Warehouse storage system

Abstract

The utility model provides a warehouse storage system. The warehouse storage system comprises a storage part, a first in-out warehouse port and a first vertical transfer part. The storage part comprises a plurality of goods allocation layers which are arranged in a stacked mode in the horizontal direction, each goods allocation layer comprises a plurality of goods allocations, at least one four-way shuttle vehicle is arranged in each goods allocation layer, and the four-way shuttle vehicles are configured to store goods into the corresponding goods allocations and take the goods out of the goods allocations. The first warehouse-in and warehouse-out port is arranged on one side of the storage part. The first vertical transfer part is arranged between the storage part and the first warehouse-in and warehouse-out port, and the first vertical transfer part comprises at least one first goods taking device. Goods positions, close to the first warehouse-in and warehouse-out port, in the vertical face form a first storing and taking frame, and the first goods taking device is configured to place goods on the first storing and taking frame after the goods are obtained through the first warehouse-in and warehouse-out port and place the goods on the first warehouse-in and warehouse-out port after the goods are obtained through the first storing and taking frame. According to the embodiment, the warehouse space utilization rate, the structural stability and the working efficiency can be effectively improved.

Description

Technical Field

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

[0002] Stereoscopic warehousing greatly improves the utilization rate of warehouse storage space, realizes high-density storage, and uses transfer equipment such as four-way shuttles to realize automated storage and retrieval, improving work efficiency. The existing stereoscopic warehousing system mainly includes three solutions: multi-layer shuttle solution, AutoStore solution and ACR (box storage robot) solution when picking multiple goods in and out of the warehouse.

[0003] However, the existing inbound and outbound picking solutions all have defects. Among them, the multi-layer shuttle solution is limited by the depth of the cargo space, has limited space utilization in the warehouse, and is costly. In the AutoStore solution, the cart moves above the material box and obtains the goods, which requires a high pressure resistance of the material box. The height is usually less than 6 meters, while the height of the current mainstream warehouses is basically more than 10 meters, and the utilization rate of the top space is extremely low. The ACR solution uses a cart to pick goods between shelves, which has high requirements for the flatness of the warehouse floor, and the cart also bears vertical movement. When the height is large, the center of gravity of the cart is high, and the stability decreases rapidly. It is also affected by the depth of the cargo space, and the space utilization and work efficiency of the warehouse are low.

[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Utility Model Content

[0005] In view of one or more defects in the prior art, the utility model provides a warehouse storage system, comprising

[0006] A storage part, the storage part includes a plurality of cargo layers stacked in a horizontal direction, each of the cargo layers includes a plurality of cargo locations, each of the cargo layers has at least one four-way shuttle, and the four-way shuttle is configured to store goods into corresponding cargo locations and take goods out of the cargo locations;

[0007] A first access port, the first access port being provided at one side of the storage unit; and

[0008] A first vertical transfer unit, the first vertical transfer unit is arranged between the storage unit and the first storage port, and the first vertical transfer unit includes at least one first picking device;

[0009] The cargo spaces in the vertical plane of the storage unit close to the first access port constitute a first storage and retrieval rack, and the first cargo picking device is configured to pick up cargo from the first access port and place it on the first storage and retrieval rack, and to pick up cargo from the first storage and retrieval rack and place it at the first access port.

[0010] According to one aspect of the utility model, the four-way shuttle is limited to move within the cargo space layer where it is located, and does not move in the vertical direction.

[0011] According to one aspect of the utility model, the cargo space layer has a first track extending in a first direction and a second track extending in a second direction, the first track and the second track are perpendicular to each other, and the four-way shuttle moves along the first track and the second track;

[0012] The plane where the first storage and access rack is located is perpendicular to the extension direction of the first track, and the four-way shuttle is configured to be able to move along the first track to the first storage and access rack, obtain goods from the first storage and access rack, and place the goods on the first storage and access rack.

[0013] According to one aspect of the utility model, a plurality of cargo locations are arranged in a two-dimensional array in the cargo location layer along the direction of the first track and the direction of the second track.

[0014] According to one aspect of the utility model, the overlapping area between each cargo space layer and the first storage and access rack is a horizontally arranged row of cargo spaces, and the four-way shuttle vehicle is configured to be able to move to any cargo space in the row of cargo spaces in the overlapping area between the cargo space layer and the first storage and access rack.

[0015] According to one aspect of the utility model, when goods are put into storage, the first vertical transfer unit obtains the goods from the first storage and access port, and transfers the goods to any one of the corresponding storage locations in the overlapping area between the first storage and access rack;

[0016] When the goods are shipped out of the warehouse, the four-way shuttle vehicle obtains the goods from the cargo location where the goods are located, and transfers the goods to any cargo location in the overlapping area between the cargo location layer where the goods are located and the first storage and retrieval rack, and the first vertical transfer unit transfers the goods to the first entry and exit port.

[0017] According to one aspect of the utility model, the four-way shuttle comprises:

[0018] a first roller set, the first roller set being capable of rolling along the first track;

[0019] a second roller set, the second roller set being capable of rolling along the second track;

[0020] A lifting mechanism, wherein the lifting mechanism is configured to control the height of the first roller group and the second roller group so that the first roller group abuts against the first track and the second roller group is suspended relative to the second track, or the second roller group abuts against the second track and the first roller group is suspended relative to the first track.

