Warehousing system

Abstract

The embodiment of the utility model provides a warehousing system. The warehousing system comprises a storage area, a tallying area, a plurality of movable goods shelves, a carrying robot and a tallying robot. The tallying area is used for tallying the movable goods shelves in the tallying area; each movable goods shelf comprises a storage space and an accommodating space; the storage space is provided with a plurality of storage bins for storing containers; the containing space is arranged on the lower portion of the storage space and used for allowing the transfer robot to move the movable goods shelf; the carrying robot is used for moving the to-be-tallied movable goods shelf in the storage area to the tallying area; or the movable goods shelves sorted in the tallying area are carried to the storage area; and the tallying robot is used for tallying the containers for storing the same type of goods in the movable goods shelves in the tallying area onto the same movable goods shelves. According to the warehousing system provided by the embodiment of the utility model, automatic tallying is realized, delivery can be faster during next delivery, and the warehouse operation efficiency is improved.

Description

Technical Field

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

[0002] In the related art, the intelligent warehousing system may include: a storage area, multiple mobile shelves, a handling robot and a workstation.

[0003] When goods are put into storage, first, the handling robot moves the mobile shelf with vacant space to the workstation; then, at the workstation, containers with the same type of goods are manually placed on the mobile shelf, and then the handling robot moves the mobile shelf carrying the containers to the storage area to complete the storage.

[0004] When the goods are shipped out, first, the handling robot will move the entire mobile shelf carrying the containers to be shipped out from the storage area to the workstation; then, at the workstation, manual labor will take out the containers to be shipped out, and keep the containers that do not need to be shipped out, thus completing the picking; then, the handling robot will move the entire mobile shelf from the workstation back to the storage area.

[0005] Usually, mobile shelves can carry multiple containers. When the containers to be shipped out are scattered on different mobile shelves, the handling robot is required to carry them back and forth between the storage area and the workstation multiple times, resulting in low warehouse operation efficiency.

[0006] Therefore, in order to improve the efficiency of warehouse operation, it is necessary to sort the goods stored in the storage area so that they can be shipped out faster the next time. However, for the above-mentioned automated intelligent warehousing system based on handling robots, personnel cannot enter the storage area for sorting, so automated sorting is required. Utility Model Content

[0007] The purpose of the embodiment of the utility model is to provide a warehousing system, which can realize automatic sorting and improve warehouse operation efficiency. The specific technical solution is as follows:

[0008] A warehousing system, comprising: a storage area, a tallying area, a plurality of mobile shelves, a handling robot and a tallying robot;

[0009] The storage area is used to store mobile shelves; the tally area is used to sort the mobile shelves in this area;

[0010] Each of the mobile shelves comprises a storage space and a receiving space; the storage space is provided with a plurality of storage locations for storing containers; the receiving space is provided at the lower part of the storage space for allowing a transport robot to move the mobile shelf;

[0011] The transport robot is used to move the mobile shelves to be sorted in the storage area to the sorting area; or to transport the mobile shelves sorted in the sorting area to the storage area;

[0012] The tallying robot is movably arranged in the tallying area, and is used for arranging containers storing the same type of goods on the mobile shelves in the tallying area onto the same mobile shelves.

[0013] In some embodiments, a tallying channel for the tallying robot to perform tallying operations is provided at a preset position of the tallying area; when tallying is required, the transport robot moves the target shelf and the mobile shelf to be tallied in the storage area to the tallying area, so that the mobile shelf to be tallied and the target shelf are located on one side or both sides of the length direction of the tallying channel; wherein the target shelf is an empty shelf, or a mobile shelf with a vacant storage position;

[0014] The tallying robot moves along the length direction of the tallying channel, and based on its own lifting function, arranges containers storing the same type of goods on the mobile shelves to be tallied to the same target shelves and / or mobile shelves to be tallied along the length direction and the vertical direction.

[0015] In some embodiments, a floor support frame is provided on the tallying channel of the tallying area; the handling robot is used to move the target shelf and the mobile shelf to be tallied in the storage area to the tallying area, so that the mobile shelf to be tallied and the target shelf are located on one side or both sides of the length direction of the floor support frame; the target shelf is an empty shelf, or a mobile shelf with a vacant storage position;

[0016] The sorting robot is arranged on the floor support frame, and can move on the floor support frame along the length direction of the floor support frame, and based on its own lifting function, it can sort the containers storing the same type of goods on the mobile shelves to be sorted into the same target shelves along the length direction and the vertical direction.

[0017] In some embodiments, the floor-standing support frame includes: a plurality of supporting beams spaced apart along the vertical direction of the mobile shelf and a supporting vertical beam fixed to the ground; the sorting robot is mounted on the supporting beams and movably connected to the supporting beams; so that the sorting robot can move in the horizontal direction of the mobile shelf based on the supporting beams.

[0018] In some embodiments, the sorting robot comprises: a first column gantry, a first conveying mechanism and at least one guide rail; the first column gantry is installed along the vertical direction of the floor support frame; the first conveying mechanism is arranged on the first column gantry, and the first conveying mechanism is used to move vertically on the first column gantry to pick up and place containers of different heights in the mobile shelf; the at least one guide rail is fixedly installed on the supporting beam; the first column gantry is movably connected to the at least one guide rail so that the first column gantry and the first conveying mechanism can move horizontally along the supporting beam to pick up and place different containers in the length direction of the mobile shelf.

[0019] In some embodiments, the first transport mechanism includes: a first lifting assembly and a first picking assembly;

[0020] The first lifting assembly is arranged on the first column door frame, and is used to drive the first picking assembly to move up and down along the vertical direction of the floor support frame;

[0021] The first picking component is installed on the first lifting component, and is used to extend the first column door frame to pick up and place containers on the mobile shelf.

[0022] In some embodiments, the sorting robot includes a first motion chassis, a second column gantry and a second transport mechanism; the first motion chassis is used to drive the sorting robot to move along the sorting channel; the second column gantry is installed on the first motion chassis in a vertical direction; the second transport mechanism is movably connected to the second column gantry in an up and down direction, and the second transport mechanism is used to move vertically on the second column gantry to pick up and place containers of different heights on the mobile shelf.

[0023] In some embodiments, the second transport mechanism includes: a second lifting assembly, a second picking assembly and a rotating assembly; the second lifting assembly is arranged on the second column gantry, and is used to drive the second picking assembly to move up and down in the vertical direction of the second column gantry; the second picking assembly is installed on the second lifting assembly, and is used to extend the second column gantry to pick up and place containers on the mobile shelf; the rotating assembly is arranged at the bottom of the second picking assembly, and is used to drive the second picking assembly to rotate so as to face the mobile shelves on different sides of the sorting channel.

[0024] In some embodiments, the handling robot arranges the mobile shelves to be sorted and the target shelves into a first row along one side of the length direction of the tallying channel; or arranges the mobile shelves to be sorted into a second row along the first side of the length direction of the tallying channel, and arranges the target shelves into a third row along the second side of the length direction of the tallying channel;

[0025] The tallying robot moves along the length direction of the tallying channel, and arranges the containers storing the same type of goods on the mobile shelves to be tallied in the first column to the same target shelf in the first column; or, arranges the containers storing the same type of goods on the mobile shelves to be tallied in the second column to the same target shelf in the third column, so that the transport robot transports the target shelf and / or the mobile shelves to be tallied that are not empty after sorting to the storage area as sorted mobile shelves.

[0026] In some embodiments, there are multiple mobile shelves to be sorted; the target shelves are empty shelves, and the number is the same as the number of mobile shelves to be sorted; the sorting robot sorts the containers on each mobile shelf to be sorted into each target shelf according to the same type of goods.

[0027] In some embodiments, the transport robot moves a first number of mobile shelves to be sorted and a second number of target shelves to the sorting area; the target shelves are empty shelves; the first number is the same as or different from the second number;

[0028] The tallying robot performs tallying according to the designated cargo type, and moves the containers storing the designated cargo type in the mobile shelves to be tallied to the target shelves, respectively, so that each target shelf stores only one designated type of container; containers storing non-designated types of cargo are retained in the mobile shelves to be tallied;

[0029] The transport robot further transports the mobile shelves to be sorted with the containers retained back to the storage area when each target shelf is not full and there is a next batch of mobile shelves to be sorted, and moves a first number of the next batch of mobile shelves to be sorted to the sorting area for the sorting robot to sort according to the specified cargo type, and moves the containers storing the specified type of cargo in the mobile shelves to be sorted to each target shelf respectively; and when each target shelf is full or the sorting task is completed, each target shelf is moved to the storage area.

[0030] In some embodiments, the number of the mobile shelves to be sorted is multiple, and the number of the target shelves is one or more; when sorting is required, the transport robot arranges the mobile shelves to be sorted and the target shelves into a first row along one side of the length direction of the tallying channel; or, arranges part of the mobile shelves to be sorted into a second row along the first side of the length direction of the tallying channel, and arranges the remaining mobile shelves to be sorted and the target shelves into a third row along the second side of the length direction of the tallying channel; and after tallying, the sorted mobile shelves to be sorted are transported back to the storage area;

[0031] The tallying robot moves along the length direction of the tallying channel, and based on its own lifting function, retains containers storing the same type of goods for each mobile shelf to be tallied in turn, moves other containers to the target shelf for temporary storage, and moves containers storing the same type of goods in other mobile shelves to be tallied and the target shelf to the mobile shelf to be tallied, so that each mobile shelf to be tallied is sorted into containers storing only one type of goods.

[0032] In some embodiments, the transport robot is a lifting mobile robot; the height of the storage space of the mobile shelf is higher than that of the lifting mobile robot; so that the lifting mobile robot can move into the storage space, lift the mobile shelf or place the mobile shelf on the ground.

[0033] In some embodiments, the warehousing system also includes a control device and a workstation; the control device is communicatively connected to the transport robot and the sorting robot, and is used to instruct the transport robot to move the mobile shelves to be sorted in the storage area to the sorting area; or to move the mobile shelves sorted in the sorting area to the storage area; and to transport the mobile shelves between the storage area and the workstation; and to instruct the sorting robot to sort the containers storing the same type of goods in the mobile shelves in the sorting area into the same mobile shelves.

