Goods storing and taking mechanism and warehouse-in and warehouse-out system

Abstract

The utility model relates to a goods storing and taking mechanism and a warehouse in-out system, the goods storing and taking mechanism comprises a vertical rail (14) and a pallet fork device (10), the pallet fork device (10) is used for transferring goods with carrying equipment (40), the carrying equipment (40) is provided with a bearing part (41), and the pallet fork device (10) comprises a base (2) which is installed on the vertical rail (14) and can move along the vertical rail (14); the fork bodies (1) are connected to the base (2) and arranged at intervals in the first direction (x), the fork bodies (1) are used for bearing goods, the areas between the adjacent fork bodies (1) and / or the outer side areas of the fork bodies (1) form vertically-through connection channels (3), and the connection channels (3) are configured to allow the bearing parts (41) to vertically penetrate through so that the bearing parts (41) serving as goods receiving pieces or the fork bodies (1) can bear the goods; and the storing and taking assembly is configured to enable goods to be transferred between the fork body (1) and the storage position.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics and warehousing, and in particular to a cargo storage and retrieval mechanism and a storage-in and -out system. Background Art

[0002] In the automated warehousing system, the goods in and out system is an important technology to improve warehousing production efficiency and reduce logistics costs. Existing warehousing systems include shelf-to-person systems and shuttle vehicle stereo systems. In recent years, there has been a use of walking fork devices on the shelves to hand over goods to handling equipment, and then the handling equipment transports the goods out of the warehouse, while the warehousing process is the opposite.

[0003] In the related technologies known to the inventor, the forks and the plane on which the goods are carried by the handling equipment are in the same plane, and the goods are transferred horizontally by the forks, which may easily lead to failure of goods transfer due to errors. In addition, leveling, alignment and fork extension are required in the process of transferring goods, which are complicated, slow and inefficient. Summary of the invention

[0004] The present invention provides a cargo storage and retrieval mechanism and a storage-in and -out system, which can improve the accuracy and efficiency of cargo delivery.

[0005] The first aspect of the present disclosure provides a cargo storage and retrieval mechanism, comprising a vertical track and a fork device, the fork device is used to receive cargo from a handling device, the handling device has a load-bearing portion, and the fork device comprises:

[0006] A base is mounted on the vertical track and is movable along the vertical track;

[0007] At least one fork body connected to the base and spaced apart along a first direction, the fork body being used to carry goods, the area between adjacent forks and / or the outer area of ​​the forks forming a vertically penetrating handover channel, the handover channel being configured to allow the carrying portion to vertically pass through, so that the carrying portion or the fork body serving as a receiving piece carries goods; and

[0008] The storage and retrieval assembly is configured to transfer cargo between the fork body and the storage location.

[0009] In some embodiments, the load-bearing portion includes at least one load-bearing surface, and the at least one fork body is configured to be alternately arranged with the at least one load-bearing surface when delivering goods.

[0010] In some embodiments, two fork bodies are provided, and the area between the two fork bodies forms a connecting channel. In the first direction, the width of the connecting channel is smaller than the width of the bottom surface of the cargo so as to carry the cargo.

[0011] In some embodiments, in the first direction, the width of the interface channel is greater than the width of the supporting portion.

[0012] In some embodiments, the two forks can move away from or toward each other along the first direction, allowing the handling equipment to leave the forks when the width of the connecting channel is greater than the width of the bottom of the cargo.

[0013] In some embodiments, the fork body is configured to have a gap with the load-bearing portion in the first direction when delivering goods.

[0014] In some embodiments, at least two forks are provided, and openings are provided at the ends along the second direction, and the openings are configured to allow a handling device carrying goods to leave the fork bodies, and the second direction is perpendicular to the first direction.

[0015] In some embodiments, each fork body includes a fixing portion and a supporting portion, the supporting portion is movable relative to the fixing portion along a second direction, and the second direction is perpendicular to the first direction.

[0016] In some embodiments, the access component further comprises:

[0017] A mounting member, disposed above the fork body and connected to the base;

[0018] A force applying member, disposed at the lower part of the mounting member, configured to drive the cargo to move from the top or end of the cargo;

[0019] A lateral movement mechanism, disposed on the mounting member, configured to drive the force applying member to move along a second direction, the second direction being perpendicular to the first direction; and

[0020] The lifting mechanism is arranged on the mounting member and is configured to drive the force applying member to lift and lower.

[0021] In some embodiments, the access component further comprises:

[0022] Two mounting parts are respectively arranged on both sides of the two fork bodies and connected to the base;

[0023] Two force-applying members, respectively disposed on the inner sides of the two mounting members, are configured to drive the cargo to move from two side areas; and

[0024] The two transverse movement mechanisms are respectively arranged on the two mounting members, and are configured to drive the force applying member on the corresponding side to move along a second direction, where the second direction is perpendicular to the first direction.

[0025] In some embodiments, a conveying component is provided on the fork body, and is configured to cooperate with the force applying member to move the cargo to a position on the fork body, or to move the cargo out of the fork body.

[0026] A second aspect of the present disclosure provides a storage in / out system, comprising:

[0027] Shelves, configured to store goods;

[0028] The cargo storage and retrieval mechanism of the above embodiment, wherein the fork device can move along the surface of the shelf and is configured to perform storage and retrieval operations; and

[0029] The handling equipment comprises a load-bearing part, which is arranged to vertically pass through a handover passage so that the load-bearing part or a fork body serving as a receiving part can carry the goods.