[0021] According to one aspect of the utility model, the storage portion includes a plurality of vertically arranged columns, and the columns are provided with support frames at positions corresponding to the cargo positions;

[0022] The four-way shuttle is configured to be able to drive the cargo to move in the vertical direction so as to place the cargo on the support frame and take the cargo out of the support frame; the four-way shuttle drives the cargo to move in the vertical direction through the jacking mechanism, or drives the cargo to move in the vertical direction through other mechanisms independent of the jacking mechanism.

[0023] According to one aspect of the utility model, the support frame is in a bar shape, the support frame is arranged along a direction parallel to the first track, and the goods are limited to being taken out and stored along a direction parallel to the first track.

[0024] According to one aspect of the utility model, the support frame is arranged on the column, and the support frame is not connected between adjacent columns. The goods can be taken out and stored in a direction parallel to the first track, and can be taken out and stored in a direction parallel to the second track.

[0025] According to one aspect of the utility model, the warehouse storage system further includes:

[0026] a second access port, the second access port being disposed at one side of the storage portion and located in an extension direction of the second track; and

[0027] A second vertical transfer unit, the second vertical transfer unit is arranged between the storage unit and the second storage port and is perpendicular to the extension direction of the second track, and the second vertical transfer unit includes at least one second picking device;

[0028] The cargo spaces in the vertical plane of the storage unit close to the second access port constitute a second storage and retrieval rack, and the second cargo picking device is configured to pick up cargo from the second access port and place it on the second storage and retrieval rack, and to pick up cargo from the second storage and retrieval rack and place it at the second access port.

[0029] According to one aspect of the utility model, the first vertical transfer unit comprises:

[0030] a first horizontal guide rail, the first horizontal guide rail being arranged in a horizontal direction and being perpendicular to the first track;

[0031] A first vertical guide rail, which is arranged in a vertical direction and is configured to be able to move along the first horizontal guide rail; the first picking device is arranged on the first vertical guide rail and is configured to be able to move in a vertical direction along the first vertical guide rail;

[0032] The second vertical transfer unit comprises:

[0033] a second horizontal guide rail, the second horizontal guide rail being arranged in a horizontal direction and being perpendicular to the second track;

[0034] The second vertical guide rail is arranged in the vertical direction and is configured to be able to move along the second horizontal guide rail; the second picking device is arranged on the second vertical guide rail and is configured to be able to move in the vertical direction along the second vertical guide rail.

[0035] According to one aspect of the utility model, the first vertical transfer part includes a first vertical guide rail, and the first vertical guide rail is arranged in a vertical direction; the first picking device is arranged on the first vertical guide rail and is configured to be able to move in a vertical direction along the first vertical guide rail; the first storage port is aligned with the first picking device;

[0036] The second vertical transfer section includes a second vertical guide rail, which is arranged in a vertical direction; the second picking device is arranged on the second vertical guide rail and is configured to be able to move in a vertical direction along the second vertical guide rail; the second storage port is aligned with the second picking device.

[0037] According to one aspect of the utility model, the first vertical transfer unit includes a plurality of first cargo picking devices, the plurality of first cargo picking devices move synchronously, or each of the first cargo picking devices is independently controlled;

[0038] The second vertical transfer section includes a plurality of second picking devices, and the plurality of second picking devices move synchronously, or each of the second picking devices is independently controlled.

[0039] According to one aspect of the utility model, the first track and the second track have grooves, the first roller group and the second roller group are configured to have shapes matching the grooves, and the grooves limit the movement directions of the first roller group and the second roller group.

[0040] According to one aspect of the present invention, the first access port and the second access port both include:

[0041] A dispatching control module, which communicates with the first vertical transfer unit, the second vertical transfer unit and the four-way shuttle, and is configured to receive user instructions to control the first vertical transfer unit, the second vertical transfer unit and the four-way shuttle to perform corresponding actions.

[0042] Compared with the prior art, the embodiment of the utility model provides a warehouse storage system, wherein a first vertical transfer unit is provided between the storage unit and the first access port, and the first vertical transfer unit can realize the transfer of goods between the first access rack and the first access port, and the height of the storage unit can be customized according to the actual space of the warehouse, which can greatly increase the upper limit of the height and improve the utilization rate of the warehouse space. For the transfer within each cargo layer, it can be quickly realized by a four-way shuttle car, which is not limited by the depth of the cargo space. This embodiment is less restricted by the height and depth of the cargo space, and can effectively improve the utilization rate of the warehouse space, structural stability and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0044] Figure 1 It is a structural schematic diagram of a warehouse storage system in one embodiment of the utility model;

[0045] Figure 2 It is a structural schematic diagram of a storage unit in one embodiment of the utility model;

[0046] Figure 3 It is a partial enlarged schematic diagram of a storage unit in one embodiment of the utility model;

[0047] Figure 4 It is a structural schematic diagram of a four-way shuttle in one embodiment of the utility model;

[0048] Figure 5 It is a schematic diagram of the coordination of a four-way shuttle and a track in one embodiment of the utility model;

[0049] Figure 6 It is a partial enlarged schematic diagram of a storage unit in another embodiment of the utility model;

[0050] Fig. 7A and Figure 7B It is a schematic diagram of the cooperation between the cargo and the support frame in one embodiment of the utility model;

[0051] Figure 8 It is a structural schematic diagram of a warehouse storage system in another embodiment of the utility model;

[0052] Fig. 9 It is a structural schematic diagram of the first vertical transfer unit in one embodiment of the utility model;

[0053] Fig.10 It is a schematic diagram of the first access port in one embodiment of the utility model. DETAILED DESCRIPTION

[0054] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0055] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, "plurality" means two or more than two, unless otherwise clearly and specifically defined.