[0034] The embodiment of the present application further provides another warehousing system, comprising: a warehousing area, a plurality of mobile shelves, a handling robot, a tallying robot and a workstation; a tallying channel for the tallying robot to perform tallying operations is provided at a preset position of the warehousing area;

[0035] Each of the mobile shelves comprises a storage space and a receiving space; the storage space is provided with a plurality of storage locations for storing containers; the receiving space is provided at the lower part of the storage space for allowing a transport robot to move the mobile shelf;

[0036] The transport robot is used to transport multiple mobile shelves from the workstation to one side or both sides of the length direction of the tally channel; and to transport the sorted mobile shelves to the workstation;

[0037] The tallying robot is movably arranged in the tallying channel of the storage area, and is used to move along the length direction of the tallying channel. Based on its own lifting function, it arranges the containers storing the same type of goods in each mobile shelf into the same mobile shelf along the length direction and the vertical direction.

[0038] In some embodiments, a floor support frame is provided on the tallying channel of the storage area; the floor support frame comprises: support cross beams arranged at intervals along the vertical direction of the mobile shelf and support vertical beams fixed on the ground;

[0039] The sorting robot is installed on the supporting beam and is movably connected to the supporting beam, so that the sorting robot can move in the horizontal direction of the mobile shelf based on the supporting beam.

[0040] In some embodiments, the sorting robot comprises: a first column gantry, a first conveying mechanism and at least one guide rail; the first column gantry is installed along the vertical direction of the floor support frame; the first conveying mechanism is arranged on the first column gantry, and the first conveying mechanism is used to move vertically on the first column gantry to pick up and place containers of different heights in the mobile shelf; the at least one guide rail is fixedly installed on the supporting beam; the first column gantry is movably connected to the at least one guide rail so that the first column gantry and the first conveying mechanism can move horizontally along the supporting beam to pick up and place different containers in the length direction of the mobile shelf.

[0041] In some embodiments, the tallying robot comprises a first moving chassis, a second column gantry and a second transport mechanism; the first moving chassis is used to drive the tallying robot to move along the tallying channel;

[0042] The second column gantry is mounted on the first moving chassis along the vertical direction;

[0043] The second transport mechanism is movably connected to the second column door frame in the up-and-down direction, and the second transport mechanism is used for vertically moving on the second column door frame to pick up and place containers of different heights on the mobile shelf.

[0044] In some embodiments, the storage area is further provided with a fixed shelf; the transport robot is further used to transport the target shelf to one end of the fixed shelf in the length direction, so that the mobile shelf is arranged in sequence with the fixed shelf along the length direction; the target shelf is an empty shelf, or a mobile shelf with an empty storage position;

[0045] The sorting robot is also used to sort the containers storing the same type of goods located in the fixed shelves into the same mobile shelves.

[0046] In some embodiments, the warehousing system also includes a control device; the control device is communicatively connected with the transport robot and the sorting robot, and is used to instruct the transport robot to transport the mobile shelves between the storage area and the workstation; and to instruct the sorting robot to move along the length direction of the sorting channel, and based on its own lifting function, to arrange containers storing the same type of goods into the same mobile shelves along the length direction and the vertical direction.

[0047] The beneficial effects of the embodiments of the utility model are as follows:

[0048] The first warehousing system provided by the embodiment of the utility model utilizes a transport robot to move the mobile shelves to be sorted in the storage area to the sorting area; in the sorting area, the sorting robot is utilized to pick up and place containers between the mobile shelves, and the containers storing the same type of goods are sorted on the same mobile shelves, and then the transport robot is utilized to transport the sorted mobile shelves to the storage area, thereby realizing automated sorting. When the goods are shipped out next time, the sorted mobile shelves are shipped out, which enables faster shipment and improves warehouse operation efficiency.

[0049] The second warehousing system provided by the embodiment of the utility model utilizes a sorting robot to pick up and place containers between mobile shelves, and organizes containers storing the same type of goods on the same mobile shelves; utilizes a second transport robot to transport the mobile shelves between the storage area and the workstation; realizes automated sorting, and when the warehouse is shipped out next time, the sorted mobile shelves are shipped out, which can enable faster shipping and improve warehouse operation efficiency.

[0050] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0052] Figure 1a A schematic top view of a first embodiment of a storage system provided by an embodiment of the utility model;

[0053] Figure 1b A schematic top view of a second embodiment of a storage system provided by an embodiment of the utility model;

[0054] Figure 2 for Figure 1b A partial top view of the tally area in the illustrated embodiment;

[0055] Figure 3a for Figure 1a A three-dimensional schematic diagram of the positional relationship between a transport robot and a mobile shelf is shown;

[0056] Figure 3b for Figure 3a Schematic diagram from another angle (not included) Figure 3a Right side mobile shelf);

[0057] Figure 4a for Figure 3a A schematic diagram of the structure of the tally robot from a first angle in the illustrated embodiment;

[0058] Figure 4b for Figure 3a A schematic diagram of the structure of the tally robot from a second angle in the illustrated embodiment;

[0059] Figure 5 for Figure 1b Another three-dimensional structural schematic diagram of the positional relationship between a transport robot and a mobile shelf is shown;

[0060] Figure 6 for Figure 5 A schematic diagram of the three-dimensional structure of the tally robot in the illustrated embodiment;

[0061] Figure 7a This is a schematic diagram of the three-dimensional structure of a mobile shelf in an embodiment of the utility model;

[0062] Figure 7b for Figure 7a A schematic structural diagram of a first side of the mobile shelf shown;

[0063] Figure 7c for Figure 7a The three-dimensional structural diagram of the mobile shelf and the handling robot shown;

[0064] Figure 7d for Figure 7c A structural schematic diagram of a second side of the embodiment shown in FIG.

[0065] Figure 8 for Figure 3a A schematic diagram of the three-dimensional structure of the transport robot in the illustrated embodiment;

[0066] Fig. 9 This is a schematic diagram of the structure of the first tallying mode of the tallying robot in the embodiment of the utility model;

[0067] Fig.10 This is a schematic diagram of the structure of the second tallying mode of the tallying robot in the embodiment of the utility model;

[0068] Fig.11This is a schematic structural diagram of the third tallying mode of the tallying robot in the embodiment of the utility model;

[0069] Fig.12 A schematic diagram of a top view of a third embodiment of a storage system provided by an embodiment of the utility model;

[0070] Fig.13 A top view of the positional relationship between the sorting robot and the mobile shelf in the fourth embodiment of the warehousing system provided by the embodiment of the utility model;

[0071] Fig.14 A top view of the positional relationship between the sorting robot and the mobile shelf in the fifth embodiment of the warehousing system provided by the embodiment of the utility model;

[0072] Fig.15 for Fig.14 A specific three-dimensional structural schematic diagram of the illustrated embodiment.

[0073] Reference numerals:

[0074] Warehouse area 100, storage area 110, tally area 120, tally channel 121, floor support frame 1210, support beam 1211, support vertical beam 1212;

[0075] Mobile shelf 200, storage space 210, storage bin 211, support column 212, accommodating space 220, target shelf 230, fixed shelf 240;

[0076] The transport robot 300, the second motion chassis 310, the lifting mechanism 320, and the lifting platform 330;

[0077] The tallying robot 400, the first column door frame 410, the door column 411, the first transport mechanism 420, the first lifting assembly 421, the first picking assembly 422, the guide rail 430, the roller 431, and the top shell 432;

[0078] A first moving chassis 440, a second column gantry 450, a second transport mechanism 460, a second lifting assembly 461, a second picking assembly 462, a rotating assembly 463, a temporary storage unit 470, and a storage layer 471;

[0079] Workstation 500, inbound workstation 510, outbound workstation 520;

[0080] Container 600. DETAILED DESCRIPTION

[0081] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field based on this application belong to the scope of protection of the utility model.

[0082] In order to realize automated sorting of a warehousing system and improve warehouse operation efficiency, an embodiment of the utility model provides a warehousing system.

[0083] See also Figure 1a and Figure 1b , Figure 1a A schematic top view of a first embodiment of a storage system provided by an embodiment of the utility model; Figure 1b A schematic top view of a second embodiment of a storage system provided by the utility model. Figure 1a and Figure 1b As shown, the warehousing system includes: a storage area 110, a sorting area 120, a plurality of mobile shelves 200, a handling robot 300 and a sorting robot 400. The storage area 110 is used to store the mobile shelves 200; the sorting area 120 is used to sort the mobile shelves 200 in this area.

[0084] Each mobile shelf 200 includes a storage space 210 and a receiving space 220 ; the storage space 210 is provided with a plurality of storage locations 211 for storing containers 600 ; the receiving space 220 is provided at the lower part of the storage space 210 for the transport robot 300 to move the mobile shelf 200 .

[0085] The transport robot 300 is used to move the mobile shelves 200 to be sorted in the storage area 110 to the sorting area 120 ; or to transport the mobile shelves 200 sorted in the sorting area 120 to the storage area 110 .

[0086] The sorting robot 400 is movably disposed in the sorting area 120 , and is used to sort the containers 600 storing the same type of goods in the mobile shelves 200 in the sorting area 120 into the same mobile shelves 200 .

[0087] The warehousing system provided by the embodiment of the utility model utilizes a transport robot 300 to move the mobile shelves 200 to be sorted in the storage area 110 to the sorting area 120; in the sorting area 120, the sorting robot 400 is utilized to pick up and place containers 600 between the mobile shelves 200, and the containers 600 storing the same type of goods are sorted on the same mobile shelves 200, and then the transport robot 300 is utilized to transport the sorted mobile shelves 200 to the storage area 110, thereby realizing automated sorting. When the warehouse is shipped out next time, the sorted mobile shelves 200 can be shipped out faster, thereby improving the warehouse operation efficiency.