[0030] In some embodiments, the load-bearing portion and the fork body are configured to carry the cargo by making the cargo receiving member contact the bottom surface of the cargo through vertical relative movement; and / or

[0031] The load-bearing part and the fork body are configured so that after the receiving part carries the goods, the load-bearing part or the fork body serving as the delivering part is separated from the goods through relative movement.

[0032] In some embodiments, the handling device further comprises a main body, and the load-bearing portion is fixed in height relative to the main body;

[0033] The fork device is configured to move up and down so that the receiving piece contacts the bottom surface of the goods to carry the goods, and to move up and down so that the carrying part or the fork body as the feeding piece is separated from the goods.

[0034] In some embodiments, the fork device further includes a distance measuring sensor configured to detect the descending height of the fork device, so that the descending height of the fork body does not exceed a preset distance after the carrying part carries the goods in the outbound link; or

[0035] The handling equipment also includes a weight sensor, which is arranged on the load-bearing part and is configured to detect the weight change of the load-bearing part so as to stop the fork device from descending when the weight change after the load-bearing part contacts the bottom surface of the goods during the outbound link reaches a preset weight.

[0036] In some embodiments, the handling equipment also includes a main body and a lifting mechanism, the load-bearing part is installed on the main body in a liftable manner through the lifting mechanism, and the lifting mechanism is configured to carry the goods by lifting the receiving piece to contact the bottom surface of the goods, and / or to separate the load-bearing part or fork body serving as the delivery piece from the goods by lifting.

[0037] In some embodiments, the handling device further comprises a main body and a lifting mechanism, the bearing portion is escalably mounted on the main body through the lifting mechanism, a buffer rack is provided in the lower area of ​​the shelf, and the handling device is used to deliver goods to the buffer rack;

[0038] The lifting mechanism is configured to lift and lower the load-bearing portion or the buffer rack as the receiving portion to contact the bottom surface of the goods to carry the goods, and lift and lower the load-bearing portion or the buffer rack as the delivering portion to separate from the goods.

[0039] In some embodiments, the two forks can move away from or towards each other along the first direction, and are configured to separate from the goods by moving away from each other after the carrying part carries the goods in the outbound link, and to carry the goods by moving towards each other in the inbound link.

[0040] In some embodiments, a plurality of shelves are provided, and the plurality of shelves are arranged at intervals to form lanes between adjacent shelves, and the fork device is arranged on the outside of the shelf and can move along the outer side of the shelf;

[0041] The fork body has a fixed length, and the handling equipment is configured to be parked in the aisle or outside the shelf and in the area directly below the fork device; or the fork body is retractable, and the handling equipment is configured to be parked in the aisle, outside the shelf, or below the shelf in an area staggered from the fork device, and the fork body is extended forward or backward to deliver the goods.

[0042] In some embodiments, at least two forks are provided, and an opening is provided at the end along the second direction, and the handling equipment is configured to enter the handover channel from the opening before handing over the goods, and leave the handover channel from the opening after handing over the goods.

[0043] In some embodiments, the storage and retrieval system further includes:

[0044] A first identification code, disposed at a first preset position on the ground; and

[0045] The first photographing component is disposed on the transporting device and is configured to photograph the first identification code to locate the transporting device.

[0046] In some embodiments, the storage and retrieval system further includes:

[0047] A second identification code, located at a second preset position on the shelf; and

[0048] The second photographing component is provided on the fork device and is configured to photograph the second identification code to locate the fork device in the first direction and the height direction.

[0049] In the cargo storage and retrieval mechanism of the disclosed embodiment, the cargo fork device has a vertical through-going delivery channel, allowing the load-bearing part of the handling equipment to pass vertically through to deliver the cargo, so that the cargo fork device and the handling equipment can transfer the cargo in the vertical direction. There is no need to level and align the fork body and the load-bearing part in the horizontal plane, nor is there any need to move the cargo in the horizontal plane, which simplifies the cargo delivery process, improves the accuracy of cargo delivery, reduces the time required for cargo delivery, and improves the delivery efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present disclosure 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 present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0051] Figure 1 Schematic diagram of the structure of some embodiments of the shelf disclosed in the present invention.

[0052] Figure 2 It is a schematic diagram of the structure of some embodiments of the warehousing system disclosed in the present invention.

[0053] Figure 3 It is a schematic diagram of the structure of some embodiments of the cargo storage and retrieval mechanism disclosed in the present invention.

[0054] 4A to 4D They are schematic diagrams of different states of cargo delivery between a handling device with a fixed load-bearing part height and a fork device.

[0055] FIG. 5A to FIG. 5D They are schematic diagrams of different states of the handling equipment with a lifting mechanism and the fork device handing over the goods.

[0056] Fig. 6A and Figure 6B They are schematic structural diagrams of some embodiments of fork devices at two viewing angles.

[0057] Figure 7 It is a schematic structural diagram of some embodiments of the handling equipment.

[0058] Fig. 8A This is a schematic diagram of the state of the fork device carrying goods.

[0059] Figure 8B It is a schematic diagram of a state in which the load-bearing part of the handling equipment carries goods and the fork device moves downward to separate from the goods.

[0060] 9A to 9D They are schematic diagrams of different states in which the fork device drives the cargo to move through the force-applying member above.