[0056] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" 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, an electrical connection, or mutual communication; it can be directly connected, or indirectly connected 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 utility model can be understood according to specific circumstances.

[0057] In the present invention, 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 means 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 means that the first feature is lower in level than the second feature.

[0058] The disclosure below provides many different embodiments or examples for realizing different structures of the utility model. In order to simplify the disclosure of the utility model, the components and settings of specific examples are described below. Of course, they are merely examples, and the purpose is not to limit the utility model. In addition, the utility model may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the utility model provides various specific examples of processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

[0059] The following describes embodiments of the present invention in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0060] Figure 1 The structure of the warehouse storage system 100 according to the embodiment of the utility model is shown below. Figure 1 The warehouse storage system 100 will be described.

[0061] like Figure 1 As shown, the warehouse storage system 100 includes a storage unit 110, a first storage port 120 and a first vertical transfer unit 130. The storage unit 110 includes a plurality of cargo space layers 111 stacked in the horizontal direction, and each cargo space layer 111 includes a plurality of cargo spaces 111-1. The plurality of cargo space layers 111 can be arranged to be aligned in the vertical direction, wherein the plurality of cargo spaces 111-1 can be aligned or arranged arbitrarily, and the sizes of cargo spaces 111-1 can be the same or different between different cargo space layers 111, and no additional restrictions are imposed on this. Goods can be stored in cargo space 111-1, and specifically, for example, the goods can be placed in cargo space 111-1 by means of a material box or a pallet, or can be hung on cargo space 111-1.

[0062] In a preferred embodiment of the utility model, within a cargo space layer 111, multiple cargo spaces 111-1 are preferably arranged in an array, and multiple cargo space layers 111 in the storage unit 110 are aligned, which is beneficial to optimizing the center of gravity distribution of the storage unit 110, dispersing the pressure of the cargo, improving the structural stability of the storage unit 110, and simplifying the structure of the storage unit 110.

[0063] At least one four-way shuttle 112 is provided in each cargo space layer 111. The four-way shuttle 112 can store goods in the corresponding cargo space 111-1 and can also take goods out of the cargo space 111-1. For example, the four-way shuttle 112 lifts the goods from the cargo space 111-1 and can carry the goods to move. After moving to the position where the goods need to be placed, the four-way shuttle 112 can place the goods on the cargo space 111-1. In different embodiments of the present utility model, the four-way shuttle 112 can also obtain and store goods in other ways, such as grabbing, adsorption, etc.

[0064] The first in-and-out port 120 is disposed at one side of the storage unit 110. The first in-and-out port 120 can perform in-and-out picking operations for goods. Specifically, for example, the goods entering the warehouse are transported to the first in-and-out port 120, and after picking, the first vertical transfer unit 130 and the four-way shuttle 112 cooperate to store the goods in the corresponding cargo position 111-1. The goods leaving the warehouse can be transported to the first in-and-out port 120 by the four-way shuttle 112 and the first vertical transfer unit 130, and then leave the warehouse after picking.

[0065] The first vertical transfer section 130 is disposed between the storage section 110 and the first warehousing port 120, and the first vertical transfer section 130 includes at least one first picking device 131, and the first picking device 131 can be used to obtain and place goods. The specific form of obtaining and releasing by the first picking device 131 is not limited, and may be, for example, grabbing, lifting, manual placement, conveyor belt transfer, etc.

[0066] like Figure 1 As shown in , in this embodiment, the cargo position 111-1 in the vertical plane of the storage unit 110 close to the first access port 120 constitutes the first storage and access rack 113, and the first storage and access rack 113 includes multiple cargo positions 111-1 belonging to different cargo position layers 111. According to a preferred embodiment of the utility model, at least one side of the multiple cargo position layers 111 in the storage unit 110 is aligned in the vertical direction, for example, the storage unit 110 is roughly in the shape of a rectangular parallelepiped, and the cargo position 111-1 in the multiple cargo position layers 111 close to the first access port 120 constitutes the first storage and access rack 113 in the vertical plane.

[0067] The first storage and retrieval rack 113 includes a plurality of cargo locations 111 - 1 arranged in a vertical plane. Preferably, in all cargo location layers 111 of the storage unit 110 , each cargo location layer 111 has at least one cargo location 111 - 1 located in the first storage and retrieval rack 113 .

[0068] The first picking device 131 is configured to obtain goods from the first access port 120 and place the goods on the first storage and retrieval rack 113 , and the first picking device 131 can also obtain goods from the first storage and retrieval rack 113 and place the goods on the first access port 120 .

[0069] In this embodiment, the first vertical transfer unit 130 can realize the transfer process of goods in the vertical direction by using the first pickup device 131, and can realize the transfer of goods in three directions in cooperation with the four-way shuttle 112, so that the goods can complete the transfer process between the first access port 120 and the corresponding cargo position 111-1. For example, when entering the warehouse, the first vertical transfer unit 130 obtains the goods at the first access port 120, and transfers the goods to the corresponding cargo position layer 111 in the first storage and retrieval rack 113, and the four-way shuttle 112 transfers the goods in the horizontal plane and places the goods at the corresponding cargo position 111-1. When leaving the warehouse, the four-way shuttle 112 takes the goods out of the cargo position 111-1 and transfers them to the first storage and retrieval rack 113, and the first vertical transfer unit 130 transfers the goods to the first access port 120.