[0088] Moreover, the solution of the utility model utilizes the tallying robot 400 to tally goods in the dedicated tallying area 120, which has the advantages of low cost, no manual stations being occupied during the tallying process, and saving labor costs. Figure 1a and Figure 1b As shown, in this embodiment, one tallying robot 400 can tally multiple mobile shelves 200, thereby realizing many-to-many tallying with higher tallying efficiency.

[0089] Figure 1a and Figure 1b In the illustrated embodiment, in order to store more containers 600, the mobile shelf 200 uses a double-deep mobile shelf, and the corresponding tally robot 400 is a robot that can pick up and place containers 600 of the double-deep shelf. In other embodiments, the mobile shelf 200 can also use a three-deep or single-deep mobile shelf, and the corresponding tally robot 400 can pick up and place containers 600 of each depth.

[0090] Figure 1a In the illustrated embodiment, the tallying robot 400 adopts a rail-type container handling device, based on a floor-standing support frame 1210, and moves horizontally along the length direction of the mobile shelf 200 to achieve tallying. The specific structure and implementation method are described in detail in the subsequent description.

[0091] Figure 1b In the illustrated embodiment, the tallying robot 400 is a container handling robot driven by a movable chassis, and moves along the tallying channel 121 to achieve tallying. The specific structure and implementation method are described in detail in the subsequent description.

[0092] It should be noted that the container in this embodiment refers to a container that can accommodate goods, such as a material box, a pallet, etc., and this application does not limit this.

[0093] In specific applications, such as Figure 1a and Figure 1bAs shown, in this embodiment, a tallying channel 121 for the tallying robot 400 to perform tallying operations is set at a preset position of the tallying area 120; the handling robot 300, when tallying is required, moves the target shelf 230 and the mobile shelf 200 to be tallied in the storage area 110 to the tallying area 120, so that the mobile shelf 200 to be tallied and the target shelf 230 are located on both sides of the length direction of the tallying channel 121; wherein, the target shelf 230 is an empty shelf, or a mobile shelf 200 with an empty storage location 211.

[0094] Figure 1a and Figure 1b In the illustrated embodiment, the mobile shelves 200 to be sorted and the target shelves 230 are located on both sides of the length direction of the sorting channel 121. In other embodiments, the mobile shelves 200 to be sorted and the target shelves 230 are located on one side of the length direction of the sorting channel 121. There is no limitation here.

[0095] like Figure 1a and Figure 1b As shown, in this embodiment, the sorting robot 400 can move along the length direction of the sorting channel 121, and based on its own lifting function, it can sort the containers 600 storing the same type of goods on the mobile shelves 200 to be sorted along the length direction and the vertical direction to the same target shelf 230 and / or the mobile shelves 200 to be sorted.

[0096] In this embodiment, the manner of presetting the tallying channel 121 in the tallying area 120 makes the tallying area 120 more orderly, the tallying process more regular and orderly, and the tallying space of the tallying area 120 can be effectively utilized.

[0097] See also Figure 2 , Figure 2 for Figure 1b A partial top view of the tallying area in the illustrated embodiment. Figure 2 The figure shows the situation in which the tallying robot 400 performs tallying in the tallying channel 121 .

[0098] by Figure 1b As shown in the figure, a container handling robot driven by a movable chassis is used as an example. Figure 2 As shown, the tallying robot 400 in this embodiment can take out the container 600 on the mobile shelf 200, and transfer it to other storage locations 211 through horizontal and vertical movement ( Figure 2 Each position in the storage bin corresponds to a storage bin 211). For example:

[0099] 1) Transfer from the storage bin 211 of a mobile shelf 200 to the mobile shelf on the other side of the tally channel 121 (i.e. Figure 2The storage location 211 on the target shelf 230 is selected, for example: location 1 -> location 2.

[0100] 2) Transferring from a storage location 211 of a certain mobile shelf 200 to a storage location 211 on another mobile shelf 200 on the same side of the tally channel 121, for example: location 1 -> location 3.

[0101] 3) Transferring from a storage location 211 of a mobile shelf 200 to another storage location 211 of the same shelf, which may be on the same level or on different levels, for example: location 1 -> location 4.

[0102] In addition, since the present embodiment adopts a double-deep mobile multi-layer shelf, accordingly, the sorting robot 400 in the present embodiment can support double-deep picking and placing, that is, it supports picking and placing goods at the first deep position or the second deep position at the same time.

[0103] The tally robot 400 in this embodiment may be Figure 1b The container handling robot shown can realize vertical container handling and can also support horizontal handling driven by a movable chassis; it can also be Figure 1a The track-type container handling equipment shown is capable of realizing vertical container handling and horizontal movement within a limited range, which will be described in detail later.

[0104] It can be seen from the above-mentioned embodiments that the sorting robot 400 in this embodiment can adopt a rail-type container handling device or a container handling robot driven by a movable chassis. It can be set according to the actual application site of the warehousing system and has strong flexibility.

[0105] In the following, two warehousing systems implementing the two sorting robots 400 are described in detail respectively.

[0106] First, an embodiment in which the tallying robot 400 adopts a rail-type container transporting device is described.

[0107] In the case where the tallying robot 400 adopts a rail-type container handling device, see Figure 3a and Figure 3b , Figure 3a for Figure 1a A three-dimensional schematic diagram of the positional relationship between a transport robot and a mobile shelf is shown; Figure 3b for Figure 3a Schematic diagram from another angle (not included) Figure 3a Right side mobile rack). Figure 3a and Figure 3b As shown, in order to adopt the rail-type container handling equipment, a floor support frame 1210 arranged along the length direction of the mobile shelf 200 can be provided in the cargo channel 121.

[0108] Among them, the sorting robot 400, that is, the rail-type container handling equipment, is arranged on the floor support frame 1210, and the sorting robot 400 can move horizontally along the length direction of the mobile shelf 200 on the floor support frame 1210, and based on its own lifting function, it can realize the picking and placing of containers 600 on the mobile shelf 200 along the length direction and the vertical direction.

[0109] like Figure 3a and Figure 3b As shown, the floor support frame 1210 may be a gantry frame including a plurality of support crossbeams 1211 and support vertical beams 1212. The support crossbeams 1211 are arranged at intervals in the vertical direction of the mobile shelf 200, and the support vertical beams 1212 are fixed on the ground at intervals, and the support crossbeams 1211 span between the support vertical beams 1212. The first robot 300 is installed on the support crossbeams 1211 and is movably connected to the support crossbeams 1211, so that the tally robot 400 moves in the horizontal direction of the mobile shelf 200 based on the support crossbeams 1211.

[0110] like Figure 3a and Figure 3b As shown, in this embodiment, the floor support frame 1210 is provided with two support beams 1211 spaced apart from each other up and down along the length direction of the mobile shelf 200 , and the sorting robot 400 is movably connected to the two support beams 1211 , so that the sorting robot 400 can move horizontally along the floor support frame 1210 .

[0111] See also Figure 3a , Figure 3b , Figure 4a and Figure 4b , Figure 4a for Figure 3a A schematic diagram of the structure of the tally robot from a first angle in the illustrated embodiment; Figure 4b for Figure 3a The second angle structural diagram of the tally robot in the embodiment shown. Figure 3a , Figure 3b , Figure 4a and Figure 4b As shown, the sorting robot 400 includes: a first column gantry 410, a first transport mechanism 420 and at least one guide rail 430; the first column gantry 410 is installed along the vertical direction of the floor support frame 1210; the first transport mechanism 420 is arranged on the first column gantry 410, has a lifting function, and is used to pick up and place containers 600 of different heights on the mobile shelf 200; at least one guide rail 430 is fixedly installed on the supporting beam 1211 of the floor support frame 1210; the first column gantry 410 is movably connected to the at least one guide rail 430, so that the first column gantry 410 and the first transport mechanism 420 can move horizontally along the supporting beam 1211 to pick up and place different containers 600 in the length direction of the mobile shelf 200.

[0112] In this embodiment, in order to ensure that the tallying robot 400 is installed stably, two guide rails 430 are provided on the tallying robot 400, which are respectively fixed on two supporting beams 1211 of the floor support frame 1210 (for example, they can be fixed on the supporting beams by screws). The first column door frame 410 is movably connected to the two supporting beams 1211 to achieve horizontal movement along the floor support frame 1210.

[0113] Specifically, Figure 4a As shown, rollers 431 are provided on the two door columns 411 fixed to the first column door frame 410; the rollers 431 can drive the first column door frame 410 and the first transport mechanism 420 provided between the two door columns 411 to move horizontally along the guide rail 430. Since the guide rail 430 is fixedly connected to the support beam 1211 of the floor support frame 1210, the first column door frame 410 and the first transport mechanism 420 provided between the two door columns 411 can move horizontally along the support beam 1211 of the floor support frame 1210.

[0114] In this embodiment, Figure 4a and Figure 4b As shown, the first transport mechanism 420 includes: a first lifting component 421 and a first picking component 422; the first lifting component 421 is arranged on the first column door frame 410, and is used to drive the first picking component 422 to move up and down along the vertical direction of the floor support frame 1210; the first picking component 422 is installed on the first lifting component 421, and is used to extend out of the first column door frame 410 to pick up and place containers 600 of different heights in two adjacent mobile shelves 200.

[0115] In practical applications, one end of the first picking component 422 may be provided with a baffle for blocking the container 600 to prevent the container 600 from falling during movement. In this case, in order to pick up and place the containers 600 of two mobile shelves 200, a rotating component may be provided at the bottom of the first picking component 422 of the first transport mechanism 420 so that it can switch the direction of picking up and placing goods, and at the same time, the telescopic mechanism can be extended to different lengths to pick up and place containers 600 at different depths of two adjacent mobile shelves 200. Of course, if the first picking component 422 is not provided with a baffle, it can also be extended to different lengths only through the telescopic mechanism to pick up and place containers 600 at different depths of two adjacent mobile shelves 200.

