargo 5 in the temporary storage position 31 or place the cargo 5 in the temporary storage position 31 through the side opening.

[0078] In the cargo storage and retrieval system provided in the present embodiment, when the cargo 5 needs to be taken out of the warehouse, if the target cargo 5 is located in the storage position 121 corresponding to the main pick-up and placement area of ​​the lowest layer, the demand for picking up and placing the cargo 5 can be met by walking the main cargo pick-up and placement device 2a at the lowest side on the surface of the shelf 1; when the storage position 121 where the target cargo 5 is located is located in a main pick-up and placement area other than the lowest layer, for example, in the main pick-up and placement area of ​​the second layer from top to top, the main pick-up and placement device 2a corresponding to the main pick-up and placement area where the target storage position 121 is located is first moved relative to the surface of the shelf 1 to achieve the main pick-up and placement. The cargo picking and placing device 2a picks up the target cargo 5 in the target storage position 121; thereafter, the main cargo picking and placing device 2a transfers the target cargo 5 to the storage position 121 corresponding to the first public picking and placing area 122 covered by the adjacent lower main cargo picking and placing device 2a by its movement relative to the shelf 1; then, the lower main cargo picking and placing device 2a moves, takes out the target cargo 5 in the first public picking and placing area 122 and transfers it downward to the temporary storage position 31; finally, the transport vehicle transports the target cargo 5 in the temporary storage position 31 to the target position of the next process.

[0079] When the goods 5 need to be put into storage, the transport vehicle first transports the goods 5 to be put into storage and places them in the temporary storage position 31. If the target storage position 121 corresponding to the goods 5 to be put into storage is located in the main pick-up and placement area of ​​the lowest layer, the main cargo pick-up and placement device 2a on the lowest side moves on the surface of the shelf 1 to take out the goods 5 in the temporary storage position 31, and then transfers the goods 5 to the target storage position 121; when the target storage position 121 is located in a main pick-up and placement area other than the lowest layer, for example, in the second main pick-up and placement area from bottom to top, the main cargo pick-up and placement device 2a on the lowest side first takes out the goods 5 to be put into storage from the temporary storage position 31 by moving on the surface of the shelf 1, and then transfers the goods 5 to be put into storage to the first common pick-up and placement area 122 jointly covered by it and the adjacent upper main cargo pick-up and placement device 2a, and then the upper main cargo pick-up and placement device 2a is actuated to take out the target goods 5 from the first common pick-up and placement area 122 and transfer it to the target storage position 121.

[0080] The cargo storage and retrieval system provided in the present embodiment is provided with a temporary storage component 3 and a transport vehicle, so that when the cargo 5 is out of the warehouse, the cargo 5 picked up by the cargo picking and placing device 2 from the storage position 121 can be temporarily stored in the temporary storage position 31, so that the transport vehicle can transfer and transport the cargo 5 in the temporary storage position 31, and there is no need for the cargo picking and placing device 2 to directly dock with the transport vehicle, thereby reducing the waiting time for the cargo picking and placing device 2 to pick up the cargo, improving the cargo picking efficiency of the cargo picking and placing device 2, and improving the efficiency of cargo 5 out of the warehouse; when the cargo 5 is entered into the warehouse, the transport vehicle can temporarily store the cargo 5 to be entered into the temporary storage position 31, waiting for the cargo picking and placing device 2 to perform the warehousing operation on the cargo 5 in the temporary storage position 31, so that the transport vehicle does not need to wait for docking with the cargo picking and placing device 2, thereby improving the efficiency of the transport vehicle in transporting the cargo 5, thereby improving the efficiency of the cargo 5 entering the warehouse, and improving the logistics efficiency.

[0081] In other embodiments, the temporary storage component 3 may not be provided at the bottom of the shelf 1, and the transport vehicle can dock with the lowermost main cargo picking and placing device 2a to realize the transfer of the cargo 5 between the transport vehicle and the lowermost main cargo picking and placing device 2a.

[0082] In order to improve the convenience of the transporter in transporting the goods 5 in the temporary storage position 31, in this embodiment, the transporter is a lifting transporter, that is, it can move under the goods 5 and transport the goods 5 by lifting the goods 5. Specifically, the transporter includes a mobile chassis that can move autonomously and a lifting mechanism installed on the mobile chassis. The lifting mechanism includes a load rack and a top-lifting lifting mechanism. The load rack is located at the top of the mobile chassis and is used to dock with the bottom of the goods 5. The top-lifting lifting mechanism can drive the load rack to rise and fall to achieve separation or contact between the load rack and the goods 5. The specific structure and operation mode of the lifting transporter can be set with reference to the existing technology. This is not the focus of this embodiment and will not be repeated here.

[0083] In other embodiments, the transport vehicle may include a mobile chassis and a telescopic fork mounted on the mobile chassis, and the telescopic fork can be horizontally extended to achieve the transfer of the goods 5 between the transport vehicle and the temporary storage position 31. In this setting, when the transport vehicle needs to take or place the goods 5 in the temporary storage position 31, the transport vehicle moves to face the temporary storage position 31, and then the telescopic fork is extended to achieve the switching of the goods 5 between the transport vehicle and the temporary storage position 31. In this setting, there is no need to reserve a large space between the bottom of the temporary storage position 31 and the ground for the transport vehicle to operate.

[0084] The transport vehicle has a first height when the loading platform is not raised relative to the moving chassis and a second height when the loading platform is raised relative to the moving chassis, and the second height is greater than the first height. Generally speaking, when the transport vehicle is moving without a load, the transport vehicle is at the first height; when the transport vehicle needs to dock with the goods 5 in the temporary storage position 31, the loading platform is raised to raise the transport vehicle from the first height to the second height.

[0085] In order to facilitate the movement of the transport vehicle at the bottom of the shelf 1, a high-level passage 30 is formed between the bottom cargo compartment 11 at the position where the temporary storage component 3 is not set and the ground of the cargo storage and retrieval system. The height of the high-level passage 30 is greater than the second height, so that the transport vehicle can move relatively freely in the high-level passage 30; a low-level passage 20 is formed between the bottom of the temporary storage component 3 and the ground of the cargo storage and retrieval system. The low-level passage 20 is higher than the first height, so that the transport vehicle can enter the bottom of the temporary storage component 3 through the low-level passage 20 when it is at the first height. A bottom opening 33 is set at the bottom of the temporary storage component 3. The carrier of the transport vehicle can be raised and lowered in and out of the temporary storage position 31 through the bottom opening 33 to contact or separate from the bottom of the cargo 5 located in the temporary storage position 31. The carrier can carry the cargo 5 and enter and exit the temporary storage position 31 horizontally from the side opening.

[0086] In this embodiment, a passage for a transport vehicle to operate is formed between the bottom of the lowest cargo retrieval device 2 and the ground. The height of the passage is greater than the second height so that the transport vehicle can operate freely on the ground of the cargo storage and retrieval system.

[0087] Furthermore, in order to improve the storage density of the cargo storage and retrieval system, in the second direction, the two outermost shelves 1 are single-depth shelves, and the remaining shelves 1 are double-depth shelves. The single-depth shelves are that each cargo compartment 11 is only provided with one storage unit in the second direction, and the double-depth shelves 1 are that each cargo compartment 11 is provided with two storage units side by side along the second direction, and the storage positions 121 in the two storage units are provided one-to-one in the first direction.