[0070] The first vertical transfer unit 130 and the four-way shuttle 112 of this embodiment cooperate with each other to realize the transfer process of goods in the vertical direction and the horizontal direction. The height of the storage unit 110 can be further expanded according to the actual space range of the warehouse, and is not limited by the depth of the cargo space 111-1, thereby improving the space utilization of the warehouse and increasing the stability of the storage unit 110. At the same time, the first vertical transfer unit 130 and the four-way shuttle 112 of this embodiment can operate simultaneously and independently of each other, which can improve the working efficiency of the warehouse storage system 100.

[0071] According to a preferred embodiment of the utility model, the four-way shuttle 112 is configured to move within the cargo layer 111, and does not move in the vertical direction. In this embodiment, the movement range of the four-way shuttle 112 is limited to movement within the horizontal plane, and at least one four-way shuttle 112 is provided in each cargo layer 111. The four-way shuttle 112 is only responsible for the horizontal transfer of the cargo within the cargo layer 111, which can further improve the structural stability of the warehouse storage system 100 and is conducive to simplifying the power system and control system of the warehouse storage system 100.

[0072] In a preferred embodiment of the present invention, Figure 2and Figure 3 As shown, a first track 114 extending in a first direction and a second track 115 extending in a second direction are provided in a cargo space layer 111, and the first track 114 and the second track 115 are perpendicular to each other. The four-way shuttle 112 is configured to move in a horizontal plane along the first track 114 and the second track 115. Furthermore, the four-way shuttle 112 can also be controlled to change the track to switch between the first track 114 and the second track 115. For ease of description, as Figure 2 As shown, the extending direction of the first track 114 is the X direction, the extending direction of the second track 115 is the Y direction, and the vertical direction is the Z direction.

[0073] like Figure 2 As shown, according to a preferred embodiment of the present utility model, a plurality of cargo spaces 111 - 1 are arranged in a two-dimensional array in the cargo space layer 111 along the direction of the first track 114 and the second track 115 to further improve the space utilization in the warehouse.

[0074] In this embodiment, the plane (vertical plane) where the first access rack 113 is located is perpendicular to the extension direction of the first rail 114. Figure 1 As shown in , the plane where the first storage and retrieval rack 113 is located is the YZ plane. When the four-way shuttle 112 horizontally transfers the goods, it can move along the first track 114, obtain the goods from the first storage and retrieval rack 113, and place the goods on the first storage and retrieval rack 113.

[0075] In a preferred embodiment of the present utility model, the way in which the cargo space 111-1 in the first storage and retrieval rack 113 holds the cargo, and the way in which the four-way shuttle 112 deposits and retrieves the cargo can be set to be the same as the cargo space 111-1 in the cargo space layer 111, and the first track 114 extends to the first storage and retrieval rack 113, and the four-way shuttle 112 can move to the cargo space 111-1 in the first storage and retrieval rack 113 (preferably directly below) to deposit or retrieve the cargo.

[0076] According to a preferred embodiment of the present utility model, the overlapping area between each cargo layer 111 and the first storage rack 113 is a row of cargo locations 111-1 arranged horizontally. Figure 2 As shown, the cargo space layer 111 is a plurality of cargo spaces 111-1 arranged in the horizontal direction, and the first storage and retrieval rack 113 is a plurality of cargo spaces 111-1 in the vertical plane. In this embodiment, the overlapping area of ​​the cargo space layer 111 and the first storage and retrieval rack 113 is a row of cargo spaces 111-1 arranged horizontally. When the four-way shuttle 112 deposits or takes out goods from the cargo space 111-1 in the first storage and retrieval rack 113, the four-way shuttle 112 is configured to be able to move to any cargo space 111-1 in the row of cargo spaces 111-1 in the overlapping area of ​​the cargo space layer 111 and the first storage and retrieval rack 113.

[0077] In a preferred embodiment of the utility model, when the goods are put into storage, the goods are located at the first storage port 120, for example, manual or automatic picking is performed at the first storage port 120, and the goods to be put into storage are transported to the workstation cooperating with the first vertical transfer unit 130. The first vertical transfer unit 130 can obtain the goods to be put into storage from the first storage port 120, and drive the goods to move in the vertical plane, and transfer the goods to any one of the corresponding cargo positions 111-1 in the overlapping area of ​​the first storage and access rack 113. For example, the storage location of the goods is at a cargo position 111-1 in the 5th layer, and the overlapping area of ​​the cargo position layer 111 in the 5th layer and the first storage and access rack 113 is a row of horizontally arranged cargo positions 111-1. The first vertical transfer unit 130 can transfer the goods to any one of the cargo positions 111-1 in the row of horizontally arranged cargo positions 111-1. In different embodiments of the present invention, it can also be pre-set to transfer the goods to a predetermined cargo location 111-1. For example, according to the cargo location 111-1 where the goods are stored in the corresponding cargo location layer 111, the goods are placed in the same column of the corresponding cargo location 111-1 in the direction of the first track 114 to reduce the movement distance of the four-way shuttle 112.

[0078] When the goods are being unloaded, the goods are located at a certain cargo position 111-1 in the storage unit 110. The four-way shuttle 112 of the cargo position layer 111 where the goods are located takes the goods out of the cargo position 111-1 and moves along the first track 114 and the second track 115 to transfer the goods to any cargo position 111-1 in the overlapping area between the cargo position layer 111 and the first storage and retrieval rack 113. Preferably, the goods can be placed at an empty cargo position 111-1 according to the occupancy of the overlapping area between the cargo position layer 111 and the first storage and retrieval rack 113. The first vertical transfer unit 130 can take the goods out of the first storage and retrieval rack 113 and transfer the goods to the first access port 120 to complete the unloading.