[0116] In this embodiment, the first lifting assembly 421 may include: a driving motor, a driving wheel, a driven wheel and two synchronous belts. The driving motor and the driving wheel are arranged in the top shell 432, the driven wheel is arranged at the bottom of the two door posts 411, and the two synchronous belts are sleeved outside the driving wheel, the door posts 411 and the driven wheel. The first picking assembly 422 is connected to the two synchronous belts through the connecting blocks on both sides.

[0117] In this way, the two synchronous belts of the first lifting assembly 421 can drive the connecting block to move up and down, thereby driving the first picking assembly 422 to move up and down, so as to realize the vertical movement of the first picking assembly 422 along the floor support frame 1210. Among them, the first picking assembly 422 can include a telescopic mechanism, which extends into the mobile shelf 200 through the telescopic mechanism to pick up and place containers located in a single-depth position and / or multiple-depth positions. In this embodiment, the distance that the telescopic mechanism can be extended can be designed based on the distance between two adjacent mobile shelves and the length of the depth of the shelf, and is not limited here.

[0118] In this embodiment, the form of the first picking component 422 includes but is not limited to a fork arm type, a suction cup type, a roller type, a hook arm, etc.

[0119] In this embodiment, the sorting robot 400 can pick up and place containers 600 on two adjacent mobile shelves 200 in the horizontal direction based on the relative rolling between the roller 431 and the guide rail 430 fixedly set on the supporting beam 1211; and can pick up and place containers 600 on two adjacent mobile shelves 200 in the up and down direction based on the first lifting component 421.

[0120] In this embodiment, the tally robot 400 uses rollers to drive the entire tally robot 400 to move on the guide rail 430, and the moving speed is fast, which can improve the efficiency of picking and placing goods. Of course, in other embodiments, the slider can also be used to drive the entire tally robot 400 to move on the guide rail 430, which is relatively slower than the roller method, and will not be described in detail here.

[0121] In the present embodiment, since the sorting robot 400 adopts a rail-type container handling device to pick up and place containers, the sorting robot 400 is arranged on a floor support frame 1210, and the floor support frame 1210 is arranged on the sorting channel 121, which can ensure the picking and placing of containers in the horizontal and vertical directions, and the container picking and placing operation is relatively stable.

[0122] In the above embodiment, since the floor support frame 1210 needs to be set, part of the space of the tally area 120 will be occupied, the storage system is relatively complicated, and the movement of the tally robot 400 is not flexible enough. Therefore, in other embodiments, the tally robot 400 can be a container handling robot driven by a movable chassis.

[0123] Next, an implementation example in which the tallying robot 400 is a container transporting robot driven by a movable chassis is described.

[0124] In the case where the tally robot 400 is a container handling robot driven by a movable chassis, see Figure 5 , Figure 5 for Figure 1b Another three-dimensional structural diagram of the positional relationship between a tally robot and a mobile shelf is shown in FIG. Figure 5 As shown, in this embodiment, there is no need to set a floor support frame 1210 in the tallying channel 121. Instead, the tallying robot 400 directly uses the chassis to move in the tallying channel 121. In this case, the tallying robot 400 is used to move along the tallying channel 121 and pick up and place the container 600 between the mobile shelves 200 on both sides or the same side of the tallying channel 121.

[0125] For details, see Figure 6 , Figure 6 for Figure 5 Schematic diagram of the three-dimensional structure of the tallying robot in the illustrated embodiment. In this embodiment, the tallying robot 400 includes a first motion chassis 440, a second column gantry 450 and a second transport mechanism 460. Among them, the first motion chassis 440 is used to drive the tallying robot 400 to move along the tallying channel 121; the second column gantry 450 is installed on the first motion chassis 440 in the vertical direction. The second transport mechanism 460 is movably connected to the second column gantry 450 in the up and down directions, and is used to move vertically on the second column gantry 450 to pick up and place containers 600 of different heights on the mobile shelves 200 on one side or both sides of the tallying channel 121.

[0126] In this embodiment, the second transport mechanism 460 includes: a second lifting assembly 461, a second picking assembly 462 and a rotating assembly 463; the second lifting assembly 461 is arranged on the second column gantry 450, and is used to drive the second picking assembly 462 to move up and down in the vertical direction of the second column gantry 450; the second picking assembly 462 is installed on the second lifting assembly 461, and is used to extend out of the second column gantry 450 to pick up and place containers 600 of different heights on the mobile shelves 200 on one side or both sides of the sorting channel 121.

[0127] In this embodiment, the second lifting assembly 461 and the second picking assembly 462 may have the same structure as the first lifting assembly 421 and the first picking assembly 422, or may have different structures. Figure 6 As shown, the second picking component 462 of the sorting robot 400 in this embodiment can be a drawer-type second picking component, which is telescopically extended by a telescopic fork.

[0128] In this embodiment, Figure 6 As shown, the rotating component 463 is disposed at the bottom of the second picking component 462 , and is used to drive the second picking component 462 to rotate so as to face the mobile shelves 200 on different sides, thereby picking up and placing containers on different mobile shelves 200 .

[0129] In this embodiment, Figure 6 As shown, the sorting robot 400 also includes: a temporary storage unit 470; the temporary storage unit 470 is fixedly arranged on the second column gantry 450; the temporary storage unit 470 includes a plurality of storage layers 471 arranged in sequence along the second column gantry 450; each of the storage layers 471 is used to temporarily store a container 600 to be moved.

[0130] In this way, the sorting robot 400 is also used to move the containers 600 to be moved in the mobile shelves 200 on one side or both sides of the sorting channel 121 to the storage layer 471, and then move the containers 600 storing the same type of goods on the storage layer 471 to the same mobile shelves 200.

[0131] Specifically, the intervals between the storage layers 471 are greater than the height of the container 600. When there are multiple containers 600 to be moved, the sorting robot 400 can first take out the container 600 from the storage position 211 of the mobile shelf 200 to be sorted and place it on the storage layer 471, and then move the container 600 storing the same type of goods on the storage layer 471 to the same mobile shelf 200 as the target shelf.

[0132] In this embodiment, the tallying robot 400 uses a container handling robot driven by a movable chassis for tallying. There is no need to set up a support frame separately, and only a running channel needs to be set up, which simplifies the system setting. In addition, when tallying is not needed, it can be docked at the corner of the tallying area 120, or even docked outside the storage area 110 and the tallying area 120, making the storage area 110 and the tallying area 120 more concise and more flexible in tallying. At the same time, the application of the temporary storage unit 470 for tallying can take and put multiple containers 600 at a time, which improves the efficiency of tallying.

[0133] In the embodiment of the utility model, in order for the transport robot 300 to transport the mobile shelf 200 , a receiving space 220 is provided at the bottom of the transport mobile shelf 200 for the transport robot 300 to move the mobile shelf 200 .

[0134] For details, see Figure 7a and Figure 7b , Figure 7a This is a schematic diagram of the three-dimensional structure of a mobile shelf in an embodiment of the utility model; Figure 7b for Figure 7a The structural diagram of the first side of the mobile shelf is shown. Figure 7a and Figure 7b In the embodiment of the utility model, the mobile shelf 200 can be a 3*2*9 mobile shelf, whose length can accommodate three containers, width can accommodate two containers (i.e. double-deep), and height can be set to 9 layers. In actual application, the length, width, and height of the mobile shelf 200 can be set according to the actual storage site conditions and the handling capacity of the handling robot 300, and there is no limitation here.

[0135] like Figure 7a and Figure 7b As shown, a plurality of support columns 212 may be provided at the bottom of the mobile shelf 200 , and the plurality of support columns 212 extend toward the ground to form a receiving space 220 ; the receiving space 220 is used for the transport robot 300 to move the mobile shelf 200 .

[0136] See also Figure 7c and Figure 7d , Figure 7c for Figure 7a The structural schematic diagram of the cooperation between the mobile shelf and the handling robot shown; Figure 7d for Figure 7c A schematic diagram of the structure of the second side of the embodiment shown in FIG. Figure 7c and Figure 7d As shown, the transport robot 300 can move into the receiving space 220 at the bottom of the mobile shelf 200 , and then transport the entire mobile shelf 200 .

[0137] See also Figure 7c , Figure 7d and Figure 8 , Figure 8 for Figure 3a The schematic diagram of the three-dimensional structure of the transport robot in the embodiment shown; Figure 8 As shown, in this embodiment, the transport robot 300 is a lifting mobile robot; the height of the storage space 220 of the mobile shelf 200 is higher than the lifting mobile robot; so that the lifting mobile robot can move into the storage space 220, lift the mobile shelf 200 to move or place the mobile shelf 200 on the ground.

[0138] Specifically, Figure 8As shown, the transport robot 300 includes: a second motion chassis 310, a lifting mechanism 320 and a lifting platform 330. The second motion chassis 310 is arranged at the bottom of the transport robot 300 and may include universal wheels to achieve multi-directional movement; the lifting mechanism 320 and the lifting platform 330 are arranged on the top of the second motion chassis 310. When the transport robot 300 is located in the accommodation space 220 of the mobile shelf 200, the lifting mechanism 320 can lift the lifting platform 330 to a certain height, so that the mobile shelf 200 can be completely off the ground and move with the transport robot 300.

[0139] like Figure 7c and Figure 7d As shown, the height of the storage space 220 of the mobile shelf 200 is higher than that of the lifting mobile robot; in this way, the lifting mobile robot can move into the storage space 220, lift the lifting platform 330 through the lifting mechanism 320, so that the lifting platform 330 contacts the top of the storage space 220, and then lift the entire mobile shelf 200 and drive the entire mobile shelf 200 to move; or lower the lifting platform 330 through the lifting mechanism 320 to place the mobile shelf 200 on the ground.

[0140] In this embodiment, the transport robot 300 may be an automatically guided vehicle (AGV).