[0088] For the double-depth shelf 1, one storage unit in the second direction faces one lane 10, and the other storage unit faces another lane 10. Preferably, the cargo picking and placing device 2 corresponding to one lane 10 only picks and places cargo in the storage unit on one side close to the lane 10, that is, the storage units on both sides of the double-depth shelf 1 are picked and placed by the cargo picking and placing devices 2 on both sides of the shelf 1. This arrangement makes it unnecessary for the telescopic picking stroke of the storage and retrieval mechanism 22 to be too large, thereby reducing the size of the storage and retrieval mechanism 22 in the second direction, thereby reducing the width requirement of the lane 10 and improving the arrangement density of the shelf 1.

[0089] It is worth noting that in other embodiments, if the telescopic stroke of the storage and retrieval mechanism 22 is sufficient, two or more storage units can be arranged side by side along the second direction on each cargo compartment 11, and the storage and retrieval mechanism 22 can pick up and place goods in two adjacent storage units of the same shelf 1, or the picking and placing area of ​​the cargo picking and placing device 2 covers all storage units of the same shelf 1 in the second direction.

[0090] Each lane 10 may be provided with one temporary storage component 3, or two or more temporary storage components 3. When multiple temporary storage components 3 are provided, all temporary storage components 3 may be provided at the bottom of one shelf 1, or may be dispersedly provided at the bottom of two shelves 1. The number and location of the temporary storage components 3 may be flexibly provided according to the storage and retrieval requirements of the cargo storage and retrieval system.

[0091] It is worth noting that, for the double-depth shelf 1, the temporary storage component 3 corresponding to one lane 10 is arranged below the storage unit on one side of the bottom of the shelf 1 close to the lane 10, so as to facilitate the cargo retrieval device 2 to realize the retrieval and placement of the cargo 5 in the temporary storage position 31. Preferably, in the second direction, the temporary storage component 3 is arranged adjacent to the high-level channel 30, so as to facilitate the transport vehicle to perform U-turns or turns in the high-level channel 30 adjacent to the temporary storage position 31, reduce the movement restrictions of the transport vehicle in the cargo storage and retrieval system, and improve the flexibility of the transport vehicle's path planning.

[0092] It can be understood that when the cargo storage and retrieval system includes only one shelf 1, the temporary storage component 3 is arranged at the bottom of the shelf 1, and when the shelf 1 is a double-depth shelf, the temporary storage component 3 is located below the storage unit on the side corresponding to the lowermost cargo retrieval device 2 of the shelf 1.

[0093] In order to reduce the interference between two cargo picking and placing devices 2 in the same lane 10, in this embodiment, at least one storage unit has two adjacent main cargo picking and placing devices 2a that travel on two shelves 1 and have a first common area for picking and placing. This arrangement ensures that even if the lower end of the upper traveling mechanism 21 is lower than the upper end of the adjacent lower traveling mechanism 21, there will be no interference between the two traveling mechanisms 21, so that when the two adjacent main cargo picking and placing devices 2a are required to pick and place the cargo 5 in the common picking and placing area, there is no restriction on the position setting of the corresponding ends of the traveling mechanisms 21 of the two main cargo picking and placing devices 2a, thereby improving the flexibility of the structural setting of the cargo picking and placing device 2.

[0094] In the present embodiment, corresponding to the same storage unit, in two adjacent main cargo picking and placing devices 2a, the lower end of the vertical rail 211 of the main cargo picking and placing device 2a on the upper side is lower than the upper end of the vertical rail 211 of the main cargo picking and placing device 2a on the lower side, thereby ensuring that when the storage and retrieval mechanism 22 moves to the highest picking position or the lowest picking position, the vertical rail 211 can effectively support the storage and retrieval mechanism 22, thereby improving the reliability of the storage and retrieval mechanism 22 running to the highest picking position or the lowest picking position; at the same time, this arrangement can reduce the relative position restriction of the connection position of the storage and retrieval mechanism 22 and the vertical rail 211 and the setting position of the telescopic fork arm 222 of the storage and retrieval mechanism 22 in the vertical direction, thereby improving the design flexibility of the main cargo picking and placing device 2a and improving the versatility of the main cargo picking and placing device 2a.

[0095] Furthermore, the upper end of the vertical rail 211 of the uppermost main cargo access device 2a is higher than the uppermost storage space 12, thereby reliably ensuring the reliability of the uppermost main cargo access device 2a in accessing the uppermost storage space 12. The vertical rail 211 of the lowermost main cargo access device 2a extends to below the temporary storage position 31, so as to better ensure the reliability of the main cargo access device 2a in accessing the temporary storage position 31.

[0096] In this embodiment, the width of the cargo picking and placing device 2 in the second direction is D, and the width of the lane 10 in the second direction is preferably 1.1D~1.5D, so as to avoid interference between the storage and retrieval mechanism 22 of one cargo picking and placing device 2 and the vertical rail 211 of the main cargo picking and placing device 2a on the other side of the lane 10, thereby ensuring the operational reliability of all cargo picking and placing devices 2.

[0097] It is worth noting that since the width of the lane 10 is less than twice the width of the cargo picking and placing device 2, the storage and retrieval mechanisms 22 of the two relatively arranged cargo picking and placing devices 2 cannot run to a position directly opposite each other in the second direction and the vertical direction. Therefore, in the process of storing and retrieving goods, the collision of the two relatively arranged storage and retrieval mechanisms 22 can be avoided by controlling the running trajectory of the cargo picking and placing device 2 on the surface of the shelf 1 and controlling the lifting and lowering control of the storage and retrieval mechanism 22 on the walking mechanism 21.

[0098] To reduce costs, in this embodiment, the main access areas of two adjacent main cargo access devices 2a together cover a row of storage space 12 in the vertical direction, thereby making the main access areas of the two main cargo access devices 2a overlap while avoiding excessive overlap between the two main cargo access devices 2a, which would lead to an increase in the vertical height of the main cargo access devices 2a. In other embodiments, the main access areas of two adjacent main cargo access devices 2a may cover two or more rows of storage space 12 in the vertical direction.

[0099] Preferably, in the first common access area 122 formed by two main cargo access devices 2a arranged adjacent to each other, some storage positions 121 are transit storage positions, and the remaining storage positions 121 are regular storage positions, wherein the regular storage positions can temporarily store cargo 5 in daily life, that is, they can be used as target storage positions 121 for cargo 5 to be stored; the transit storage positions can be used for the transfer of cargo 5 between two adjacent main cargo access devices 2a. That is, when the target cargo 5 is located in the storage position 121 in the upper main access area, the upper main cargo access device 2a first transfers the target cargo 5 in the upper main access area to the transit storage position, and then the lower main cargo access device 2a transfers the cargo 5 in the transit storage position to the transit storage position or the temporary storage position 31 located below. By setting up the transfer storage position, it is possible to avoid the problem that the storage positions 121 in the first common picking and placing area 122 are all occupied by non-target goods 5, resulting in difficulty in transferring the target goods 5 between the two main goods picking and placing devices 2a; at the same time, this setting can also reduce the probability of two adjacent main goods picking and placing devices 2a approaching or even colliding with each other, thereby improving the operating reliability of the main goods picking and placing devices 2a.

[0100] It is worth noting that the transfer storage locations can be arranged in a plurality of consecutive locations or can be arranged in a dispersed manner along the first direction. The number or location of the transfer storage locations can be specifically set according to the storage and warehousing requirements of the storage logistics, and the present invention does not limit this.

[0101] In order to reduce the probability of the shelf 1 tipping over, in this embodiment, the number of rows of the storage space 12 covered by the main access area of ​​the uppermost main cargo access device 2a is n1, and the number of rows of the storage space 12 covered by the main access area of ​​the lowermost main cargo access device 2a is n2, where n1<n2. In this way, while ensuring that all main access areas cover all storage locations 121, the height of the uppermost main cargo access device 2a in the vertical direction can be reduced, thereby reducing the center of gravity of the whole formed by the shelf 1 and the cargo access device 2, thereby reducing the probability of the shelf 1 tipping over.