[0079] like Figure 4 As shown, according to a preferred embodiment of the utility model, the four-way shuttle 112 includes a first roller group 1121, a second roller group 1122 and a lifting mechanism (not shown in the figure), wherein the first roller group 1121 can roll along the first track 114, and the second roller group 1122 can roll along the second track 115, as shown in FIG. Figure 4 As shown, the rotation axes of the rollers in the first roller group 1121 and the second roller group 1122 are perpendicular to each other.

[0080] The lifting mechanism is configured to control the height of the first roller group 1121 and the second roller group 1122, for example, to drive the second roller group 1122 to move in the vertical direction relative to the first roller group 1121, so as to raise or lower the second roller group 1122. By controlling the height of the first roller group 1121 and the second roller group 1122, for example, by raising the height of the second roller group 1122, the first roller group 1121 can be abutted against the first track 114 while the second roller group 1122 is suspended relative to the second track 115. In this case, the first roller group 1121 is driven to rotate, so that the four-way shuttle 112 can be controlled to move along the first track 114. At the same time, when the height of the second roller group 1122 is lowered, the second roller group 1122 can be abutted against the second track 115, and the first roller group 1121 is suspended relative to the first track 114. In this case, the second roller group 1122 is driven to rotate, and the four-way shuttle 112 can be controlled to move along the second track 115. In this embodiment, the four-way shuttle 112 is controlled to move to a position where the first track 114 and the second track 115 intersect each other, and the four-way shuttle 112 can be reversed by the lifting mechanism.

[0081] like Figure 2 and Figure 3 As shown, the storage part 110 includes a column 116. Specifically, the column 116 is arranged along the vertical direction. In the storage part 110, the first track 114 and the second track 115 overlap each other in the horizontal direction to form a cargo layer 111. The multiple cargo layers 111 are connected and fixed by the column 116 in the vertical direction to form a three-dimensional storage part 110. Furthermore, the column 116 is provided with a support frame 117 at the position corresponding to the cargo position 111-1, and the support frame 117 is used to carry the cargo.

[0082] The four-way shuttle 112 in this embodiment is configured to be able to drive the goods to move in the vertical direction, so as to place the goods on the support frame 117, or to take the goods out of the support frame 117. Specifically, in the process of storing the goods in the cargo position 111-1, for example, the goods are placed above the four-way shuttle 112, and driven by the four-way shuttle 112, and move along the first track 114 and the second track 115, and the four-way shuttle 112 lifts the goods to a height higher than the support frame 117, so that the goods can pass through the cargo position 111-1. When the four-way shuttle 112 drives the goods to move to the right below the corresponding cargo position 111-1, the four-way shuttle 112 drives the goods to move downward, and the edge of the goods overlaps the support frame 117, and the goods are stored in the cargo position 111-1. At the same time, the goods are separated from the four-way shuttle 112, and the four-way shuttle 112 can perform other transfer tasks.

[0083] When the goods need to be taken out from the cargo position 111 - 1 , the four-way shuttle 112 can be controlled to move to the bottom of the cargo position 111 - 1 , and the four-way shuttle 112 is lifted upward to separate the goods from the support frame 117 , and drives the goods to move along the first track 114 and the second track 115 .

[0084] Furthermore, the vertical movement stroke of the goods driven by the four-way shuttle 112 can be set to a smaller value to improve the structural stability of the four-way shuttle 112 and the storage unit 110, and reduce the height of the cargo layer 111 to improve space utilization.

[0085] In different embodiments of the utility model, the four-way shuttle 112 can be configured to use a jacking structure to drive the goods to move in the vertical direction, and the cargo position 111-1 can be set along the direction of the first track 114, which is conducive to simplifying the structure of the four-way shuttle 112. The four-way shuttle 112 can also be provided with a lifting mechanism independent of the jacking mechanism to drive the goods to move in the vertical direction. The jacking mechanism that controls the reversal and the lifting mechanism for storing and retrieving goods in the four-way shuttle 112 operate independently, which can increase the density of the cargo position 111-1 in the cargo position layer 111 and improve the space utilization rate of the warehouse.

[0086] like Figure 5 As shown, according to a preferred embodiment of the utility model, the first track 114 and the second track 115 have a groove, for example, the first track 114 and the second track 115 have a cross-section that is approximately an I-shaped. The first roller group 1121 and the second roller group 1122 are configured to have a shape that matches the groove, and the groove can limit the movement direction of the first roller group 1121 and the second roller group 1122. Specifically, both sides of the rollers in the first roller group 1121 and the second roller group 1122 can be configured as wedge-shaped surfaces, and the edges on both sides of the grooves of the first track 114 and the second track 115 are configured on inclined surfaces whose shapes match those of the wedge-shaped surfaces, and the first roller group 1121 and the second roller group 1122 can roll in the grooves, thereby reducing the risk of the four-way shuttle 112 derailing.

[0087] like Figure 3 As shown, in a preferred embodiment of the present invention, the support frame 117 is in a strip shape, and the support frame 117 is arranged in a direction parallel to the first track 114, for example, overlapped between two adjacent columns 116. In this embodiment, when the four-way shuttle 112 carries goods, it is blocked by the support frame 117 and cannot move in the direction of the second track 115. The goods are limited to being taken out or stored in a direction parallel to the first track 114. In this embodiment, the support frame 117 is connected between adjacent columns 116, and the structural strength is higher, and it can carry heavier goods.

[0088] In other embodiments of the present invention, Figure 6 As shown, the support frame 117 is independently arranged on the column 116, and the support frame 117 is not connected between adjacent columns 116. For example, a cargo space 111-1 has four columns in the circumference, and the support frame 117 can be arranged on the diagonal columns 116. Preferably, the support frame 117 is arranged on four columns 116 to improve the load-bearing capacity and stability.