[0061] Fig. 10A and Fig. 10B They are the front view and top view of the fork device with force applying members on both sides to drive the goods to move.

[0062] Fig. 10C and Fig. 10D They are schematic diagrams of different states in which the fork device drives the cargo to move by setting force applying members on both sides.

[0063] Fig.11A and Fig. 11B They are respectively a top view of the two forks approaching the cargo and the two forks moving away from the cargo.

[0064] Fig.12 A side view of setting a first identification code and a second identification code.

[0065] Fig.13 This is the main view for setting the first identification code and the second identification code.

[0066] Fig.14A This is a side view of the fork device carrying goods during the outbound process. Fig. 14B This is a schematic diagram of the state of a handling device with a fixed load-bearing part carrying goods after the goods are handed over.

[0067] Fig.15A and Fig. 15C They are the side view and top view of the fork device carrying goods in the outbound stage; Fig. 15B This is a schematic diagram of the state of the handling equipment with a lifting mechanism carrying goods after the goods are handed over.

[0068] Fig.16A and Fig. 16B They are schematic diagrams of a state in which a load-bearing part with a fixed height of a handling device carries goods, and two forks separate from the goods by moving away from each other.

[0069] 17A to 17C They are schematic diagrams of the states in which the handling equipment moves into position during the outbound phase, the handling equipment with a lifting mechanism carries the goods, and the two forks separate from the goods by moving away from each other.

[0070] Fig.18A and Fig.18B They are schematic diagrams of the states of two forks carrying goods by approaching each other and detaching from the goods by moving away from each other.

[0071] Fig.19 This is a schematic diagram of the state where the handling equipment is located under the shelf and is receiving goods from the fork device.

[0072] Description of Reference Numerals

[0073] 10. Fork device; 1. Fork body; 11. Support part; 12. Fixing part; 13. Horizontal track; 14. Vertical track; 2. Base; 3. Handover channel; 31. Opening; 4. Fork arm; 5. Pick-up piece; 5A. First pick-up piece; 5B. Second pick-up piece; 5C. Third pick-up piece; 5D. Fourth pick-up piece; 6. Driving part; 7. Mounting part; 8. Force-applying part; 91. Transverse movement mechanism; 92. Lifting mechanism;

[0074] 20. Shelves; 21. Columns; 22. Beams; 23. Cache racks; 24. Lanes; 25. Travel wheels;

[0075] 30. Goods;

[0076] 40. Handling equipment; 41. Carrying part; 42. Main body; 43. Lifting mechanism;

[0077] 61, first identification code; 62, first shooting component; 71, second identification code; 72, second shooting component;

[0078] x, first direction; y, second direction; z, height direction. DETAILED DESCRIPTION

[0079] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without carrying out creative work are within the scope of protection of the present disclosure.

[0080] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0081] In the description of the present disclosure, it should be understood that the terms "center", "lateral", "longitudinal", "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present disclosure.

[0082] In the description of the present disclosure, it should be understood that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present disclosure.

[0083] like Figures 1 to 19 , Figure 1 The rack 20 in the automated warehousing system includes a plurality of columns 21 and a plurality of beams 22 connected to each other to form a multi-layer storage space. Each layer of storage space includes a plurality of storage locations for storing goods 30. The goods can be placed through the receiving parts to facilitate storage. Since the goods appear more frequently in the subsequent description, the reference numerals are omitted.

[0084] One or more fork devices 10 are provided on the outer side of the shelf 20, and the fork devices 10 can reach the preset position on the outer side of the shelf 20 to perform the in-and-out operation. The in-and-out operation of the goods is to move the goods from the external workstation to the target in-and-out storage position of the shelf 20, and the out-and-out operation of the goods is to move the goods from the target out-and-out storage position to the external workstation.

[0085] like Figure 2 and Figure 3 As shown, two horizontal rails 13 spaced apart in the height direction z and two vertical rails 14 spaced apart in the width direction (first direction x) of the shelf 20 are provided on the outside of the shelf 20, and the two vertical rails 14 can slide along the horizontal rails 13 in the first direction x. The fork device 10 is installed on the two vertical rails 14 and can be raised and lowered along the vertical rails 14. Therefore, the fork device 10 has two degrees of freedom of movement in two directions and can flexibly move to a preset position on the outer surface of the shelf 20.

[0086] Specifically, if Figure 2 As shown, when the goods are put into storage, the transport device 40 (such as a transfer vehicle) is used to transport the goods from the workstation through the transition area to the vicinity of the shelf 20, and then the fork device 10 on the shelf 20 takes the goods from the transport device 40 and stores them in the target storage location. When the goods are taken out of storage, the fork device 10 on the shelf 20 is used to transfer the outgoing goods from the target storage location to the transport device 40, and then the transport device 40 transports the outgoing goods through the transition area to the workstation.

[0087] For example, the transport device 40 is an automatic guided vehicle with an automatic navigation function, can travel between the shelf 20 and the workstation, and has a carrying portion 41 for carrying goods.