[0102] For each cargo storage and retrieval system, there are differences in the in-and-out frequencies of different cargoes 5, among which there are usually some cargoes 5 that are high-frequency in-and-out cargoes 5, and there are some cargoes 5 that are low-frequency in-and-out cargoes 5. In order to further improve the efficiency of the cargo storage and retrieval system, in the present embodiment, in two adjacent main access areas in the vertical direction, the average in-and-out frequency of cargoes 5 in all storage locations 121 in the main access area on the lower side is higher than the average in-and-out frequency of cargoes 5 in all storage locations 121 in the main access area on the upper side, thereby placing cargoes 5 with high in-and-out frequencies in the main access area further down, reducing the number of main cargo access devices 2a required for such cargoes 5, thereby improving the efficiency of in-and-out retrieval.

[0103] In one embodiment, the storage and retrieval mechanism 22 includes a mounting frame 221, a telescopic fork arm 222, and a fork assembly. The mounting frame 221 is slidably mounted on the vertical rail 211, the telescopic fork arm 222 can be telescoped in the second direction, and two telescopic fork arms 222 are arranged opposite to each other in the first direction; a fork assembly is movably mounted at the telescopic end of each telescopic fork arm 222, and the fork assembly can be switched between a shifting position extending between two telescopic fork arms 222 and an idle position retracted relative to the shifting position. When it is necessary to take the goods 5 in the storage position 121, the access mechanism 22 moves to the position where the telescopic fork arm 222 is directly opposite to the height of the storage position 121; the two telescopic fork arms 222 extend toward the storage position 121 along the second direction to extend the two telescopic fork arms 222 to the opposite sides of the goods 5; when the telescopic fork arms 222 are extended to the position, the fork assembly switches to the shifting position so that the fork assembly can abut against the back side of the goods 5; the telescopic fork arm 222 retracts to shift the goods 5 from the storage position 121 to the mounting rack 221. The process of the access mechanism 22 placing the goods 5 on the mounting rack 221 to the storage position 121 is basically the opposite, and will not be repeated here. It can be understood that the structure of the access mechanism 22 that realizes the transfer of goods 5 on the shelf 1 and the mounting rack 221 through the telescopic fork arm 222 and the fork assembly is relatively common in the prior art, and the utility model does not limit the specific type and structure of the access mechanism 22.

[0104] In another embodiment, the storage and retrieval mechanism 22 includes a mounting frame 221, a telescopic assembly and a pickup piece, and a matching component that matches the pickup piece is arranged on the front side or the left and right sides of the goods 5. The mounting frame 221 is slidably mounted on the vertical rail 211, and the telescopic assembly can drive the pickup piece to extend along a first direction to connect with the matching component, thereby, through the connection between the pickup piece and the matching component, the telescopic assembly can drag the goods 5 in the storage position 121 to the mounting frame 221 by retracting in a direction away from the shelf 1, or push the goods 5 on the mounting frame 221 to the storage position 121 by extending the telescopic assembly in a direction toward the shelf 1. The cooperation between the pickup piece and the matching component can be a hook connection, a snap connection, or a magnetic connection, etc.

[0105] In another embodiment, the storage and retrieval mechanism 22 includes a mounting frame 221 and a telescopic fork arm 222, wherein the mounting frame 221 is slidably mounted on the vertical rail 211, and the telescopic fork arm 222 can be telescopically mounted on the mounting frame 221 along the second direction. When picking up the goods 5 in the storage position 121, the storage and retrieval mechanism 22 first moves to face the storage position 121, and the telescopic fork arm 222 extends into the storage position 121 along the second direction and is located below the goods 5; then the telescopic fork arm 222 rises to lift the goods 5 to be separated from the shelf 1; then the telescopic fork arm 222 retracts to drive the goods 5 to the mounting frame 221; when transferring the goods 5 on the mounting frame 221 to the storage position 121, the telescopic fork arm 222 extends with the goods 5 located above it to extend into the storage position 121, and the telescopic fork arm 222 descends to drive the goods 5 to be supported on the shelf 1 and the telescopic fork arm 222 is separated from the goods 5; and the telescopic fork arm 222 retracts to the initial position. It is understandable that, in the process of lifting and lowering the cargo 5, the telescopic fork arm 222 may be lifted and lowered relative to the mounting frame 221, or the entire storage and retrieval mechanism 22 may be lifted and lowered to drive the telescopic fork arm 222 to be lifted and lowered.

[0106] It is worth mentioning that in the prior art, there are many structures of the storage and retrieval mechanism 22 that can realize the transfer of the shelf 1 between the goods picking and placing devices 2. The utility model does not limit or elaborate on the specific structure of the storage and retrieval mechanism 22. As long as the storage and retrieval mechanism 22 can realize the picking and placing of goods 5 in the storage position 121 and the storage position 121, it will be sufficient.

[0107] Embodiment 2

[0108] This embodiment provides a cargo storage and retrieval system, and the cargo storage and retrieval system provided in this embodiment has the same basic configuration as the cargo storage and retrieval system in Embodiment 1, with only some configuration differences. This embodiment will not repeat the same contents as Embodiment 1.

[0109] like Figure 5 As shown, in this embodiment, at least one storage unit has two adjacent main cargo picking and placing devices 2a that run on opposite sides of the same shelf 1 and have a first common picking and placing area, and the main picking and placing area of ​​the main cargo picking and placing device 2a can cover all storage units of the same shelf 1 in the second direction.

[0110] That is, in this embodiment, for the cargo picking and placing devices 2 of some storage units, their main picking areas cover the same area in the vertical direction of all storage units on the same shelf 1, thereby being able to reduce the number of cargo picking and placing devices 2 while picking and placing cargo on both sides of the shelf 1, thereby reducing costs; at the same time, two main cargo picking and placing devices 2a corresponding to the same storage unit and adjacently arranged in the vertical direction are respectively located on the opposite sides of the shelf 1, so that the two main cargo picking and placing devices 2a adjacently arranged in the vertical direction move on the opposite sides of the shelf 1 respectively, and there will be no interference between the two, thereby facilitating the two adjacent main cargo picking and placing devices 2a to pick up cargo from the same first public picking area while reducing the setting restrictions on the main cargo picking and placing devices 2a.

[0111] In this embodiment, at least two shelves 1 are arranged opposite to each other and spaced apart along the second direction, and an aisle 10 is formed between two adjacent shelves 1. It is assumed that the main cargo picking and placing device 2a located in the aisle 10 at two adjacent shelves 1 is a first main cargo storage and retrieval device, which can pick and place cargo on the shelves 1 on both sides; the main cargo picking and placing device 2a adjacent to the first main cargo storage and retrieval device in the vertical direction is a second main cargo picking and placing device, and the second main cargo picking and placing devices on the two shelves 1 are respectively located on the opposite sides of the corresponding shelves 1 with the first main cargo picking and placing device. As a result, there is only one main cargo picking and placing device 2a in the aisle 10 located on the two shelves 1, or the main picking and placing areas of at least two main cargo picking and placing devices 2a located in the same aisle 10 are separated in the vertical direction, reducing interference between the two main cargo picking and placing devices 2a.