[0141] In the above embodiment, the tallying robot 400 cooperates with the transporting robot 300 to perform tallying in the following steps:

[0142] First, the transport robot 300 moves the mobile shelf 200 to be sorted and the target shelf 230 to the sorting area 120;

[0143] Then, the transport robot 300 arranges the mobile shelves 200 to be sorted and the target shelves 230 into a first row along one side of the length direction of the sorting channel 121. Figure 1a and Figure 1b As shown, the transport robot 300 arranges the mobile shelves 200 to be sorted into a second row along the first side of the length direction of the sorting channel 121 , and arranges the target shelves 230 into a third row along the second side of the length direction of the sorting channel 121 .

[0144] Then, the sorting robot 400 can move along the length direction of the sorting channel 121 to sort the containers 600 storing the same type of goods in the first column of the mobile shelves 200 to be sorted to the same target shelves 230 in the first column. Figure 1a and Figure 1bAs shown, the containers 600 storing the same type of goods on the mobile racks 200 to be tallied in the second column on the left side of the tallying channel 121 are arranged in the third column on the right side of the tallying channel 121 , in the same target rack 230 .

[0145] Finally, the transport robot 300 can transport the target shelf 230 and / or the sorted mobile shelf 200 to be sorted to the storage area 110 as the sorted mobile shelf 200 .

[0146] It should be noted that, in actual application, if after the tallying task is completed, all the containers 600 in the mobile shelf 200 to be sorted are moved to the target shelf 230, the mobile shelf 200 to be sorted becomes a completely empty shelf.

[0147] In this case, the handling robot 300 only needs to transport the target shelf 230 to the storage area 110. The empty shelves can be kept in the tallying area 120, or they can be concentrated by the handling robot 300 at a docking point in the tallying area 120; or at a docking point outside the storage area 110 and the tallying area 120 close to the storage area 110; so that the handling robot 300 can quickly transport them to the storage area 110 when performing the tallying task next time, thereby further improving the outbound speed and warehouse operation efficiency.

[0148] Of course, in some cases, after the tallying task is completed, some containers 600 may be moved to the target shelf 230, and some containers 600 may remain in the mobile shelf 200 to be sorted. In this case, the transport robot 300 can transport both the target shelf 230 and the mobile shelf 200 to be sorted that still has some containers 600 (i.e., not empty) to the storage area 110. This can be set according to actual conditions and is not limited here.

[0149] Specifically, tallying can be done through at least the following modes:

[0150] Below, Figure 1b Taking the warehouse system shown as an example, several examples of modes are given to illustrate.

[0151] Mode 1: Transfer all containers 600 on the mobile shelf 200 to be sorted to the target shelf 230. 1.

[0152] The following description is made by taking the case where there are multiple mobile shelves 200 to be sorted and the target shelves 230 are empty shelves, and the number of the target shelves 230 is the same as the number of mobile shelves 200 to be sorted as an example. Fig. 9 , Fig. 9This is a schematic diagram of the first sorting mode structure of the sorting robot in the embodiment of the utility model. Among the mobile shelves 200 on both sides of the sorting channel 121, each of the mobile shelves 200 to be sorted on the left side stores containers; the target shelves 230 on the right side of the sorting channel 121 are all idle; the sorting robot 400 sorts the containers 600 on each mobile shelf 200 to be sorted into each target shelf 230 according to the same type of goods.

[0153] It should be noted that, in this embodiment, Fig. 9 In the example of transferring from a full shelf to a target shelf, before the actual tallying, the left mobile shelf 200 to be sorted only needs to store the containers to be tallied, and does not need to be full; similarly, after the tallying, the right target shelf 230 does not need to be filled, as long as the tallying task is completed.

[0154] As mentioned above, if the mobile shelves 200 to be sorted are completely empty after sorting, there is no need to move them back to the storage area 110 . If they are not completely empty, they need to be moved back to the storage area 110 like the target shelves 230 .

[0155] In actual application, the storage system is further provided with a control device and a workstation 500, which is in communication with the aforementioned handling machine 300 and the tally robot 400, and is used to instruct the handling robot 300 to move the mobile shelves 200 to be tallied in the storage area 110 to the tally area 120; or to move the mobile shelves 200 sorted in the tally area 120 to the storage area 110; and to transport the mobile shelves 200 between the storage area 110 and the workstation 500; and to instruct the tally robot 400 to sort the containers 600 storing the same type of goods in the mobile shelves 200 in the tally area 120 into the same mobile shelves 200. The workstation 500 includes an inbound workstation 510 and an outbound workstation 520.

[0156] The tallying process of Mode 1 is described below.

[0157] Specifically, the tally task can be completed by controlling the device to perform the following steps:

[0158] Step A: Based on the current tally task, instruct the transport robot 300 to move the target shelf 230 and the mobile shelf 200 to be tallied in the storage area 110 to the tally area 120. The tally task is generated by the system according to business needs.

[0159] In this embodiment, the target shelf 230 may be an empty shelf, or a mobile shelf 200 with an empty storage location 211. The empty shelf may be transported from a preset stop point by the transport robot 300, and the mobile shelf 200 with an empty storage location 211 may be transported from the storage area 110 by the transport robot 300. Of course, the empty shelf may also be an empty shelf that is retained in the tally area 120 after the tally task is completed.

[0160] like Fig. 9 As shown in the left figure, in this example, the transport robot 300 transports the mobile shelves 200 to be sorted and the target shelves 230 to the left and right sides of the sorting robot 400 on the sorting channel 121, and the sorting robot 400 can pick up and place containers on the mobile shelves 200 to be sorted and the target shelves 230.

[0161] In actual applications, the transport robot 300 takes the mobile shelf 200 as a unit, and one transport robot 300 transports one mobile shelf 200 at a time. In order to improve the sorting efficiency of the sorting robot 400, in this example, four mobile shelves 200 to be sorted are arranged in a left column, and four idle target shelves 230 are arranged in a right column.

[0162] In addition, in this embodiment, one transport robot 300 may be instructed to transport each mobile shelf 200 to be sorted and the target shelf 230 in sequence, or multiple transport robots 300 may be instructed to transport each mobile shelf 200 and the target shelf 230 to improve efficiency.

[0163] Step B: instruct the sorting robot 400 to take out containers 600 of the same type of goods from the mobile shelves 200 to be sorted, and place them one by one in the same target shelf 230.

[0164] Step C: Instruct the transport robot 300 to transport the sorted target shelves 230 filled with containers 600 back to the storage area 110. In this step, taking the example of the tallying robot 400 moving all containers to the target shelves 230, it is only necessary to transport each target shelf 230 back to the storage area 110. If there are still containers on the mobile shelf 200 to be tallied, the transport robot 300 is also required to move the mobile shelf 200 to be tallied back to the storage area 110.

[0165] like Fig. 9 As shown in the left figure, before sorting, the mobile shelf 200 for sorting stores containers 600 of different types of goods in a disorderly manner. There are four types of goods: A / B / C / D. Fig. 9As shown in the right figure, after sorting, each target shelf 230 is filled with containers 600 of one type of goods, and the types of goods stored in the four target shelves 230 arranged along the length direction of the target shelves 230 are: A / B / C / D.

[0166] In this way, automated sorting is achieved. When a certain type of goods needs to be shipped out next time, the transport robot 300 directly moves the mobile shelf 200 storing the container 600 of this type of goods to the shipping workstation 520, which can ship out faster and improve the warehouse operation efficiency.

[0167] Mode 2: transferring some containers 600 on the mobile shelf 200 to be sorted to the target shelf 230 .

[0168] In this mode, the transport robot 300 first moves a first number of mobile shelves 200 to be sorted and a second number of target shelves 230 to the sorting area 120; the target shelves 230 are empty shelves; the first number is the same as or different from the second number.

[0169] The sorting robot 400 sorts the goods according to the specified type of goods, and moves the containers 600 storing the specified type of goods in the mobile shelf 200 to be sorted to each target shelf 230, so that each target shelf 230 only stores one type of container 600 of the specified type; the containers 600 storing non-specified types of goods are retained in the mobile shelf 200 to be sorted.

[0170] The transport robot 300 further transports the mobile shelves 200 to be sorted with the containers 600 reserved therein back to the storage area 110 when each target shelf 230 is not full and there is a next batch of mobile shelves to be sorted, and moves the first number of the next batch of mobile shelves 200 to be sorted to the sorting area 120 for the sorting robot 400 to sort by the designated cargo type, and moves the containers 600 storing the designated type of cargo in the mobile shelves 200 to be sorted to each target shelf 230 respectively; and when at least one target shelf 230 is full or the tallying task is completed, moves the full target shelf 230 or the target shelf 230 that is not full when the tallying task is completed to the storage area 110. After the full target shelf 230 is moved to the storage area 110, if the tallying task is not completed, the tallying robot 400 continues to sort between the mobile shelves 200 to be sorted and the target shelf 230 that is not full or the tallying task is not completed. That is, when there are target shelves 230 that are filled or whose tallying tasks have been completed, they can be first transported to the storage area 110 by the transport robot 300, and the remaining target shelves 230 continue to remain in the tallying area 120, which can improve the tallying efficiency.

[0171] See also Fig.10 , Fig.10 Schematic diagram of the structure of the second tallying mode of the tallying robot in the embodiment of the utility model.

[0172] Before the sorting robot 400 performs sorting, the transport robot 300 transports each mobile shelf 200 storing containers to be sorted to the left side of the sorting channel 121; and transports each idle target shelf 230 to the right side of the sorting channel 121; the sorting robot 400 sorts the containers 600 storing specified types of goods in the mobile shelves 200 to be sorted according to the specified goods type, and moves them to the corresponding target shelves 230 respectively; the containers 600 storing non-specified types of goods are retained in the mobile shelves 200 to be sorted.

[0173] In this embodiment, Fig.10 In the example, only the transfer of containers from a partially full shelf is taken. Before the actual sorting, the left mobile shelf 200 for sorting can store the containers to be sorted, and does not need to be fully filled.

[0174] Specifically, the tally task can be completed by controlling the device to perform the following steps:

[0175] Step A: Based on the current tallying task, instruct the transport robot 300 to move the idle target shelves 230 and the mobile shelves 200 to be tallied in the storage area 110 to the tallying area 120 .