[0088] The present disclosure first provides a cargo storage and retrieval mechanism. In some embodiments, Figures 1 to 3 As shown, the cargo storage and retrieval mechanism includes a vertical track 14 and a fork device 10. The fork device 10 is used to receive cargo from a handling device 40. The handling device 40 has a load-bearing portion 41. Fig. 6A As shown, the fork device 10 includes:

[0089] The base 2 is mounted on the vertical track 14 and is movable along the vertical track 14;

[0090] At least one fork body 1 is connected to the base 2 and arranged at intervals along the first direction x. The fork body 1 is used to carry goods. The area between adjacent fork bodies 1 and / or the outer area of ​​the fork body 1 forms a vertically penetrating handover channel 3. The handover channel 3 is configured to allow the carrying portion 41 to vertically pass through, so that the carrying portion 41 or the fork body 1 as a receiving piece can carry goods.

[0091] The storage and retrieval assembly is configured to transfer goods between the fork body 1 and the storage location.

[0092] Among them, Figure 3 As shown, the base 2 is used to be installed on the vertical track 14 on the outer surface of the shelf 20, and the fork device 10 can be raised and lowered along the vertical track 14. A traveling mechanism is provided on the vertical track 14, which cooperates with the transverse track 13 installed on the shelf 20. The traveling wheel 25 in the traveling mechanism contacts the transverse track 13 to drive the fork device 10 to run horizontally along the surface of the shelf 20 along the first direction x through the vertical track 14. The base 2 is used to install the fork body 1, and its specific structure is not limited. The fork body 1 extends along the second direction y, and the second direction is perpendicular to the first direction x.

[0093] For example, one, two or more fork bodies 1 may be provided. When one fork body 1 is provided, the fork body 1 may carry the cargo in the middle area of ​​the bottom along the first direction x, and the fork body 1 may form a handover channel 3 on the outside along the first direction x, and the top of the bearing portion 41 may have two bearing surfaces for vertically entering the handover channel 3 from both sides of the fork body 1 to achieve the handover of the cargo. When two fork bodies 1 are provided, the two fork bodies 1 carry the cargo together, and the handover channel 3 may be formed in the area between the two fork bodies 1 and / or in the area outside the fork bodies 1 on both sides, and the bearing portion 41 may be provided with a suitable number of bearing surfaces as required. When more than three fork bodies 1 are provided, the plurality of fork bodies 1 form a comb structure, and according to the size of the cargo, all fork bodies 1 may carry the cargo together, or a part of the fork bodies 1 may carry the cargo together, and the handover channel 3 may be formed in the area between each group of two adjacent fork bodies 1 and / or in the area outside the fork bodies 1 on both sides, and the bearing portion 41 may be provided with a suitable number of bearing surfaces as required.

[0094] When handing over goods, the handover passage 3 allows the load-bearing part 41 to pass vertically. Specifically, in the outbound link, the fork body 1 is used as a delivery part, the load-bearing part 41 is used as a receiving part, and the load-bearing part 41 enters the handover passage 3 from bottom to top to carry the goods; in the inbound link, the load-bearing part 41 is used as a delivery part, the fork body 1 is used as a receiving part, and the load-bearing part 41 enters the handover passage 3 from top to bottom, so that the fork body 1 carries the goods.

[0095] In this embodiment, the fork device 10 has a vertically through-going delivery channel 3, allowing the load-bearing portion 41 of the handling device 40 to pass vertically to deliver the goods, so that the fork device 10 and the handling device 40 can transfer the goods in the vertical direction, without the need to level and align the fork body 1 and the load-bearing portion 41 in the horizontal plane, and without the need to move the goods in the horizontal plane, which simplifies the action process of delivering the goods, improves the accuracy of the goods delivery, reduces the time required for the goods delivery, and improves the delivery efficiency.

[0096] In some embodiments, the load-bearing portion 41 includes at least one load-bearing surface, and at least one fork body 1 is configured to be alternately arranged with the at least one load-bearing surface when delivering goods.

[0097] Wherein, when there are multiple bearing surfaces, the multiple bearing surfaces are arranged at intervals along the first direction x. When one fork body 1 is provided, the top of the bearing portion 41 may have two bearing surfaces, which are used to vertically enter the transfer channel 3 from both sides of the fork body 1 to achieve the transfer of goods. When two fork bodies 1 are provided, the bearing portion 41 may have one bearing surface to vertically enter the transfer channel 3 between the two fork bodies 1; or, the bearing portion 41 has three bearing surfaces to respectively enter the area between the two fork bodies 1 and the transfer channel 3 outside the two fork bodies 1. When more than three fork bodies 1 are provided, the bearing portion 41 has more than two bearing surfaces to respectively enter the area between each two adjacent fork bodies 1 and the transfer channel 3 outside the two fork bodies 1.

[0098] In this embodiment, the bearing surface of the bearing portion 41 and the fork body 1 are alternately arranged in the first direction x, so that each bearing surface can enter the transfer channel 3 to realize the transfer of goods in the vertical direction. Moreover, this arrangement structure can provide stable support for the goods for the fork device 10 and the bearing portion 41 of the handling equipment 40, thereby ensuring the stability of the carried goods.

[0099] In some embodiments, Fig. 6A and Fig. 8A The fork body 1 is provided with two forks, and the area between the two forks 1 forms a connecting channel 3. In the first direction x, the width of the connecting channel 3 is smaller than the width of the bottom surface of the cargo to carry the cargo.

[0100] The fork device 10 of this embodiment is provided with two fork bodies 1, which has a simple structure and can provide stable support from both sides of the goods in the first direction x. In addition, when the handling equipment 40 delivers the goods, the bearing part 41 is located in the middle area of ​​the bottom of the goods along the first direction x, which can also provide stable support for the goods and reduce the processing difficulty of the bearing part 41.