[0089] In this embodiment, the goods can be taken out or stored in a direction parallel to the first track 114 without being blocked by the support frame 117, and can also be taken out or stored in a direction parallel to the second track 115. This embodiment has higher flexibility and can provide a structural basis for entering and exiting the warehouse along the extension direction of the second track 115.

[0090] Specifically, Fig. 7A The horizontal direction indicates the extension direction of the first track 114, and the extension direction of the second track 115 is perpendicular to Fig. 7A When the four-way shuttle 112 lifts the cargo to make the cargo leave the support frame 117, the four-way shuttle 112 can move along the direction of the second track 115 without being blocked by the support frame 117. Figure 7B The horizontal direction indicates the extension direction of the second track 115, and the extension direction of the first track 114 is perpendicular to Figure 7B When the four-way shuttle 112 lifts the goods so that the goods are separated from the support frame 117, the four-way shuttle 112 can move along the direction of the first track 114 and will not be blocked by the support frame 117. The four-way shuttle 112 in this embodiment can take out or store goods along the direction of the first track 114 and the second track 115.

[0091] According to a preferred embodiment of the present invention, Figure 8 As shown, the warehouse storage system 100 further includes a second access port 140 and a second vertical transfer unit 150. The second access port 140 is disposed on one side of the storage unit 110 and is located in the extension direction of the second track 115. Figure 8 In the direction shown in , the second access port 140 is arranged in the Y direction of the storage unit 110. Preferably, the storage unit 110 is roughly arranged in the shape of a cuboid, and the first access port 120 and the second access port 140 correspond to two mutually perpendicular sides of the storage unit 110, respectively.

[0092] The second vertical transfer unit 150 is disposed between the storage unit 110 and the second storage port 140, and the second vertical transfer unit 150 is perpendicular to the extension direction of the second track 115. Figure 8In the embodiment, the second vertical transfer unit 150 is arranged along the XZ plane. The second vertical transfer unit 150 includes at least one second pickup device 151. In the preferred embodiment of the utility model, the structures of the first vertical transfer unit 130 and the second vertical transfer unit 140 can be arranged to be substantially the same, and the specific structure will be described in subsequent embodiments.

[0093] In this embodiment, the cargo position 111-1 in the vertical plane of the storage unit 110 close to the second access port 140 constitutes the second access rack 118, wherein the plane where the second access rack 118 is located is perpendicular to the plane where the first access rack 113 is located. The second cargo picking device 151 is configured to be able to place cargo on the second access rack 118 after receiving cargo from the second access port 140, and also to place cargo at the second access port 140 after receiving cargo from the second access rack 118.

[0094] According to a preferred embodiment of the utility model, the process of transferring goods by the second vertical transfer unit 150 in the vertical plane can be basically the same as the transfer process of the first vertical transfer unit 130 in the aforementioned embodiment, and will not be repeated here.

[0095] In this embodiment, goods can be loaded and unloaded from both the X direction and the Y direction, which further improves the working efficiency of the warehouse storage system 100 and is more flexible and can be designed according to the space and layout of the warehouse. In different embodiments of the utility model, when the support frame 117 is independently arranged on the column 116, the first loading and unloading port 120 and the first vertical transfer unit 130 can also be arranged in only one direction.

[0096] Fig. 9 The structure of the first vertical transfer unit 130 and the second vertical transfer unit 150 in the preferred embodiment of the utility model is shown. In this embodiment, the structures of the first vertical transfer unit 130 and the second vertical transfer unit 150 are substantially the same. Fig. 9 The first vertical transfer section 130 and the second vertical transfer section 150 are described.

[0097] like Fig. 9 As shown, the first vertical transfer section 130 also includes a first horizontal guide rail 132 and a first vertical guide rail 133 , wherein the first horizontal guide rail 132 is arranged along the horizontal direction, and the direction of the first horizontal guide rail 132 is perpendicular to the direction of the first track 114 .

[0098] The first vertical guide rail 133 is disposed in the vertical direction and is configured to be movable along the first horizontal guide rail 132. The first picking device 131 is disposed on the first vertical guide rail 133 and is configured to be movable in the vertical direction along the first vertical guide rail 133.

[0099] With the cooperation of the first horizontal guide rail 132 and the first vertical guide rail 133 , the first picking device 131 can move to correspond to all cargo positions 111 - 1 in the first storage and retrieval rack 113 .

[0100] According to a preferred embodiment of the present invention, the first vertical transfer unit 130 may be provided with two mutually parallel first horizontal guide rails 132, which are respectively provided near the upper edge and the lower edge of the storage unit 110, and the first vertical guide rail 133 is slidably connected to both first horizontal guide rails 132, and the two first horizontal guide rails 132 can improve the structural stability of the first vertical guide rail 133. According to other preferred embodiments of the present invention, the first vertical transfer unit 130 may also include a plurality of first vertical guide rails 133, and the plurality of first vertical guide rails 133 may be individually controlled to improve the transfer efficiency of the first vertical transfer unit 130.

[0101] like Fig. 9 As shown, the second vertical transfer section 150 includes a second horizontal guide rail 152 and a second vertical guide rail 153 , wherein the second horizontal guide rail 152 is arranged along the horizontal direction, and the direction of the second horizontal guide rail 152 is perpendicular to the direction of the second track 115 .