[0112] That is, taking the example that each storage unit is provided with two main cargo picking and placing devices 2a, if the main cargo picking and placing device 2a located on the upper side is the first main cargo picking and placing device, then the main cargo picking and placing device 2a located on the lower side of each shelf 1 is the second main cargo picking and placing device, and the second main cargo picking and placing devices of the two shelves 1 are respectively located on the side of the shelf 1 away from the first main cargo picking and placing device, and the first main cargo picking and placing device and the second main cargo picking and placing device thereof move on the opposite surface of one shelf 2, and the other second main cargo picking and placing device is respectively located on the two shelves 1.

[0113] In another embodiment, two main cargo picking and placing devices 2a having a first common picking and placing area may be simultaneously provided in the lane 10, and main cargo picking and placing devices 2a are provided on both side surfaces of at least one side shelf 1 of the lane 1, and the main cargo picking and placing devices 2a located on both side surfaces of the same shelf 1 have a first common picking and placing area.

[0114] In another embodiment, all storage units have main picking and placing devices 2a running on opposite sides of the same shelf 1 and arranged adjacently in the vertical direction, that is, at least two main cargo picking and placing devices 2a are arranged adjacently in the vertical direction in the lane 10. In this arrangement, the two main cargo picking and placing devices 2a located in the lane 10 and arranged adjacently can have a first common picking and placing area, or the main picking and placing areas of the two main cargo picking and placing devices 2a can be separated in the vertical direction.

[0115] It is worth noting that the shelves 1 can all be single-depth shelves, that is, the shelves 1 have one storage unit. The shelves 1 can also be double-depth shelves, that is, each cargo picking and placing device 2 can pick and place cargo in two storage units arranged side by side in the second direction. Furthermore, when there are multiple shelves 1 arranged side by side in the second direction, the two outermost shelves 1 are single-depth shelves, and the shelf 1 in the middle is a double-depth shelf.

[0116] Embodiment 3

[0117] This embodiment provides a cargo storage and retrieval system, and the cargo storage and retrieval system provided in this embodiment has the same basic configuration as the cargo storage and retrieval system in Embodiment 1, with only some configuration differences. This embodiment will not repeat the same contents as Embodiment 1.

[0118] like Figure 6 As shown, the arrangement of the main cargo picking and placing device 2a is different from that of the first embodiment. Specifically, at least two adjacent main cargo picking and placing devices 2a in the vertical direction are arranged on the same side of the shelf 1, and in the two adjacent main cargo picking and placing devices 2a, the upper end of the running mechanism 21 of the main cargo picking and placing device 2a located on the upper side is higher than the upper end of the running mechanism 21 of the main cargo picking and placing device 2a located on the lower side; the access mechanism 22 of the main cargo picking and placing device 2a located on the upper side can extend downward from the running mechanism 21 to pick and place cargo at the storage position 121 in the common picking and placing area, and / or, the access mechanism 22 of the main cargo picking and placing device 2a located on the lower side can extend upward from the running mechanism 21 to pick and place cargo at the storage position 121 in the common picking and placing area.

[0119] In this embodiment, the traveling mechanisms 21 of two adjacent main cargo picking and placing devices 2a are arranged at intervals, which can avoid movement interference between the two main cargo picking and placing devices 2a when the two adjacent main cargo picking and placing devices 2a are arranged on the same side; at the same time, by arranging the upper storage and retrieval mechanism 22 to extend downward from the traveling mechanism 21 and / or the lower storage and retrieval mechanism 22 to extend upward from the traveling mechanism 21, the two main cargo picking and placing devices 2a have overlapping common picking and placing areas.

[0120] That is, in this embodiment, two adjacent main cargo picking and placing devices 2a can be arranged on the same side of the shelf 1, or on opposite sides of the shelf 1. When multiple shelves 1 are arranged side by side, two adjacent main cargo picking and placing devices 2a in the vertical direction can also be arranged on opposite sides of the lane 10, or on the same side of the lane 10, thereby improving the flexibility of the arrangement of the main cargo picking and placing devices 2a.

[0121] In the present embodiment, two main cargo picking and placing devices 2a are provided in the same lane 10. The storage and retrieval mechanism 22 of the main cargo picking and placing device 2a located at the lower side can extend upwardly to the corresponding vertical rail 211, and the storage and retrieval mechanism 22 of the main cargo picking and placing device 2a located at the upper side can extend downwardly to the corresponding vertical rail 211, thereby reducing the height of the lower storage and retrieval mechanism 22 extending upwardly to the corresponding vertical rail 211 and reducing the height of the upper storage and retrieval mechanism 22 extending downwardly to the corresponding vertical rail 211, avoiding the problem of poor stability of the storage and retrieval mechanism 22 on the walking mechanism 21 and increased structural complexity caused by the storage and retrieval mechanism 22 extending too high from the vertical rail 211, reducing the difficulty of setting the main cargo picking and placing device 2a, and improving the operation and use stability of the main cargo picking and placing device 2a.

[0122] For the main cargo picking and placing device 2a on the upper side, the sliding connection position between the mounting frame 221 of the storage and retrieval mechanism 22 and the vertical rail 211 is higher than the position of the telescopic fork arm 222 of the storage and retrieval mechanism 22. Therefore, when the mounting frame 221 slides relative to the vertical rail 211 to the lowest picking position of the storage and retrieval mechanism 22, the telescopic fork arm 222 can face the first public picking and placing area 122.

[0123] For the main cargo retrieval device 2 a at the lower side, the sliding connection position between the mounting frame 221 of the access mechanism 22 and the vertical rail 211 is higher than the position of the telescopic fork arm 222 of the access mechanism 22 .

[0124] Embodiment 4

[0125] This embodiment provides a cargo storage and retrieval system, and the cargo storage and retrieval system provided in this embodiment is based on a further improvement of the cargo storage and retrieval system in the first embodiment, and this embodiment will not repeat the same contents as the first embodiment.

[0126] At least one storage unit has two main cargo picking and placing devices 2a that travel on the same surface of the same shelf 1 and are arranged adjacent to each other in the vertical direction, and at least one main cargo picking and placing device 2a can switch between a first operating state and a second operating state; when the main cargo picking and placing device 2a is in the first operating state, the main cargo picking and placing device 2a and the main cargo picking and placing device 2a adjacent to the same side are arranged to be spaced apart in the vertical direction; when the main cargo picking and placing device 2a is in the second operating state, the main cargo picking and placing device 2a and the main cargo picking and placing device 2a adjacent to the same side are arranged to partially overlap in the vertical direction.

[0127] That is, in this embodiment, by switching at least one main cargo picking and placing device 2a between the first operating state and the second operating state, interference between two adjacent main cargo picking and placing devices 2a on the same side is avoided. At the same time, by switching one main cargo picking and placing device 2a to the second operating state, it is ensured that it can realize the picking and placing of the cargo 5 in the storage location 121 in the first public picking and placing area 122, thereby improving the convenience and flexibility of setting the main cargo picking and placing device 2a.

[0128] In this embodiment, at least one end of the vertical rail 211 toward the adjacent main cargo pick-up and placement device 2a on the same side can be extended and retracted, so that the main cargo pick-up and placement device 2a can switch between the first operating state and the second operating state. That is, in this embodiment, the length of the vertical rail 211 is changed by extending and retracting the end of the vertical rail 211, thereby adjusting the operating stroke of the pick-up and placement mechanism, and then the main cargo pick-up and placement device 2a can switch between the first operating state and the second operating state. This adjustment method and adjustment structure are simple, easy to implement, and occupy less space.