[0101] In some embodiments, Figure 8B As shown, in the first direction x, the width of the connecting channel 3 is greater than the width of the bearing portion 41 .

[0102] In this embodiment, the spacing between the two fork bodies 1 in the first direction x is greater than the width of the load-bearing portion 41, so that a spacing is maintained between the fork bodies 1 on both sides of the load-bearing portion 41, so that the load-bearing portion 41 can smoothly enter the transfer channel 3 during vertical delivery of goods, which can reduce the positioning accuracy requirements for the fork device 10 and the handling equipment 40 in the first direction x, reduce the difficulty of alignment, and further improve the success rate and efficiency of the delivery of goods.

[0103] In some embodiments, Fig. 6AAs shown, the two fork bodies 1 can move away from or approach each other along the first direction x, and the handling equipment 40 can leave the fork bodies 1 when the width of the connecting channel 3 is greater than the width of the bottom of the goods.

[0104] For example, the base 2 may include a guide rail, and the fork body 1 may be movably arranged in the first direction x along the guide rail.

[0105] This embodiment can separate the two forks 1 from each other after the load-bearing part 41 carries the goods in the outbound stage, and carry the goods by moving the two forks 1 closer to each other in the inbound stage. After the load-bearing part 41 carries the goods in the outbound stage, the two forks 1 move away from each other, and when the handling device 40 leaves after carrying the goods, it can prevent collision with the forks 1, thereby improving the reliability of outbound.

[0106] In some embodiments, the fork body 1 is configured to have a gap with the carrying portion 41 in the first direction x when delivering goods.

[0107] This embodiment allows the load-bearing portion 41 to smoothly enter the transfer channel 3 during vertical transfer of goods, can reduce the positioning accuracy requirements for the fork device 10 and the handling equipment 40 in the first direction x, reduce the difficulty of alignment, and can further improve the success rate and efficiency of the transfer of goods.

[0108] In some embodiments, the fork body 1 is provided with at least two openings 31 at the end along the second direction y, and the opening 31 is configured to allow a handling device 40 carrying goods to leave the fork body 1, and the second direction y is perpendicular to the first direction x. For example, an opening 31 may be provided at one end of the fork body 1 to allow the handling device 40 to enter and exit from only one side, or openings 31 may be provided at both ends of the fork body 1 to allow the handling device 40 to enter and exit from both sides.

[0109] This embodiment has a structure that keeps the distance between the two fork bodies 1 fixed, so that the load-bearing portion 41 can enter or leave the handover passage 3. In the outbound link, after the goods are transferred to the load-bearing portion 41, the fork device 10 cannot move upward to leave, but can only move downward to separate from the goods in the vertical direction. The opening 31 is provided at the end of the fork body 1 so that the handling equipment 40 carrying the goods can leave the fork device 10. In the inbound link, the fork device 10 needs to be lowered until the fork body 1 is lower than the top surface of the load-bearing portion 41, and then the handling equipment 40 carrying the goods can enter the handover passage 3 area. By providing the opening 31, the load-bearing portion 41 can enter the handover passage 3 through the opening 31.

[0110] In some embodiments, each fork body 1 includes a fixing portion 12 and a supporting portion 11 , and the supporting portion 11 is movable relative to the fixing portion 12 along a second direction y, where the second direction y is perpendicular to the first direction x.

[0111] In this embodiment, the supporting part 11 is arranged to be retractable relative to the fixing part 12. Fig.19 As shown, when the handling device 40 is parked in the area below the shelf 20, the support portion 11 of the fork device 10 on the shelf 20 can be extended in the reverse direction to enter the area below the shelf 20 to deliver the goods; or the support portion 11 of the fork device 10 on the adjacent shelf 20 can be extended forward to enter the area below the shelf 20 to deliver the goods. This structure can also meet the demand for delivering goods in the vertical direction when the handling device 40 is not parked in the area directly below the fork device 10, making the parking position of the handling device 40 more flexible.

[0112] Three possible embodiments of the access component are given below.

[0113] In some embodiments, Fig. 6A As shown, the storage and retrieval assembly includes two fork arms 4, which are respectively arranged on the outside of the two fork bodies 1. The fork arms 4 are retractable relative to the fork bodies 1 along the second direction y, and are configured to extend when goods need to be stored and retrieved, and retract after the goods are stored and retrieved. When the fork bodies 1 are carrying goods, the fork arms 4 can prevent the goods from falling from the side. The fixing portion 12 is vertically connected to the bottom of the corresponding fork arm 4. Optionally, the storage and retrieval assembly also includes a driving component 6, which is configured to drive the fork arm 4 to extend and retract relative to the fork body 1. For example, the driving component 6 can be a motor or the like.

[0114] like Figure 6B As shown, the storage and retrieval assembly further includes a plurality of picking parts 5, for example, the inner side walls of the two fork arms 4 are both provided with picking parts 5 for use in pairs, and when storing and retrieving goods, the two picking parts 5 located at the same position of the two fork arms 4 in the second direction y contact the same surface of the goods. Optionally, the picking parts 5 are rotatably arranged in a plane perpendicular to the second direction y, and are used to place goods when rotated to a retracted state, and are used to limit the position of goods when rotated to an open state (for example, a horizontal state) so as to move the goods out of the storage position of the shelf 20, or to deliver the goods into the storage position of the shelf 20. For example, the picking parts 5 can be designed as a rod-shaped structure to form a shift fork.