[0102] The second vertical guide rail 153 is arranged in the vertical direction and is arranged to be able to move along the second horizontal guide rail 152. The second picking device 151 is arranged on the second vertical guide rail 153 and is arranged to be able to move in the vertical direction along the second vertical guide rail 153. Under the cooperation of the second horizontal guide rail 152 and the second vertical guide rail 153, the second picking device 151 can move to correspond to all cargo positions 111-1 in the second storage and retrieval rack 118. Similarly, the second vertical transfer unit 150 can also be provided with two second horizontal guide rails 152.

[0103] According to a preferred embodiment of the utility model, the first picking device 131 and the second picking device 151 in the first vertical transfer section 130 and the second vertical transfer section 150 can also be configured to move along the horizontal guide rails, and the horizontal guide rails move along the vertical guide rails.

[0104] In a preferred embodiment of the utility model, the first vertical transfer unit 130 can be configured to include a first vertical guide rail 133, the first vertical guide rail 133 is fixedly arranged in the vertical direction, and the first picking device 131 is arranged on the first vertical guide rail 133 and is configured to be able to move in the vertical direction along the first vertical guide rail 133. In this embodiment, the first vertical guide rail 133 is configured to remain fixed in the horizontal direction, the first storage port 120 is configured to be aligned with the first picking device 131, the first picking device 131 drives the goods to move in the vertical direction, and the first storage rack 113 can be configured to include only one row of cargo positions 111-1, which is suitable for scenes with low storage efficiency, which is conducive to saving cargo positions 111-1 at the first storage rack 113 and further improving storage density.

[0105] Similarly, the second vertical transfer unit 150 includes a second vertical guide rail 153, which is fixedly arranged in the vertical direction. The second picking device 151 is arranged on the second vertical guide rail 153 and is arranged to be able to move in the vertical direction along the second vertical guide rail 153. At the same time, the position of the second storage port 140 is aligned with the second picking device 151.

[0106] like Fig. 9 As shown, in a preferred embodiment of the utility model, the first vertical transfer unit 130 includes a plurality of first pickup devices 131, and the second vertical transfer unit 150 includes a plurality of second pickup devices 151. In this embodiment, the plurality of first pickup devices 131 can be set to move synchronously, or each first pickup device 131 can be set to be independently controlled. Similarly, the second pickup device 151 can be set to move synchronously, or each second pickup device 151 can be set to be independently controlled.

[0107] In this embodiment, simultaneously providing a plurality of first picking-up devices 131 and a plurality of second picking-up devices 151 is beneficial to improving the working efficiency of the first vertical transfer unit 130 and the second vertical transfer unit 150 .

[0108] like Fig.10 As shown, according to a preferred embodiment of the present invention, the first access port 120 includes a dispatch control module 121, wherein the dispatch control module 121 communicates with the first vertical transfer unit 130, the second vertical transfer unit 150 and the four-way shuttle 112, and can receive user instructions to control the first vertical transfer unit 130, the second vertical transfer unit 150 and the four-way shuttle 112 to perform corresponding actions to complete the in-and-out picking of goods. In a preferred embodiment of the present invention, the second access port 140 can also be provided with a dispatch control module.

[0109] The dispatch control module 121 in this embodiment can connect the storage unit 110, the first vertical transfer unit 130, the second vertical transfer unit 150, the first access port 120 and the second access port 140 as a whole. After receiving the access instruction or the picking order, for example, the user inputs the command, or the instruction or order is received by other terminals.

[0110] Taking the picking order as an example, the dispatching control module 121 sends the task to the corresponding four-way shuttle 112 to move the goods specified by the picking order to the corresponding cargo layer 111 and the cargo position 111-1 in the overlapping area of ​​the first access rack 113 or the second access rack 118. After the goods are in place, the first vertical transfer unit 130 or the second vertical transfer unit 150 can move the goods to the first access port 120 or the second access port 140. After the picking is completed by manual or equipment, the staff can input the order of picking completion through the dispatching control module 121. The dispatching control module 121 sends the picking task to the first vertical transfer unit 130 or the second vertical transfer unit 150 to move the goods to the cargo position 111-1 in the overlapping area of ​​the specified cargo layer 111 and the first access rack 113 or the second access rack 118, and then assigns the four-way shuttle 112 in the cargo layer 111 to move the goods to the specified cargo position 111-1.

[0111] Finally, it should be noted that the above description is only an embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A warehouse storage system, characterized in that: include A storage part, the storage part includes a plurality of cargo layers stacked in a horizontal direction, each of the cargo layers includes a plurality of cargo locations, each of the cargo layers has at least one four-way shuttle, and the four-way shuttle is configured to store goods into corresponding cargo locations and take goods out of the cargo locations; a first access port, the first access port being arranged at one side of the storage unit; and A first vertical transfer unit, the first vertical transfer unit is arranged between the storage unit and the first storage port, and the first vertical transfer unit includes at least one first picking device; The cargo spaces in the vertical plane of the storage unit close to the first access port constitute a first storage and retrieval rack, and the first cargo picking device is configured to pick up cargo from the first access port and place it on the first storage and retrieval rack, and to pick up cargo from the first storage and retrieval rack and place it at the first access port.

2. The warehouse storage system according to claim 1, characterized in that: The four-way shuttle is limited to move within the cargo space layer where it is located and does not move in the vertical direction.

3. The warehouse storage system according to claim 1, characterized in that: The cargo space layer has a first track extending in a first direction and a second track extending in a second direction, the first track and the second track are perpendicular to each other, and the four-way shuttle moves along the first track and the second track; The plane where the first storage and access rack is located is perpendicular to the extension direction of the first track, and the four-way shuttle is configured to be able to move along the first track to the first storage and access rack, obtain goods from the first storage and access rack, and place the goods on the first storage and access rack.