[0176] like Fig.10 As shown, in this example, the transport robot 300 transports the mobile shelf 200 to be sorted to the left side of the sorting channel 121, and transports the target shelf 230 to the right side of the sorting channel 121. The sorting robot 400 can pick up and place containers on the mobile shelf 200 to be sorted and the target shelf 230 on the left and right sides of the sorting channel 121.

[0177] Step B: instruct the sorting robot 400 to take out containers 600 of designated types of goods from the mobile shelves 200 to be sorted, and place them one by one into the same idle target shelves 230 .

[0178] like Fig.10 As shown in the left figure, before sorting, the mobile shelf 200 to be sorted stores containers 600 of different types of goods in a disorderly manner. The types of goods are A / B / C / D / E / F / G / H / J / L / M, a total of 11 types. For example, the specified types are A / B / C / D. Fig.10As shown in the right figure, after sorting, the types of goods stored in the four target shelves 230 arranged along the length direction on the right are: A / B / C / D, and because the number of containers 600 of these four types of goods in the mobile shelf 200 to be sorted is less than the number of storage locations 211 of one mobile shelf 200, the four target shelves 230 on the right are not filled; except for the containers 600 of these four types of goods in the mobile shelf 200 to be sorted on the left, the other containers 600 storing goods E / F / G / H / J / L / M are still retained in the original position of the mobile shelf 200 to be sorted.

[0179] Step C: instruct the transport robot 300 to transport the sorted mobile shelves 200 on the left side back to the storage area 110 .

[0180] Step D: When the target shelf 230 on the right is not full and there is a next batch of mobile shelves 200 to be sorted, instruct the transport robot 300 to move to the storage area 110 to transport the next batch of mobile shelves 200 to be sorted to the sorting area 120, and repeat the above steps BD.

[0181] Step E: When the four target shelves 230 on the right are filled or the tallying task is completed, instruct the transport robot 300 to transport the four target shelves 230 on the right to the storage area 110 .

[0182] If there are still containers on the mobile shelf 200 to be sorted, it is also necessary to instruct the transport robot 300 to transport the mobile shelf 200 to be sorted to the storage area 110 .

[0183] By applying the above embodiment, through Mode 2, not only automatic sorting of goods can be achieved, but also sorting of goods based on designated goods types can be achieved.

[0184] Mode 3: using a dedicated unloading standby shelf to transfer containers 600 between each mobile shelf 200 to be sorted.

[0185] In the case that there are multiple mobile shelves 200 to be sorted and there are one or more target shelves 230, the transport robot 300, when sorting is required, arranges the mobile shelves 200 to be sorted and the target shelves 230 into a first row along one side of the length direction of the tallying channel 121; or, arranges part of the mobile shelves 200 to be sorted into a second row along the first side of the length direction of the tallying channel 121, and arranges the remaining mobile shelves 200 to be sorted and the target shelves 230 into a third row along the second side of the length direction of the tallying channel 121; and after tallying, transports the sorted mobile shelves 200 to be sorted back to the storage area 110;

[0186] In this mode, the tallying robot 400 moves along the length direction of the tallying channel 121, and based on its own lifting function, it sequentially retains the containers 600 storing the same type of goods for each mobile shelf 200 to be tallied, moves other containers 600 to the target shelf 230 for temporary storage, and moves the containers 600 storing the same type of goods in other mobile shelves 200 to be tallied and the target shelf 230 to the mobile shelf 200 to be tallied, so that each mobile shelf 200 to be tallied is sorted into containers 600 storing only one type of goods. In actual applications, after sorting, each shelf can store different types of goods. If there are a large number of goods of a certain type, two or more shelves may store goods of this type, which is not limited here.

[0187] Specifically, the target shelf 230 may be one or more dedicated reserve shelves for unloading goods.

[0188] Next, the tallying process of the third mode is explained.

[0189] In this embodiment, the tally task can be completed by controlling the device to execute the following steps:

[0190] Step A: Based on the current tallying task, instruct the transport robot 300 to transport the idle target shelves 230 and the mobile shelves 200 to be tallied in the storage area 110 to the tallying area 120 .

[0191] See also Fig.11 , Fig.11 FIG. 1 is a schematic diagram of the structure of the third tallying mode of the tallying robot in the embodiment of the utility model. Fig.11 As shown in the left figure, the tallying task includes 7 mobile shelves 200 to be tallied, of which 4 mobile shelves 200 to be tallied are arranged in sequence on the left side of the tallying channel 121 along the length direction, and the other 3 mobile shelves 200 to be tallied and the idle target shelves (i.e., the spare shelves for unloading in the figure) are arranged in sequence on the right side of the tallying channel 121 along the length direction.

[0192] like Fig.11 As shown in the left figure, in this example, the handling robot 300 arranges four mobile shelves 200 to be sorted on the left side of the sorting channel 121, and the other three mobile shelves 200 to be sorted and the idle target shelves (i.e., the unloading standby shelves in the figure) are sequentially arranged along the length direction on the right side of the sorting channel 121. Each mobile shelf 200 to be sorted stores containers 600 of seven types of goods, namely A / B / C / D / E / F / G, in a disorderly manner.

[0193] Step B, instructing the sorting robot 400 to use the spare shelves for dumping to move back and forth between the mobile shelves 200 on both sides of the sorting channel 121 and pick up and place containers 600, so that except for the spare shelves for dumping, each mobile shelf 200 to be sorted stores containers 600 of one type of goods.

[0194] Specifically, the sorting robot 400 can move along the length direction of the sorting channel 121, and based on its own lifting function, it can retain the containers 600 storing the same type of goods for each mobile shelf 200 to be sorted in turn, move other containers 600 to the spare shelf for unloading for temporary storage, and move the containers 600 storing the same type of goods in other mobile shelves 200 to be sorted and the spare shelf for unloading to the mobile shelf 200 to be sorted, so that each mobile shelf 200 to be sorted is organized into containers 600 storing only one type of goods.

[0195] See also Fig.11 In the right figure, in this example, after sorting, the four mobile shelves 200 on the left are loaded with four kinds of goods A / B / C / D respectively, and the three mobile shelves 200 on the right are loaded with four kinds of goods E / F / G respectively, and the spare shelves for unloading are idle.

[0196] Step C: instruct the transport robot 300 to transport the mobile shelf 200 filled with containers 600 to be sorted back to the storage area 110 .

[0197] It should be noted that when applying mode three for tallying, the number of spare shelves for unloading can be multiple, which is set according to the actual tallying task and is not restricted here.

[0198] By applying the above embodiment, through mode three, not only can automatic sorting be achieved between multiple mobile shelves 200, but also sorting can be achieved with a single mobile shelf 200 as a unit, which makes sorting more flexible.

[0199] It should be noted that the above examples are illustrated using top view plane examples for ease of understanding. In actual applications, the mobile shelves are multi-layered.

[0200] In addition, in practical applications, the above tally process can be applied to but not limited to the following scenarios:

[0201] 1) Based on known future order requirements, the same type of goods to be shipped out are concentrated on a small number of shelves, and then the transport robot 300, for example, AGV, transports the goods to the shipping workstation 520, and the goods are shipped out manually at the shipping workstation 520, which can improve the shipping hit rate of goods to people.

[0202] 2) Based on known past order information and the frequency of entry and exit of different types of goods, the hotness of the inventory goods is analyzed, and goods of similar hotness are concentrated on a small number of shelves. Then, the goods are stored in the warehouse according to the temperature gradient through AGV (for example, hot goods are stored in an area closer to the outbound workstation 520), which can further improve the warehouse operation efficiency.

[0203] 3) Based on known past order information, the correlation between different types of goods can be analyzed and highly correlated goods can be stored on the same shelf (or on the same side of the same shelf), which can improve the hit rate of goods-to-person delivery.

[0204] 4) After the warehouse has been running for a period of time, many half-empty shelves will be generated, which can be vacated by automatic sorting.

[0205] For example, multiple half-empty mobile shelves can be moved to the sorting area, and a sorting robot can be used to move and pick up goods between the half-empty mobile shelves. Containers of the same type of goods can be concentrated in one mobile shelf. After the mobile shelf is full, it can be moved to the storage area by a handling robot.

[0206] See also Fig.12 , Fig.12 A schematic diagram of a top view of a third embodiment of a warehousing system provided by an embodiment of the utility model; the warehousing system comprises: a warehousing area 100, a plurality of mobile shelves 200, a handling robot 300, a tallying robot 400 and a workstation 500; a tallying channel 121 for the tallying robot 400 to perform tallying operations is provided at a preset position of the warehousing area 100;

[0207] Each of the mobile shelves 200 includes a storage space 210 and a receiving space 220; the storage space 210 is provided with a plurality of storage locations 211 for storing containers 600; the receiving space 220 is provided at the lower part of the storage space 210, and is used for the transport robot 300 to move the mobile shelf 200;

[0208] The transport robot 300 is used to transport the plurality of mobile shelves 200 from the workstation 500 to one or both sides of the length direction of the tally channel 121; and to transport the sorted mobile shelves 200 to the workstation 500;

[0209] The sorting robot 400 is movably disposed in the sorting channel 121 of the storage area 100, and is used to move along the length direction of the sorting channel 121, and based on its own lifting function, it arranges the containers 600 storing the same type of goods in each mobile shelf 200 into the same mobile shelf 200 along the length direction and the vertical direction.

[0210] The warehousing system in this embodiment utilizes a sorting robot to pick up and place containers between mobile shelves, and organizes containers storing the same type of goods onto the same mobile shelves; utilizes a second transport robot to transport the mobile shelves between the storage area and the workstation; and realizes automated sorting. The sorted mobile shelves are shipped out the next time the goods are shipped out, which enables faster shipment and improves warehouse operation efficiency.