[0115] The access component works as follows:

[0116] Specifically, the two fork arms 4 are provided with four pickup parts 5 at intervals along the second direction y, namely, the first pickup part 5A, the second pickup part 5B, the third pickup part 5C and the fourth pickup part 5D. The pickup parts 5 located at the same position on the two fork arms 4 form a pair of pickup parts 5 to meet the storage and retrieval requirements of goods placed at different depths or different sizes on the shelf 20. For example, when the goods are of the same size, a pair of first pickup parts 5A and a pair of third pickup parts 5C are used together to obtain goods stored on the inner side of the shelf, and a pair of second pickup parts 5B and a pair of fourth pickup parts 5D are used together to obtain goods stored on the outer side of the shelf. When picking up goods, the fork arm 4 can be extended relative to the fork body 1.

[0117] In some embodiments, 9A to 9D , the access components also include:

[0118] A mounting member 7, disposed above the fork body 1 and connected to the base 2;

[0119] The force applying member 8 is provided at the lower part of the mounting member 7 and is configured to drive the cargo to move from the top or end of the cargo;

[0120] A lateral movement mechanism 91 is disposed on the mounting member 7 and is configured to drive the force applying member 8 to move along a second direction y, wherein the second direction y is perpendicular to the first direction x; and

[0121] The lifting mechanism 92 is provided on the mounting member 7 and is configured to drive the force applying member 8 to move up and down.

[0122] For example, the force-applying member 8 is a hook, and a pulling ring is provided on the front end surface of the cargo 30; or the force-applying member 8 is a suction cup, and an adsorption portion is provided on the front end surface of the cargo 30.

[0123] For example, Fig. 9A When it is necessary to take goods from the storage position of the shelf 20, the transverse movement mechanism 91 can drive the force applying member 8 to move in the direction where the goods are located. Fig.9D for Fig. 9A The main view of Fig. 9B As shown, until the force-applying member 8 reaches a position close to the outer end of the fork body 1, the lifting mechanism 92 drives the force-applying member 8 to descend to the position to be applied force on the front end of the cargo and connects; Fig. 9C As shown, the lateral movement mechanism 91 drives the force applying member 8 to move so that the goods are moved onto the fork body 1. Similarly, the mechanism can also move the goods on the fork body 1 to the storage position of the shelf 20.

[0124] This embodiment can apply a pulling force to the top or end of the goods through the force-applying member 8 to transfer the goods from the shelf 20 to the fork body 1, or from the fork body 1 to the shelf 20. This method is not affected by the length of the goods in the second direction y, and can improve the adaptability to goods of different sizes.

[0125] In some embodiments, FIG. 10A to FIG. 10D , the access components also include:

[0126] Two mounting members 7, respectively disposed on both sides of the two fork bodies 1 and connected to the base 2;

[0127] Two force applying members 8, respectively disposed on the inner sides of the two mounting members 7, and configured to drive the goods to move from two side areas; and

[0128] The two transverse movement mechanisms 91 are respectively disposed on the two mounting members 7 , and are configured to drive the force applying member 8 on the corresponding side to move along the second direction y, where the second direction y is perpendicular to the first direction x.

[0129] For example, Fig. 10A and Fig. 10B They are respectively a front view and a top view of the cargo on the fork body 1. Fig. 10C As shown, when it is necessary to take goods from the storage position of the shelf 20, the lateral movement mechanisms 91 on both sides can drive the corresponding force-applying members 8 to move toward the direction where the goods are located until the force-applying members 8 reach a position close to the outer end of the fork body 1. Two force-applying locations can be set at the end of the goods, or one force-applying location can be set at each side of the goods, and the two force-applying members 8 are connected to the two force-applying locations respectively; Fig. 10D As shown, the lateral movement mechanisms 91 on both sides drive the corresponding force applying members 8 to move synchronously, so that the goods are moved onto the fork body 1. Similarly, the mechanism can also move the goods on the fork body 1 to the storage position of the shelf 20.

[0130] This embodiment can apply a pulling force to the two side areas of the goods through two force-applying members 8 to transfer the goods from the shelf 20 to the fork body 1, or from the fork body 1 to the shelf 20. This method can make the transfer process of the goods smoother and prevent the deflection when moving on the fork body 1 from affecting the subsequent delivery of the goods. Moreover, this method is not affected by the length of the goods in the second direction y, and can improve the adaptability to goods of different sizes. In addition, the lifting mechanism can be omitted, simplifying the structure of the fork device 10.

[0131] In some embodiments, a conveying component is provided on the fork body 1 , and is configured to cooperate with the force applying member 8 to move the cargo to a position on the fork body 1 , or to move the cargo out of the fork body 1 .

[0132] For example, the handling device 40 stops at the area below a shelf 20 and delivers the goods through the fork device 10 on the adjacent shelf 20. After the lateral movement mechanism 91 drives the goods to move a certain distance, it is affected by the columns 21 and the beams 22 of the shelf 20 and cannot continue to move a larger distance. At this time, the goods can be driven to move to the right position by the conveying component. For example, the conveying component can be a conveyor belt, a roller, etc.

[0133] In this embodiment, by arranging a conveying component on the fork body 1, it can cooperate with the force applying member 8 to enable the goods to obtain a larger moving stroke, thereby improving the flexibility of scheduling the parking position of the fork device 10 and the handling equipment 40 when delivering goods.