[0129] Specifically, the vertical rail 211 includes a rail body and an adjustment rail, the running wheel 212 is installed on the rail body, and the adjustment rail is slidably installed on at least one end of the rail body and another main cargo picking and placing device 2a adjacent to the same side. The vertical rail 211 also includes an adjustment drive member, which drives the adjustment rail to rise and fall relative to the rail body, so that the vertical rail 211 switches between an initial state and an extended state. When the vertical rail 211 is in the initial state, the main cargo picking and placing device 2a is in a first operating state, and when the vertical rail 211 is in an extended state, the main cargo picking and placing device 2a is in a second operating state.

[0130] This type of vertical rail 211 has a simple structure and low cost, and can realize automatic adjustment of the length of the vertical rail 211 by setting an adjustment drive member, with a high degree of automation. It is worth noting that the structure of the adjustment drive member that can realize the sliding of the adjustment rail relative to the track body is relatively common, and this embodiment does not limit or elaborate on the installation structure of the adjustment rail and the track body and the specific structure of the adjustment drive member.

[0131] That is, in this embodiment, by providing an adjustment rail at the end of the track body, when there is no need to retrieve and place goods 5 in the storage position 121 in the first public access area 122, the adjustment rail can be retracted relative to the track body to avoid interference in the movement of two adjacent main cargo retrieval devices 2a; when the main cargo retrieval device 2a is needed to retrieve and place goods 5 in the storage position 121 in the public access area, the adjustment rail extends upward relative to the track body, so that the storage and retrieval mechanism 22 can move along the adjustment rail to a position opposite to the public access area.

[0132] In other embodiments, the storage and retrieval mechanism 22 includes a mounting frame 221, a lifting mechanism and a cargo storage and retrieval assembly. The mounting frame 221 can be slidably mounted on the two vertical rails 211 in the vertical direction. The cargo storage and retrieval assembly can be telescopic in the second direction to realize the transfer of the cargo 5 between the storage and retrieval mechanism 22 and the shelf 1. The lifting mechanism is installed between the mounting frame 221 and the cargo storage and retrieval assembly so that the storage and retrieval mechanism 22 can be vertically lifted relative to the mounting frame 221, so that the cargo storage and retrieval assembly can switch between the high-position pickup position and the low-position pickup position. The height of the cargo storage and retrieval assembly relative to the mounting frame 221 when it is in the high-position pickup position is higher than the height of the cargo storage and retrieval assembly relative to the mounting frame 221 when it is in the low-position pickup position. When the cargo storage and retrieval assembly is in the high-position pickup position, the cargo pickup and placement device 2 is in the second operating state; when the cargo storage and retrieval assembly is in the low-position pickup position, the cargo pickup and placement device 2 is in the first operating state.

[0133] Embodiment 5

[0134] This embodiment provides a cargo storage and retrieval system, and the cargo storage and retrieval system provided in this embodiment is based on a further improvement of the cargo storage and retrieval system in the first embodiment, and this embodiment will not repeat the same contents as those in the first embodiment.

[0135] like Figure 7 As shown, in this embodiment, the storage position 121 corresponding to the main access area at the lower side is used to store goods 5 with a high frequency of entry and exit. In order to increase the frequency of entry and exit of the storage space 12 at the bottom of the shelf 1, at least one of the multiple goods access devices 2 corresponding to a storage unit is an auxiliary goods access device 2b, and the auxiliary goods access device 2b has an auxiliary access area. The auxiliary access area at least covers the storage space 12 at the bottom of the shelf;

[0136] The above arrangement enables the main picking and placing area of ​​the main cargo picking and placing device 2a at the bottom to partially overlap with the auxiliary picking and placing area of ​​the auxiliary cargo picking and placing device 2b to form a second common picking and placing area. Therefore, when the target cargo 5 to be entered and exited is located in the second common picking and placing area, the target cargo 5 can be taken out of the warehouse by the main cargo picking and placing device 2a at the bottom, or the auxiliary cargo picking and placing device 2b can be used to perform the out-of-warehouse operation on the cargo 5; when the target storage position 121 of the cargo 5 to be entered into the warehouse is located in the second common picking and placing area, the cargo 5 can be transferred to the target storage position 121 by the main cargo picking and placing device 2a at the bottom, or the auxiliary cargo picking and placing device 2b can be used to transfer the cargo 5 to the target storage position 121, thereby reducing the waiting time for the cargo 5 to enter and exit the warehouse and improving the efficiency of entering and exiting the warehouse for the cargo 5; and the simultaneous operation of the main cargo picking and placing device 2a and the auxiliary cargo picking and placing device 2b at the bottom can realize the simultaneous entry and exit operation of the two cargoes 5, thereby further improving the logistics efficiency.

[0137] In this embodiment, in the same lane 10, the main cargo picking and placing device 2a and the auxiliary cargo picking and placing device 2b at the bottom are respectively installed on two shelves 1. That is, the two shelves 1 located on both sides of the lane 10 are the first shelf 1 and the second shelf 1, respectively, the auxiliary cargo picking and placing device 2b moves on the surface of the first shelf 1, and the main cargo picking and placing device 2a at the bottom moves on the surface of the second shelf 1. In this way, the interference between the auxiliary cargo picking and placing device 2b and the main cargo picking and placing device 2a can be effectively avoided, and the operation safety and reliability of each cargo picking and placing device 2 can be ensured.

[0138] In this embodiment, the main cargo picking and placing devices 2a located in the same lane 10 and arranged adjacent to each other in the vertical direction are respectively located on two shelves 1, that is, the main cargo picking and placing device 2a and the auxiliary cargo picking and placing device 2b located above the main cargo picking and placing device 2a located at the lowermost side are installed on the same shelf 1. In order to avoid interference between the auxiliary cargo picking and placing device 2b and the main cargo picking and placing device 2a, the auxiliary cargo picking and placing device 2b and the main cargo picking and placing device adjacent to the same side are arranged at intervals in the vertical direction.

[0139] Specifically, the upper end of the vertical rail 211 of the auxiliary cargo picking and placing device 2b is lower than the lower end of the vertical rail 211 of the primary cargo picking and placing device 2a adjacent to it on the same side, so as to avoid interference between the vertical rails 211 of the two adjacent cargo picking and placing devices 2 on the same side during the process.

[0140] Furthermore, the auxiliary cargo picking and placing area of ​​the auxiliary cargo picking and placing device 2b is separated from the main picking and placing area of ​​the main cargo picking and placing device 2a on the same side, that is, the auxiliary cargo picking and placing device 2b and the main cargo picking and placing device 2a on the same side do not have a common picking and placing area, thereby avoiding the probability of interference and collision between the auxiliary cargo picking and placing device 2b and the main cargo picking and placing device 2a on the upper side and the main cargo picking and placing device 2a on the opposite side.

[0141] In another embodiment, all main cargo picking and placing devices 2a may be arranged on the same shelf 1, and two main cargo picking and placing devices 2a adjacent in the vertical direction are respectively located on opposite sides of the shelf 1. In this arrangement, the auxiliary cargo picking and placing device 2b and the bottom main cargo picking and placing device 2a may be located on the same shelf 1 and respectively move on opposite sides of the shelf 1, or the auxiliary cargo picking and placing device 2b and the bottom main cargo picking and placing device 2a may be respectively located on opposite sides of the shelf 1 and respectively move on the surfaces of the two shelves 1. The arrangement of the main cargo picking and placing device 2a in this embodiment may refer to the second embodiment.