[0211] The difference between this embodiment and the aforementioned first embodiment is that there is no special tallying area for tallying, so the tallying channel 121 is directly set in the storage area 100. Compared with the aforementioned first embodiment, this embodiment simplifies the tallying steps because it is not necessary to move the mobile shelves to be tallied to the tallying area, which can improve the tallying speed to a certain extent. However, in order to ensure that the tallying robot can pick up and place containers between different shelves, it is necessary to set a tallying channel in the storage area to ensure the operation of the tallying robot, which will take up a certain amount of space, making the mobile shelves not as densely arranged as in the first embodiment. In actual applications, both methods can be set according to actual needs, and there is no limitation here.

[0212] As in the first embodiment, the tally robot 400 in this embodiment can be a track-type container handling device capable of vertical container handling and horizontal movement within a limited range; or a container handling robot driven by a movable chassis capable of vertical container transfer and horizontal handling, which will be described in detail later. The specific setting method and structure can be the same as in the first embodiment, and will not be repeated here.

[0213] In some embodiments, some mobile shelves 200 in the storage system may further include fixed shelves 240 , and the sorting robot 400 may further transfer goods between the mobile shelves 200 and the fixed shelves 240 .

[0214] Specifically, in the fourth embodiment, see Fig.13 , Fig.13 A top view of the positional relationship between the tally robot and the mobile shelf in the fourth embodiment of the warehousing system provided by the embodiment of the utility model; Fig.13 As shown, the storage system includes a plurality of mobile shelves 200 and a plurality of fixed shelves 240;

[0215] The transport robot 300 is further used to transport the mobile shelf 200 having the free storage position 211 to one end of the fixed shelf 240 in the length direction, so that the mobile shelf 200 is arranged in sequence with the fixed shelf 240 in the length direction;

[0216] The sorting robot 400 is also used to sort the containers 600 storing the same type of goods located in the fixed shelves 240 into the same mobile shelves 200 .

[0217] like Fig.13 As shown, the transport robot 300 can transport multiple mobile shelves 200 to one end of multiple fixed shelves 240, and can be arranged in a row on the left and right sides of the tally channel 121. The tally robot 400 can be movably arranged on the tally channel 121.

[0218] In this way, the sorting robot 400 can move along the length direction of the sorting channel 121, and based on its own lifting function, it can sort the containers 600 storing the same type of goods into the same mobile shelf 200 along the length direction and the vertical direction.

[0219] Specifically, the containers 600 storing the same type of goods in the fixed shelf 240 can be sorted into the same mobile shelf 200. In this way, the sorted mobile shelf 200 only stores one type of container, and when leaving the warehouse, the transport robot 300 directly transports the sorted mobile shelf 200 to the workstation 500 for leaving the warehouse. This improves the speed of leaving the warehouse and the operating efficiency of the storage system.

[0220] In the fifth embodiment, see Fig.14 , Fig.14 A top view of the positional relationship between the sorting robot and the mobile shelf in the fifth embodiment of the warehousing system provided by the embodiment of the utility model; Fig.14 As shown, the transport robot 300 can transport multiple mobile shelves 200 to one end of multiple fixed shelves 240, and can be arranged in a row on the same side of the tallying channel 121. The tallying robot 400 is set on one side of the length direction of the mobile shelves 200 and the fixed shelves 240.

[0221] In this way, the tally robot 400 can sort the containers 600 storing the same type of goods in the fixed shelf 240 to the same mobile shelf 200. The sorted mobile shelf 200 can be transported to the workstation 500 by the transfer robot 300; or, if the mobile shelf 200 is not full, it can be first transported to one side of other fixed shelves 240 by the transfer robot 300, and then the tally robot 400 moves the containers 600 storing the same type of goods on the fixed shelf 240 to the mobile shelf 200, until the mobile shelf 200 is full or the tally task is completed, and then the transfer robot 300 transports the mobile shelf 200 to the workstation 500.

[0222] in addition, Fig.13 and Fig.14The tallying robot 400 in the illustrated embodiment may be a rail-type container handling device. Fig.13 and Fig.14 As shown, the rail-type container handling device can be installed on the floor support frame 1210. Consistent with the above-mentioned embodiment, in other embodiments including the fixed shelf 240, the tally robot 400 can also be a container handling robot driven by a movable chassis. In this case, there is no need to set up the floor support frame 1210, and tallying is more convenient. The specific structure and picking and placing operations of the tally robot 400 can be the same as those described above. It will not be repeated here.

[0223] See also Fig.15 , Fig.15 for Fig.14 A specific three-dimensional structural schematic diagram of the embodiment shown. Fig.15 As shown, in this embodiment, the tally robot 400 adopts a track-type container handling device. The tally robot 400 is installed on one side of the fixed shelf 240 and the mobile shelf 200 in the length direction through the floor support frame 1210. Fig.15 As shown, the track 430 of the tallying robot 400 is installed on the supporting beam 1211 of the supporting frame 120 , so that the tallying robot 400 can move in the horizontal direction along the supporting beam 1211 .

[0224] In this way, the sorting robot 400 can move the containers 600 storing the same type of goods in the fixed shelf 240 to the same mobile shelf 200. Then, the containers 600 are carried away by the transport robot 300. Of course, the sorting robot 400 can also use the mobile shelf 200 to sort the containers 600 on the fixed shelf 240. For example, the containers 600 storing the same type of goods can be concentrated on one or more layers of the fixed shelf 240. In this way, the goods can be collected and put in a centralized manner when the goods are shipped out next time.

[0225] Figure 13 to Figure 15 In the warehousing system of the embodiment shown, the storage area 100 does not need to be separately provided with a tally area, the fixed shelf 240 can be provided at a fixed position of the storage area 100, and the mobile shelf 200 can be arranged in sequence with the fixed shelf 240 in a movable manner. The mobile shelf 200 can store the container 600, and can also be used as a transit shelf for tally to temporarily store the container 600. This makes the storage system's access mode more flexible.

[0226] Depend on Figure 13 to Figure 15As can be seen from the illustrated embodiment, the sorting robot 400 can transfer the goods (which can be in containers) on the fixed shelves 240 to the mobile shelves 200, and then the transport robot 300 transports the mobile shelves 200 out of the warehouse. Since the fixed shelves 240 are usually high, more goods can be stored, that is, the warehouse capacity utilization rate is high. Therefore, before each shipment, the goods are transferred to the mobile shelves 200 in advance, and the transport robot 300 (e.g., AGV) transports them out of the warehouse, which can improve the shipment hit rate of the transport robot 300 in a single shipment, and improve the overall warehouse operation efficiency.

[0227] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A storage system, characterized in that: include: A storage area (110), a tallying area (120), a plurality of mobile shelves (200), a transport robot (300) and a tallying robot (400); The storage area (110) is used to store the mobile shelves (200); The sorting area (120) is used to sort the mobile shelves (200) in this area; Each of the mobile shelves (200) comprises a storage space (210) and a receiving space (220); the storage space (210) is provided with a plurality of storage locations (211) for storing containers (600); the receiving space (220) is provided at the bottom of the storage space (210) and is used for a transport robot (300) to move the mobile shelf (200); The transport robot (300) is used to move the mobile shelves (200) to be sorted in the storage area (110) to the sorting area (120); or to transport the mobile shelves (200) sorted in the sorting area (120) to the storage area (110); The sorting robot (400) is movably arranged in the sorting area (120) and is used to sort containers (600) storing the same type of goods on the mobile shelves (200) in the sorting area (120) onto the same mobile shelves (200).

2. The storage system according to claim 1, characterized in that: A tallying channel (121) for the tallying robot (400) to perform tallying operations is provided at a preset position of the tallying area (120); The transport robot (300) moves the target shelf (230) and the mobile shelf (200) to be sorted in the storage area (110) to the sorting area (120) when sorting is required, so that the mobile shelf (200) to be sorted and the target shelf (230) are located on one side or both sides of the length direction of the sorting channel (121); wherein the target shelf (230) is an empty shelf, or a mobile shelf (200) with an empty storage position (211); The sorting robot (400) moves along the length direction of the sorting channel (121), and based on its own lifting function, arranges containers (600) storing the same type of goods on the mobile shelves (200) to be sorted along the length direction and the vertical direction to the same target shelf (230) and / or the mobile shelves (200) to be sorted.

3. The storage system according to claim 2, characterized in that: A floor support frame (1210) is provided on the tally passage (121) of the tally area (120); The transport robot (300) is used to move the target shelf (230) and the mobile shelf (200) to be sorted in the storage area (110) to the sorting area (120), so that the mobile shelf (200) to be sorted and the target shelf (230) are located on one side or both sides of the length direction of the floor support frame (1210); the target shelf (230) is an empty shelf, or a mobile shelf (200) with an empty storage position (211); The sorting robot (400) is arranged on the floor support frame (1210), and is capable of moving on the floor support frame (1210) along the length direction of the floor support frame (1210), and based on its own lifting function, it can sort containers (600) storing the same type of goods on the mobile shelf (200) to be sorted along the length direction and the vertical direction to the same target shelf (230) and / or the mobile shelf (200) to be sorted.

4. The storage system according to claim 3, characterized in that: The floor support frame (1210) comprises: a plurality of support cross beams (1211) arranged at intervals in the vertical direction of the mobile shelf (200) and a support vertical beam (1212) fixed on the ground; The sorting robot (400) is installed on the supporting crossbeam (1211) and is movably connected to the supporting crossbeam (1211), so that the sorting robot (400) can move in the horizontal direction of the mobile shelf (200) based on the supporting crossbeam (1211).

5. The storage system according to claim 4, characterized in that: The cargo sorting robot (400) comprises: a first column door frame (410), a first transport mechanism (420) and at least one guide rail (430); The first column door frame (410) is installed along the vertical direction of the floor support frame (1210); the first transport mechanism (420) is arranged on the first column door frame (410), and the first transport mechanism (420) is used to move vertically on the first column door frame (410) to pick up and place containers (600) of different heights in the mobile shelf (200); the at least one guide rail (430) is fixedly installed on the supporting beam (1211); the first column door frame (410) and the at least one guide rail (430) are movably connected to enable the first column door frame (410) and the first transport mechanism (420) to move horizontally along the supporting beam (1211) to pick up and place different containers (600) in the length direction of the mobile shelf (200).