4. The warehouse storage system according to claim 3, characterized in that: The plurality of cargo locations are arranged in a two-dimensional array in the cargo location layer along the direction of the first track and the direction of the second track.

5. The warehouse storage system according to claim 4, characterized in that: The overlapping area between each cargo location layer and the first storage and retrieval rack is a row of cargo locations arranged horizontally, and the four-way shuttle vehicle is configured to be able to move to any cargo location in the row of cargo locations in the overlapping area between the cargo location layer and the first storage and retrieval rack.

6. The warehouse storage system according to claim 5, characterized in that: When goods are put into storage, the first vertical transfer unit obtains the goods from the first storage-in / out port and transfers the goods to any one of the corresponding storage locations in the overlapping area between the first storage-access rack and the corresponding storage location layer; When the goods are shipped out of the warehouse, the four-way shuttle vehicle obtains the goods from the cargo location where the goods are located, and transfers the goods to any cargo location in the overlapping area between the cargo location layer where the goods are located and the first storage and retrieval rack, and the first vertical transfer unit transfers the goods to the first entry and exit port.

7. The warehouse storage system according to any one of claims 3 to 6, characterized in that: The four-way shuttle vehicle comprises: a first roller set, the first roller set being capable of rolling along the first track; a second roller set, the second roller set being capable of rolling along the second track; A lifting mechanism, wherein the lifting mechanism is configured to control the height of the first roller group and the second roller group so that the first roller group abuts against the first track and the second roller group is suspended relative to the second track, or the second roller group abuts against the second track and the first roller group is suspended relative to the first track.

8. The warehouse storage system according to claim 7, characterized in that: The storage part includes a plurality of vertically arranged columns, and the columns are provided with support frames at positions corresponding to the cargo positions; The four-way shuttle is configured to be able to drive the cargo to move in the vertical direction so as to place the cargo on the support frame and take the cargo out of the support frame; the four-way shuttle drives the cargo to move in the vertical direction through the jacking mechanism, or drives the cargo to move in the vertical direction through other mechanisms independent of the jacking mechanism.

9. The warehouse storage system according to claim 8, characterized in that: The support frame is in a bar shape and is arranged along a direction parallel to the first track. The goods are limited to being taken out and stored along a direction parallel to the first track.

10. The warehouse storage system according to claim 8, characterized in that: The support frame is arranged on the column, and the support frame is not connected between adjacent columns. The goods can be taken out and stored along a direction parallel to the first track, and can be taken out and stored along a direction parallel to the second track.

11. The warehouse storage system according to claim 10, characterized in that: Also includes: A second access port, which is disposed at one side of the storage unit and is located in an extension direction of the second track; and A second vertical transfer unit, the second vertical transfer unit is arranged between the storage unit and the second storage port and is perpendicular to the extension direction of the second track, and the second vertical transfer unit includes at least one second picking device; The cargo spaces in the vertical plane of the storage unit close to the second access port constitute a second storage and retrieval rack, and the second cargo picking device is configured to pick up cargo from the second access port and place it on the second storage and retrieval rack, and to pick up cargo from the second storage and retrieval rack and place it at the second access port.

12. The warehouse storage system according to claim 11, characterized in that: The first vertical transfer unit comprises: A first horizontal guide rail, the first horizontal guide rail is arranged in a horizontal direction and is perpendicular to the first track; A first vertical guide rail, which is arranged in a vertical direction and is configured to be able to move along the first horizontal guide rail; the first picking device is arranged on the first vertical guide rail and is configured to be able to move in a vertical direction along the first vertical guide rail; The second vertical transfer unit comprises: a second horizontal guide rail, the second horizontal guide rail being arranged in a horizontal direction and being perpendicular to the second track; The second vertical guide rail is arranged in the vertical direction and is configured to be able to move along the second horizontal guide rail; the second picking device is arranged on the second vertical guide rail and is configured to be able to move in the vertical direction along the second vertical guide rail.

13. The warehouse storage system according to claim 11, characterized in that: The first vertical transfer section includes a first vertical guide rail, which is arranged in a vertical direction; the first picking device is arranged on the first vertical guide rail and is configured to be able to move in a vertical direction along the first vertical guide rail; the first storage port is aligned with the first picking device; The second vertical transfer section includes a second vertical guide rail, which is arranged in a vertical direction; the second picking device is arranged on the second vertical guide rail and is configured to be able to move in a vertical direction along the second vertical guide rail; the second storage port is aligned with the second picking device.

14. The warehouse storage system according to claim 11, characterized in that: The first vertical transfer unit includes a plurality of first cargo picking devices, the plurality of first cargo picking devices move synchronously, or each of the first cargo picking devices is independently controlled; The second vertical transfer section includes a plurality of second picking devices, and the plurality of second picking devices move synchronously, or each of the second picking devices is independently controlled.

15. The warehouse storage system according to claim 7, characterized in that: The first track and the second track have grooves, the first roller group and the second roller group are configured to have shapes matching the grooves, and the grooves define movement directions of the first roller group and the second roller group.

16. The warehouse storage system according to claim 11, characterized in that: The first access port and the second access port both include: A dispatching control module, which communicates with the first vertical transfer unit, the second vertical transfer unit and the four-way shuttle, and is configured to receive user instructions to control the first vertical transfer unit, the second vertical transfer unit and the four-way shuttle to perform corresponding actions.

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