[0134] Secondly, the present disclosure provides a storage and retrieval system. In some embodiments, Figure 2 As shown, including:

[0135] Shelves 20, configured to store goods;

[0136] In the cargo storage and retrieval mechanism of the above embodiment, the vertical track 14 extends along the height direction z and is located outside the shelf 20, and the fork device 10 can move along the surface of the shelf 20 and is configured to perform storage and retrieval operations; and

[0137] The handling device 40 has a load-bearing portion 41, which is configured to vertically pass through the transfer channel 3, so that the load-bearing portion 41 or the fork body 1 as a receiving piece can carry goods. For example, the load-bearing portion 41 can be a pallet or the like.

[0138] Among them, the cargo storage and retrieval mechanism can be installed on the shelf 20. For example, the cargo storage and retrieval mechanism can also include a horizontal track 13, and the fork device 10 is installed on the shelf 20 through the vertical track 14 and the horizontal track 13; or the cargo storage and retrieval mechanism is hoisted by a track arranged above. Both structures can enable the fork device 10 to move along the surface of the shelf 20.

[0139] There may be one or more shelves 20, and the shelves 20 are spaced apart along the second direction y, with lanes 24 formed between adjacent shelves 20. The fork device 10 is on the outer side of the shelf 20 and can move along the height direction z and the first direction x. Figure 2 A in the figure shows that the transport equipment 40 is parked in the lane 24 to deliver the goods, and the other transport equipment 40 is parked in the lower area of ​​the shelf 20 to deliver the goods or is in a waiting state.

[0140] The fork device 10 and the handling equipment 40 of this embodiment adopt a vertical cargo delivery mode, which can simplify the cargo delivery process, improve the accuracy of cargo delivery, reduce the time required for cargo delivery, and improve the delivery efficiency, thereby improving the overall warehousing efficiency in the automatic warehousing system.

[0141] In some embodiments, the load-bearing portion 41 and the fork body 1 are configured to make the receiving piece contact with the bottom surface of the goods through vertical relative movement to carry the goods. Specifically, only the load-bearing portion 41 moves vertically, only the fork body 1 moves vertically, or both move within the protection range.

[0142] During the outbound process, the fork device 10 carries the goods, and the fork body 1 should be in an initial position higher than the top surface of the load-bearing part 41, so that the handling equipment 40 moves to the bottom of the fork body 1, so that the load-bearing part 41 enters the transfer channel 3 from bottom to top, and then through the relative movement mode of the fork device 10 moving downward or the load-bearing part 41 moving upward, the load-bearing part 41 contacts the bottom surface of the goods to carry the goods.

[0143] During the warehousing process, the handling equipment 40 carries the goods, and the fork body 1 should be in an initial position lower than the top surface of the load-bearing part 41, so that the handling equipment 40 moves to the position of the fork body 1, so that the load-bearing part 41 enters the transfer channel 3 from top to bottom, and then through the relative movement mode of the fork device 10 moving upward or the load-bearing part 41 moving downward, the fork body 1 contacts the bottom surface of the goods to carry the goods.

[0144] This embodiment can not only enable the handling device 40 to smoothly reach the area where the goods are delivered to the fork device 10, but also enable the receiving piece to carry the goods.

[0145] In some embodiments, the load-bearing portion 41 and the fork body 1 are configured so that after the receiving piece carries the goods, the load-bearing portion 41 or the fork body 1 serving as the receiving piece is separated from the goods through relative movement.

[0146] The relative movement may be a relative movement in the vertical direction, or a relative movement along the first direction x.

[0147] This embodiment can separate the delivery piece from the goods after the delivery piece has been loaded with the goods, so that the delivery piece can be smoothly removed with the goods.

[0148] In some embodiments, 4A to 4D As shown, the handling equipment 40 also includes a main body 42, and the load-bearing part 41 is fixed in height relative to the main body 42; the fork device 10 is configured to carry the goods by moving up and down so that the receiving piece contacts the bottom surface of the goods, and separate the load-bearing part 41 or the fork body 1 as the delivery piece from the goods by moving up and down.

[0149] Specifically, in the outbound link, the load-bearing portion 41 is moved downward to carry the goods, and after the load-bearing portion 41 carries the goods, it continues to move downward to separate the fork body 1 from the goods; and / or the fork device 10 is configured to move upward to make the fork body 1 carry the goods in the inbound link, and after the fork body 1 carries the goods, it continues to move upward to separate the load-bearing portion 41 from the goods.

[0150] Take the outbound link as an example. Figure 4A , the fork device 10 moves to the second preset position P2; Figure 4B and Fig.14A , the handling device 40 moves to the first preset position P1 according to the preset path, at which time the handling device 40 is located directly below the fork device 10; Figure 4C , so that the fork device 10 is lowered, during which the load-bearing portion 41 enters the transfer channel 3 and carries the cargo through the load-bearing portion 41, and the fork device 10 continues to descend and separates from the bottom surface of the cargo; Figure 4D and Fig. 14B The handling device 40 carries the goods and moves out of the opening 31 of the fork device 10 and leaves the area where the fork device 10 is located.