[0142] In another embodiment, all main cargo picking and placing devices 2a corresponding to the same storage unit are arranged on the same side of the same shelf 1, and the auxiliary cargo picking and placing device 2a is arranged on the other opposite side of the shelf 1, or the auxiliary cargo picking and placing device 2a is arranged on an adjacent shelf 1, and the main cargo picking and placing device 2a and the auxiliary cargo picking and placing device 2b are located in the same lane 10. In this setting, the auxiliary picking and placing area of ​​the auxiliary cargo picking and placing device 2b may overlap only with the main picking and placing area of ​​the main cargo picking and placing device 2a at the bottom, or may overlap with the main picking and placing areas of two adjacent main cargo picking and placing devices 2a. The setting of the main cargo picking and placing device 2a in this embodiment mode can refer to the third embodiment or the fourth embodiment, and will not be repeated here.

[0143] Embodiment 6

[0144] This embodiment provides a cargo storage and retrieval system, and the basic structure of the cargo storage and retrieval system provided by this embodiment is the same as that of the first embodiment, and only some settings are different. This embodiment will not repeat the same contents as the first embodiment.

[0145] In this embodiment, the storage and retrieval mechanism 22 includes a mounting frame 221, a telescopic mechanism 224 and a cargo storage and retrieval assembly. The mounting frame 221 can be installed on two vertical rails 211 in a vertical direction; the telescopic mechanism 224 is connected between the mounting frame 221 and the cargo storage and retrieval assembly, and the telescopic mechanism 224 can drive the cargo storage and retrieval assembly to be telescopic as a whole relative to the mounting frame 221 along the second direction, so as to drive the cargo storage and retrieval assembly to switch between the initial position and the extended position; the cargo 5 storage and retrieval assembly includes a sliding seat 223 and a telescopic fork arm 222, the telescopic mechanism 224 is connected between the mounting frame 221 and the sliding seat 223, and the telescopic fork arm 222 can be telescopic relative to the sliding seat 223 along the second direction, so as to realize the transfer of the cargo 5 between the sliding seat 223 and the storage position 121 or the temporary storage position 31.

[0146] When the cargo retrieval device 2 is in an initial state, the cargo storage and retrieval assembly is in an initial position and is located directly above the mounting frame 221, the telescopic fork arm 222 is in a retracted state relative to the sliding seat 223, and the end of the telescopic fork arm 222 is spaced apart from the shelf 1 to avoid interference between the storage and retrieval mechanism 22 and the shelf 1 during movement; when it is necessary to pick up the cargo 5 in the storage position 121 or the temporary storage position 31, the sliding seat 223 is extended to the extended position relative to the mounting frame 221, and synchronously, the telescopic fork arm 222 is extended relative to the sliding seat 223 to dock with the cargo 5 in the storage position 121; when the telescopic fork arm 222 is docked with the cargo 5, the telescopic fork arm 222 is retracted relative to the sliding seat 223, and simultaneously or subsequently the sliding seat 223 is retracted relative to the mounting frame 221 to drive the cargo 5 to be transferred to the sliding seat 223.

[0147] According to the above arrangement, since the sliding seat 223 can be extended relative to the mounting frame 221, the distance between the sliding seat 223 and the storage position 121 or the temporary storage position 31 of the goods 5 can be shortened, so that when the goods 5 are transferred between the sliding seat 223 and the shelf 1, the goods 5 can be reliably supported by the sliding seat 223 and / or the shelf 1, thereby avoiding the goods 5 from falling, tilting or other problems during the transfer process due to the heavy goods 5 or the center of gravity of the goods 5 deviating from its center, thereby improving the reliability, stability and safety of the transfer of the goods 5 between the storage and retrieval mechanism 22 and the shelf 1.

[0148] It is worth noting that the cargo picking and placing device 2 provided in this embodiment can be applied to any one of the embodiments 1 to 5.

[0149] Embodiment 7

[0150] This embodiment provides a cargo storage and retrieval system, and the basic structure of the cargo storage and retrieval system provided by this embodiment is the same as that of the first embodiment, and only some settings are different. This embodiment will not repeat the same contents as the first embodiment.

[0151] In this embodiment, all storage locations 121 in the first public access area 122 are regular storage locations, that is, regular storage locations can be target storage locations 121 of target goods 5 to be stored in the warehouse, so as to achieve daily storage in the warehouse, thereby increasing the storage capacity of the goods storage and access system. Under this setting, the goods 5 stored in the regular storage locations should be goods 5 with a high frequency of outgoing, so as to reduce the impact of the goods 5 set in the regular storage locations on the efficiency of picking and placing the goods 5.

[0152] It can be understood that when all storage locations 121 in the first public access area 122 are regular storage locations, if the target goods 5 are located in the main access area on the upper side that is not the first public access area 122, the upper main goods access device 2a can transfer the target goods 5 to be shipped out to the vacant regular storage locations in the first public access area 122; if the regular storage locations all store non-target goods 5 at this time, the lower main goods access device 2a can be used to first transfer the non-target goods 5 in a regular storage location to another vacant storage location 121 in the main access area.

[0153] It is worth noting that the configuration of the first common access area 122 can be applied to any one of the first to fifth embodiments.

[0154] Embodiment 8

[0155] The present embodiment provides a cargo storage and retrieval system, and the cargo storage and retrieval system provided by the present embodiment is a further improvement based on any of the above embodiments, and the present embodiment will not repeat the same contents as the above embodiments.

[0156] In this embodiment, both sides of the temporary storage component 3 along the second direction are open to form two side openings respectively, that is, the transport vehicle can carry the goods 5 in and out of the temporary storage position 31 through any side opening, further improving the path planning flexibility of the transport vehicle, thereby improving the transport efficiency of the goods 5 by the transport vehicle and improving the efficiency of the goods storage and retrieval system.

[0157] like Figures 9 to 11 As shown, the temporary storage component 3 includes at least two temporary storage brackets 32 arranged at intervals along the first direction, the upper end of each temporary storage bracket 32 ​​is connected to the shelf 1 and the lower end is used to support the goods 5, and a temporary storage position 31 is formed between two adjacent temporary storage brackets 32. Specifically, the upper end of each temporary storage bracket 32 ​​is connected to the bottom cargo compartment 11. By forming a temporary storage position 31 between two adjacent temporary storage brackets 32, the bottom opening 33 and the openings on both sides of the temporary storage position 31 are naturally formed through the gap between the two temporary storage brackets 32, which is conducive to simplifying the structure of the temporary storage component 3 and reducing the processing difficulty of the temporary storage component 3; at the same time, this arrangement is conducive to realizing the generalization of the temporary storage brackets 32, so that the number of temporary storage brackets 32 can be reasonably selected according to the storage and warehousing requirements and the length of the shelf 1 along the second direction, thereby improving the layout flexibility of the temporary storage component 3.

[0158] Each temporary storage bracket 32 ​​includes a hanging frame 321 and a bearing member 322. The upper end of the hanging frame 321 is connected to the shelf 1, and a temporary storage position 31 is formed between the two hanging frames 321. The bearing member 322 is installed at the lower end of the hanging frame 321 and extends in the direction toward the temporary storage position 31, and a bottom opening 33 is formed between the two bearing members 322 on both sides of the same temporary storage position 31. The portion of the bearing member 322 extending into the temporary storage position 31 forms a supporting portion 3221 for supporting the goods 5. The two supporting portions 3221 on both sides of the same temporary storage position 31 are used to support the bottom of the goods 5, and a bottom opening 33 is formed between the two supporting portions 3221.

[0159] The suspension rack 321 includes a mounting top beam 3211 extending along the second direction and a mounting vertical beam 3212 connected between the mounting top beam 3211 and the bearing member 322. The mounting top beam 3211 is fastened to the cargo compartment 11. Specifically, mounting plates 3213 are provided at both ends of the mounting top beam 3211, and the mounting plates 3213 at both ends are fastened to two rack cross beams, respectively. In this way, the installation convenience and installation stability of the temporary storage bracket 32 ​​on the shelf 1 can be ensured. Preferably, at least two mounting vertical beams 3212 are arranged at intervals along the second direction to improve the overall structural strength and rigidity of the suspension rack 321.