6. The storage system according to claim 5, characterized in that: The first transport mechanism (420) comprises: a first lifting component (421) and a first picking component (422); The first lifting component (421) is arranged on the first column door frame (410) and is used to drive the first picking component (422) to move up and down in the vertical direction of the floor support frame (1210); The first picking component (422) is installed on the first lifting component (421) and is used to extend the first column door frame (410) to pick up and place the container (600) on the mobile shelf (200).

7. The storage system according to claim 2, characterized in that: The cargo handling robot (400) comprises a first moving chassis (440), a second column gantry (450) and a second transport mechanism (460); The first moving chassis (440) is used to drive the tallying robot (400) to move along the tallying channel (121); The second column gantry (450) is installed on the first moving chassis (440) in a vertical direction; The second transport mechanism (460) is movably connected to the second column door frame (450) in the up-down direction, and the second transport mechanism (460) is used to move vertically on the second column door frame (450) to pick up and place containers (600) of different heights on the mobile shelf (200).

8. The storage system according to claim 7, characterized in that: The second transport mechanism (460) comprises: a second lifting assembly (461), a second picking assembly (462) and a rotating assembly (463); the second lifting assembly (461) is arranged on the second column door frame (450) and is used to drive the second picking assembly (462) to move up and down along the vertical direction of the second column door frame (450); the second picking assembly (462) is installed on the second lifting assembly (461) and is used to extend from the second column door frame (450) to pick up and place the container (600) on the mobile shelf (200); the rotating assembly (463) is arranged at the bottom of the second picking assembly (462) and is used to drive the second picking assembly (462) to rotate so as to face the mobile shelf (200) on different sides of the sorting channel (121).

9. The storage system according to claim 2, characterized in that: The transport robot (300) arranges the mobile shelves (200) to be sorted and the target shelves (230) into a first row along one side of the length direction of the tallying channel (121); or arranges the mobile shelves (200) to be sorted into a second row along the first side of the length direction of the tallying channel (121), and arranges the target shelves (230) into a third row along the second side of the length direction of the tallying channel (121); The sorting robot (400) moves along the length direction of the sorting channel (121) to sort the containers (600) storing the same type of goods on the mobile shelves (200) to be sorted in the first column to the same target shelf (230) in the first column; or, sort the containers (600) storing the same type of goods on the mobile shelves (200) to be sorted in the second column to the same target shelf (230) in the third column, so that the transport robot (300) transports the target shelf (230) and / or the mobile shelves (200) to be sorted that are not empty after sorting to the storage area (110) as sorted mobile shelves (200).

10. The storage system according to claim 9, characterized in that: The number of the mobile shelves (200) to be sorted is multiple; the target shelves (230) are empty shelves, and the number is the same as the number of the mobile shelves (200) to be sorted; The sorting robot (400) sorts the containers (600) on the mobile shelves (200) to be sorted into target shelves (230) according to the same type of goods.

11. The storage system according to claim 9, characterized in that: The transport robot (300) moves a first number of mobile shelves to be sorted (200) and a second number of target shelves (230) to the sorting area (120); the target shelves (230) are empty shelves; the first number is the same as or different from the second number; The sorting robot (400) sorts goods according to the designated goods type, and moves the containers (600) storing the designated goods type in the mobile shelves (200) to be sorted to the target shelves (230) respectively, so that each target shelf (230) stores only one type of container (600); the containers (600) storing goods of non-designated types are retained in the mobile shelves (200) to be sorted; The transport robot (300) further transports the mobile shelves (200) to be sorted with the containers (600) retained therein back to the storage area (110) when each target shelf (230) is not full and there is a next batch of mobile shelves to be sorted, and moves a first number of the next batch of mobile shelves (200) to be sorted to the sorting area (120) for the sorting robot (400) to sort the goods according to the specified type, and moves the containers (600) storing the specified type of goods in the mobile shelves (200) to be sorted to each target shelf (230); and when at least one target shelf (230) is full or the sorting task is completed, moves the full target shelf (230) or the target shelf (230) that is still not full when the sorting task is completed to the storage area (110).

12. The storage system according to claim 2, characterized in that: The number of the mobile shelves (200) to be sorted is multiple, and the number of the target shelves (230) is one or more; When tallying is required, the transport robot (300) arranges the mobile shelves (200) to be tallied and the target shelves (230) into a first row along one side of the length direction of the tallying passage (121); or arranges part of the mobile shelves (200) to be tallied into a second row along the first side of the length direction of the tallying passage (121), and arranges the remaining mobile shelves (200) to be tallied and the target shelves (230) into a third row along the second side of the length direction of the tallying passage (121); and after tallying, transports the sorted mobile shelves (200) to be tallied back to the storage area (110); The tallying robot (400) moves along the length direction of the tallying channel (121), and based on its own lifting function, realizes: for each mobile shelf (200) to be tallied, retains the containers (600) storing the same type of goods, moves other containers (600) to the target shelf (230) for temporary storage, and moves the containers (600) storing the same type of goods in other mobile shelves (200) to be tallied and the target shelf (230) to the mobile shelf (200) to be tallied, so that each mobile shelf (200) to be tallied is sorted into containers (600) storing only one type of goods.

13. The storage system according to claim 1, characterized in that: The transport robot (300) is a lifting type mobile robot; The height of the storage space (220) of the mobile shelf (200) is higher than that of the lifting mobile robot, so that the lifting mobile robot can move into the storage space (220), lift the mobile shelf (200) to move it, or place the mobile shelf (200) on the ground.

14. The storage system according to any one of claims 1 to 13, characterized in that: The storage system also includes a control device and a workstation (500); The control device is connected to the transport robot (300) and the tallying robot (400) in communication, and is used to instruct the transport robot (300) to move the mobile shelves (200) to be tallied in the storage area (110) to the tallying area (120); or to move the mobile shelves (200) sorted in the tallying area (120) to the storage area (110); and to transport the mobile shelves (200) between the storage area (110) and the workstation (500); and to instruct the tallying robot (400) to sort the containers (600) storing the same type of goods in the mobile shelves (200) in the tallying area (120) to the same mobile shelves (200).

15. A storage system, characterized in that: include: A storage area (100), a plurality of mobile shelves (200), a handling robot (300), a sorting robot (400) and a workstation (500); A cargo tallying passage (121) for the cargo tallying robot (400) to perform cargo tallying operations is provided at a preset position of the storage area (100); Each of the mobile shelves (200) comprises a storage space (210) and a receiving space (220); the storage space (210) is provided with a plurality of storage locations (211) for storing containers (600); the receiving space (220) is provided at the bottom of the storage space (210) and is used for a transport robot (300) to move the mobile shelf (200); The transport robot (300) is used to transport the plurality of mobile shelves (200) from the workstation (500) to one side or both sides of the length direction of the tallying channel (121); and transporting the sorted mobile shelves (200) to the workstation (500); The sorting robot (400) is movably arranged in a sorting channel (121) of the storage area (100), and is used to move along the length direction of the sorting channel (121), and based on its own lifting function, it arranges containers (600) storing the same type of goods in each mobile shelf (200) along the length direction and the vertical direction to the same mobile shelf (200).

16. The storage system according to claim 15, characterized in that: A floor support frame (1210) is provided on the tallying channel (121) of the storage area (100); The floor support frame (1210) comprises: support cross beams (1211) arranged at intervals in the vertical direction of the mobile shelf (200) and support vertical beams (1212) fixed on the ground; The sorting robot (400) is installed on the supporting crossbeam (1211) and is movably connected to the supporting crossbeam (1211), so that the sorting robot (400) can move in the horizontal direction of the mobile shelf (200) based on the supporting crossbeam (1211).

17. The storage system according to claim 16, characterized in that: The cargo sorting robot (400) comprises: a first column door frame (410), a first transport mechanism (420) and at least one guide rail (430); The first column door frame (410) is installed along the vertical direction of the floor support frame (1210); the first transport mechanism (420) is arranged on the first column door frame (410), and the first transport mechanism (420) is used to move vertically on the first column door frame (410) to pick up and place containers (600) of different heights in the mobile shelf (200); the at least one guide rail (430) is fixedly installed on the supporting beam (1211); the first column door frame (410) and the at least one guide rail (430) are movably connected to enable the first column door frame (410) and the first transport mechanism (420) to move horizontally along the supporting beam (1211) to pick up and place different containers (600) in the length direction of the mobile shelf (200).

18. The storage system according to claim 15, characterized in that: The cargo handling robot (400) comprises a first moving chassis (440), a second column gantry (450) and a second transport mechanism (460); The first moving chassis (440) is used to drive the tallying robot (400) to move along the tallying channel (121); The second column gantry (450) is installed on the first moving chassis (440) in a vertical direction; The second transport mechanism (460) is movably connected to the second column door frame (450) in the up-down direction, and the second transport mechanism (460) is used to move vertically on the second column door frame (450) to pick up and place containers (600) of different heights on the mobile shelf (200).

19. The storage system according to claim 15, characterized in that: The storage area (100) is also provided with fixed shelves (240); The transport robot (300) is further used to transport the mobile shelf (200) having an empty storage position (211) to one end of the fixed shelf (240) in the length direction, so that the mobile shelf (200) is arranged in sequence with the fixed shelf (240) in the length direction; The sorting robot (400) is also used to sort the containers (600) storing the same type of goods located in the fixed shelves (240) into the same mobile shelves (200).

20. The storage system according to any one of claims 15 to 19, characterized in that: The storage system also includes a control device; The control device is communicatively connected with the transport robot (300) and the tallying robot (400), and is used to instruct the transport robot (300) to transport the mobile shelf (200) between the storage area (100) and the workstation (500); and to instruct the tallying robot (400) to move along the length direction of the tallying channel (121), and based on its own lifting function, to sort the containers (600) storing the same type of goods in each mobile shelf (200) into the same mobile shelf (200) along the length direction and the vertical direction.

Images