[0160] In this embodiment, both opposite sides of the bearing member 322 along the first direction extend outward from the corresponding sides of the suspension frame 321, that is, each bearing member 322 is formed with two supporting portions 3221, and the two supporting portions 3221 can be arranged corresponding to the two temporary storage positions 31. This arrangement can improve the versatility of the suspension frame 321, so that when two or more temporary storage positions 31 are arranged side by side, the suspension frames 321 and bearing members 322 between the two temporary storage positions 31 can be used universally. In other embodiments, the temporary storage assembly 3 can include only two temporary storage brackets 32, and one side of the bearing member 322 extends out of the suspension frame 321.

[0161] In order to improve the support reliability of the temporary storage bracket 32 ​​for the goods 5, a reinforcing component is connected to the lower side of the carrier 322, and the reinforcing component at least partially extends below the support portion 3221, and is used to partially strengthen the structure of the support portion 3221, so as to prevent the support portion 3221 from being dented or bent downward, and ensure the support stability of the goods 5. In this embodiment, the reinforcing component extends along the first direction, and the two ends extend to the two support portions 3221 respectively. In other embodiments, the reinforcing component can extend along the second direction and at least one reinforcing component is provided for each support portion 3221.

[0162] Preferably, the reinforcing member and the mounting top beam 3211 are arranged in one-to-one correspondence, and the reinforcing member, the bearing member 322 and the mounting top beam 3211 are fastened by fixing members sequentially passing through the three, thereby achieving the connection between the bearing member 322 and the reinforcing member and the mounting vertical beam 3212 while preventing the fasteners from being exposed on the upper side of the supporting portion 3221 and causing scratches on the goods 5. Furthermore, the reinforcing member is provided with a mounting long hole extending along the second direction, and the fixing member is passed through the mounting long hole, thereby being able to adjust the matching position of the fixing member and the reinforcing member, reducing the difficulty of assembling the three.

[0163] A guide member 323 is installed on the upper side of the carrier 322. The guide member 323 is located in the temporary storage position 31. The guide member 323 extends along the second direction and has guide plate portions 3232 formed at both ends. The two guide plate portions 3232 are inclined in a direction away from each other and away from the corresponding temporary storage position 31. The setting of the guide member 323 can guide the goods 5 to enter and exit the temporary storage position 31 through the two guide plate portions 3232, thereby improving the smoothness of the transport vehicle to take and place the goods 5 in the temporary storage position 31. At the same time, the setting of the guide member 323 can also prevent the goods 5 from scratching the suspension frame 321, thereby improving the safety of taking and placing the goods 5.

[0164] The guide member 323 also includes a side baffle portion 3231 connected between the two guide plate portions 3232. The side baffle portion 3231 is vertically arranged and extends along the second direction. The side baffle portion 3231 can stop the cargo 5 from moving out of the temporary storage position 31 along the first direction, and also prevent the cargo 5 from colliding with the suspension frame 321.

[0165] In this embodiment, two guide members 323 are provided on the same bearing member 322, and the two guide members 323 are respectively located on both sides of the hanging frame 321, and the two ends of the two guide members 323 are correspondingly abutted, so that the lower end of the hanging frame 321 is surrounded between the two guide members 323. Further, one end of each guide plate portion 3232 away from the baffle portion is bent to form a folded plate portion, and the two sides of the two guide members 323 are relatively abutted at the corresponding ends to prevent the two ends of the guide member 323 from generating edges and causing scratches to the goods 5 or the transport vehicle. The folded edge portion is perpendicular to the second direction.

[0166] The two guide members 323 on the same bearing member 322 are connected by a connecting member 324 to prevent the guide member 323 from being deformed under the extrusion of the goods 5, thereby improving the overall structural strength and rigidity of the guide member 323 and ensuring the guiding reliability. The connecting member 324 is connected between the two baffle parts.

[0167] Furthermore, a connecting beam 34 is connected between two adjacent mounting top beams 3211. The provision of the connecting beam 34 is conducive to ensuring the relative position accuracy between two adjacent temporary storages, thereby ensuring the width setting accuracy of the temporary storage position 31 in the second direction. In other embodiments, a connecting beam 34 is not provided between two temporary storage brackets 32. In this case, a positioning structure for installing and positioning the temporary storage bracket 32 ​​can be provided on the rack crossbeam of the shelf 1 to ensure the position accuracy between two adjacent temporary storage brackets 32.

[0168] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of protection of the present invention. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A cargo storage and retrieval system, characterized in that: include: A shelf (1), the shelf (1) having a storage unit, the storage unit comprising a plurality of rows of storage spaces (12) arranged in a vertical direction, each row of the storage spaces (12) comprising a plurality of storage locations (121) arranged side by side in a first direction; A cargo picking and placing device (2), each storage unit is equipped with at least two cargo picking and placing devices (2), at least two of the cargo picking and placing devices (2) are main cargo picking and placing devices (2a) having main picking and placing areas, all the main picking and placing areas are arranged in sequence from top to bottom and jointly cover all the storage spaces (12) of the corresponding storage unit, two adjacent main picking and placing areas jointly cover at least one row of the storage spaces (12) and form a first common picking and placing area (122), and the main cargo picking and placing device (2a) can move along the surface of a shelf (1) to pick and place cargo (5) at any storage position (121) in the corresponding main picking and placing area.

2. The cargo storage and retrieval system according to claim 1, characterized in that: The surface of the shelf (1) is provided with a plurality of transverse rails (4), and the transverse rails (4) extend along the first direction; Each of the cargo picking and placing devices (2) comprises a walking mechanism (21) and a storage and retrieval mechanism (22); the walking mechanism (21) can move on the transverse track (4) along the first direction; and the storage and retrieval mechanism (22) can be installed on the walking mechanism (21) in a manner of being raised and lowered along the vertical direction.

3. The cargo storage and retrieval system according to claim 2, characterized in that: At least one of the storage units has two adjacent main cargo picking and placing devices (2a) running on opposite sides of the same shelf (1) and having the first common picking and placing area (122), and the main picking and placing area of ​​the main cargo picking and placing devices (2a) can cover all the storage units of the same shelf (1) in a second direction, and the second direction is perpendicular to the first direction; Alternatively, at least two of the shelves (1) are arranged side by side and at intervals along the second direction, an alley (10) is formed between two adjacent shelves (1), the cargo picking and placing device (2) located in the alley (10) can pick and place the cargo (5) in the storage units on both sides of the alley (10), at least one storage unit has two adjacent main cargo picking and placing devices (2a) that travel between the two shelves (1) and have the first common picking and placing area (122), and the second direction is perpendicular to the first direction.

4. The cargo storage and retrieval system according to claim 3, characterized in that: In the two main cargo picking and placing devices (2a) corresponding to the same storage unit and arranged adjacent to each other in the vertical direction, the upper end of the running mechanism (21) located on the lower side is higher than the lower end of the running mechanism (21) located on the upper side.

5. The cargo storage and retrieval system according to claim 2, characterized in that: In the two main cargo picking and placing devices (2a) corresponding to the same storage unit and arranged adjacent to each other in the vertical direction, the upper and lower walking mechanisms (21) are arranged at intervals in the vertical direction; The storage and retrieval mechanism (22) located on the upper side can move to extend downwardly from the lower end of the walking mechanism (21) so as to retrieve and place goods (5) in the storage position (121) in the first public access area (122), and / or the storage and retrieval mechanism (22) located on the lower side can move to extend upwardly from the upper end corresponding to the walking mechanism (21) so as to retrieve and place goods (5) in the storage position (121) in the first public access area (122).

6. The cargo storage and retrieval system according to claim 2, characterized in that: At least one of the storage units has two main cargo picking and placing devices (2a) running on the same surface of the same shelf (1) and arranged adjacent to each other in the vertical direction, and at least one of the main cargo picking and placing devices (2a) can switch between a first operating state and a second operating state; When the main cargo picking and placing device (2a) is in the first operating state, the main cargo picking and placing device (2a) and the main cargo picking and placing device (2a) adjacent to the same side are arranged at intervals in the vertical direction; when the main cargo picking and placing device (2a) is in the second operating state, the main cargo picking and placing device (2a) and the main cargo picking and placing device (2a) adjacent to the same side are arranged to partially overlap in the vertical direction.

7. The cargo storage and retrieval system according to claim 6, characterized in that: The walking mechanism (21) comprises two vertical rails (211) arranged parallel to and spaced apart from each other along the first direction and a walking wheel mechanism for driving the vertical rails (211) to move along the transverse rails (4); the access mechanism (22) can be installed between the two vertical rails (211) in a manner of being able to be lifted and lowered along the vertical rails (211); At least one end of the vertical rail (211) toward the adjacent main cargo picking and placing device (2a) on the same side can be extended and retracted to enable the main cargo picking and placing device (2a) to switch between the first operating state and the second operating state.

8. The cargo storage and retrieval system according to claim 7, characterized in that: When the main cargo picking and placing device (2a) is in the second operating state, the vertical rails (211) of two adjacent main cargo picking and placing devices (2a) partially overlap in the vertical direction; And / or, both ends of each vertical rail (211) are capable of being telescopic.

9. The cargo storage and retrieval system according to claim 7, characterized in that: The vertical rail (211) comprises a rail body extending in the vertical direction, the rail body at least being slidably connected to an adjustment rail at one end thereof facing the adjacent main cargo picking and placing device (2a) on the same side, the vertical rail (211) further comprising an adjustment driving member, the adjustment driving member driving the adjustment rail to rise and fall relative to the rail body, so that the vertical rail (211) switches between an initial state and an extended state, when the vertical rail (211) is in the initial state, the main cargo picking and placing device (2a) is in the first operating state, and when the vertical rail (211) is in the extended state, the main cargo picking and placing device (2a) is in the second operating state.

10. The cargo storage and retrieval system according to any one of claims 1 to 9, characterized in that: At least two of the shelves (1) are arranged side by side and at intervals along a second direction, and an alley (10) is formed between two adjacent shelves (1). The cargo picking and placing device (2) located in the alley (10) can pick and place the cargo (5) in the storage space (12) on both sides of the alley (10), and the second direction is perpendicular to the first direction.

11. The cargo storage and retrieval system according to any one of claims 1 to 9, characterized in that: The cargo picking and placing device (2) corresponding to at least one of the storage units is an auxiliary cargo picking and placing device (2b), and the auxiliary cargo picking and placing device (2b) has an auxiliary picking and placing area, and the auxiliary picking and placing area at least covers the storage space (12) at the bottom row.

12. The cargo storage and retrieval system according to claim 11, characterized in that: The pick-and-place area of ​​each of the cargo pick-and-place devices (2) covers all the storage units of the same shelf (1) in the second direction, the auxiliary cargo pick-and-place device (2b) and the main cargo pick-and-place device (2a) at the bottom corresponding to the same storage unit are respectively located on opposite sides of the shelf (1), and the second direction is perpendicular to the first direction; Alternatively, at least two of the shelves (1) are arranged side by side and at intervals along the second direction, and an aisle (10) is formed between two adjacent shelves (1); the cargo picking and placing device (2) located in the aisle (10) can pick and place the cargo (5) in the storage space (12) on both sides of the aisle (10); the auxiliary cargo picking and placing device (2b) and the main cargo picking and placing device (2a) at the bottom of the corresponding storage unit are respectively installed on two shelves (1), and the second direction is perpendicular to the first direction.

13. The cargo storage and retrieval system according to claim 12, characterized in that: Corresponding to the same storage unit, the main cargo picking and placing device (2a) and the auxiliary cargo picking and placing device (2b) located on the upper side adjacent to the main cargo picking and placing device (2a) located at the lowermost side are installed on the same side of the same shelf (1) and are spaced apart in the vertical direction.

14. The cargo storage and retrieval system according to claim 11, characterized in that: The main picking and placing area of ​​the main cargo picking and placing device (2a) which is on the same side and adjacent to the auxiliary cargo picking and placing device (2b) is arranged separately from the auxiliary picking and placing area in the vertical direction.

15. The cargo storage and retrieval system according to any one of claims 1 to 9, characterized in that: In two main access areas corresponding to the same storage unit and adjacent in the vertical direction, the average access frequency of goods (5) in the main access area located at the lower side is higher than the average access frequency of goods (5) in the main access area located at the upper side; And / or, corresponding to the same storage unit, the number of rows of the storage space (12) covered by the uppermost main access area is n1, and the number of rows of the storage space (12) covered by the lowermost main access area is n2, and n2>n1.

16. The cargo storage and retrieval system according to any one of claims 1 to 9, characterized in that: Among all the storage locations (121) located in the first public pick-and-place area (122), some of the storage locations (121) are transit storage locations, and the remaining storage locations (121) are regular storage locations, wherein the transit storage locations are used to place goods (5) transferred from one main cargo pick-and-place device (2a) to another main cargo pick-and-place device (2a), and the regular storage locations can be used as target storage locations for goods (5) to be stored.

17. The cargo storage and retrieval system according to any one of claims 1 to 9, characterized in that: A temporary storage component (3) is provided at the bottom of the shelf (1), the temporary storage component (3) having a temporary storage position (31) for placing the goods (5), the temporary storage component (3) having a side opening, the side opening being used for the goods (5) to enter and exit the temporary storage position (31), the temporary storage position (31) being located below the storage space (12) at the bottom, and the goods taking and placing device (2) at the bottom can take and place goods at the temporary storage position (31) through the side opening; The cargo storage and retrieval system further comprises a transport vehicle, which is capable of taking the cargo (5) from the temporary storage location (31) through the side opening or placing the cargo (5) in the temporary storage location (31).

18. The cargo storage and retrieval system according to claim 17, characterized in that: A low-level passage (20) is formed between the bottom of the temporary storage component (3) and the ground of the cargo storage and retrieval system, and the bottom of the temporary storage component (3) has a bottom opening (33) in communication with the low-level passage (20), and the bottom opening (33) is in communication with the side opening; The transport vehicle is a top-lift transport vehicle, which can move into the low-level passage (20), and the cargo bed of the transport vehicle can vertically enter and exit the temporary storage position (31) through the bottom opening (33), and the cargo bed can carry the goods (5) and enter and exit the temporary storage position (31) horizontally through the side opening.

19. The cargo storage and retrieval system according to claim 18, characterized in that: A passage for the transport vehicle to operate is formed between the bottom of the lowest cargo picking and placing device (2) and the ground.

20. The cargo storage and retrieval system according to claim 17, characterized in that: The temporary storage component (3) is provided with side openings on two opposite sides along a second direction, and the second direction is perpendicular to the first direction; And / or, the temporary storage component (3) comprises two temporary storage brackets (32) arranged opposite to each other and spaced apart in the first direction, the upper end of each temporary storage bracket (32) being connected to the shelf (1) and the lower end being used for supporting the goods (5).

Images