[0151] The height of the load-bearing portion 41 in the handling equipment 40 of this embodiment is fixed, the structure is simple, and the cost is low. The entire cargo transfer process can be achieved by moving the fork device 10 in the height direction z. The control is simple, and because the load-bearing portion 41 remains fixed, it can stably carry the cargo. During the process of leaving after the cargo transfer, the center of gravity is low, which is conducive to increasing the driving speed, thereby improving the efficiency of transferring the cargo to the target location.

[0152] In some embodiments, the fork device 10 further includes a distance measuring sensor configured to detect the descending height of the fork device 10, so that the descending height of the fork body 1 does not exceed a preset distance after the load-bearing portion 41 carries the goods in the outbound link. The distance measuring sensor can detect the distance between the fork body 1 and the bottom surface of the goods, the distance between the fork body 1 and a reference position on the handling device 40, the distance between the fork body 1 and the ground, or the distance between the fork body 1 and a reference position on the shelf 20. For example, the distance measuring sensor can be arranged at the bottom or end of the fork body 1.

[0153] By providing a distance measuring sensor, after the load-bearing portion 41 carries the goods in the outbound link, the fork body 1 descends a suitable distance to transfer the goods to the load-bearing portion 41 and detach from the goods, thereby preventing interference and collision with the main body 42 of the handling equipment 40 .

[0154] Alternatively, the handling equipment 40 also includes a weight sensor, which is provided on the load-bearing part 41 and is configured to detect the weight change of the load-bearing part 41, so as to stop the fork device 10 from descending when the weight change after the load-bearing part 41 contacts the bottom surface of the goods during the outbound link reaches a preset weight.

[0155] By setting a weight sensor, the load condition of the load-bearing part 41 can be detected during the outbound delivery process. When the weight change reaches a preset weight, it indicates that the goods have been reliably transferred to the handling equipment 40. At this time, the fork device 10 is controlled to stop descending to prevent interference and collision with the main body 42 of the handling equipment 40.

[0156] In some embodiments, FIG. 5A to FIG. 5D As shown, the handling equipment 40 also includes a main body 42 and a lifting mechanism 43. The load-bearing part 41 is installed on the main body 42 in a liftable manner through the lifting mechanism 43, and the lifting mechanism 43 is configured to carry the goods by lifting the receiving piece to contact the bottom surface of the goods, and / or to separate the load-bearing part 41 or the fork body 1 as the delivery piece from the goods by lifting.

[0157] As shown in Fig. 8, a receiving cavity is provided at the top of the main body 42, a lifting mechanism 43 is arranged in the receiving cavity, and a bearing portion 41 is arranged at the top of the lifting mechanism 43. The lifting mechanism 43 can be a scissor mechanism, a linear drive mechanism, etc.

[0158] Specifically, in the outbound link, the lifting mechanism 43 is lifted so that the load-bearing part 41 contacts the bottom surface of the goods to carry the goods, and after the load-bearing part 41 carries the goods, it continues to lift upward to separate the fork body 1 from the goods; optionally, the fork device 10 is lowered to separate the fork body 1 from the goods. The lifting mechanism 43 is configured to lower the fork body 1 to contact the bottom surface of the goods to carry the goods in the inbound link, and after the fork body 1 carries the goods, it continues to move downward to separate the load-bearing part 41 from the goods; optionally, the fork device 10 is raised to separate the load-bearing part 41 from the goods.

[0159] Take the outbound link as an example. Figure 5A , the fork device 10 moves to the second preset position P2, Fig. 15C FIG. 3 is a top view of the cargo 30 located on the fork body 1; Figure 5B and Fig.15A , the handling device 40 moves to the first preset position P1 according to the preset path, at which time the handling device 40 is located directly below the fork device 10; Figure 5C , so that the lifting mechanism 43 of the handling device 40 rises, during which the carrying portion 41 enters the transfer channel 3, and carries the goods through the carrying portion 41, and the lifting mechanism 43 continues to rise so that the fork body 1 is separated from the bottom surface of the goods; Figure 5D and Fig. 15B , so that the fork device 10 is lowered, or it can also be kept Figure 5C The handling device 40 carries the goods and moves out of the opening 31 of the fork device 10 and leaves the area where the fork device 10 is located.

[0160] The handling device 40 of this embodiment is provided with a lifting mechanism 43, by which the carrying portion 41 can be raised and lowered to meet the demand for delivering goods to the fork device 10, thereby reducing the requirement for the parking height position of the fork device 10; moreover, after the handling device 40 carries the goods, the goods can be placed at a higher position, which can adapt to the operating height of people during subsequent manual picking at the workstation.

[0161] In some embodiments, Figure 1 and Figure 2As shown, the handling equipment 40 also includes a main body 42 and a lifting mechanism 43. The load-bearing part 41 is installed on the main body 42 in a liftable manner through the lifting mechanism 43. A buffer rack 23 is provided in the lower area of ​​the shelf 20. The handling equipment 40 is used to deliver goods to the buffer rack 23. The lifting mechanism 43 is configured to carry the goods by lifting and lowering the load-bearing part 41 or the buffer rack 23 as a receiving part in contact with the bottom surface of the goods, and to separate the load-bearing part 41 or the buffer rack 23 as a giving part from the goods.

[0162] Specifically, in the outbound link, the lifting mechanism 43 is lifted to enable the load-bearing portion 41 to carry the goods, and continues to lift upward after the load-bearing portion 41 carries the goods to separate the cache rack 23 from the goods; and in the inbound link, the lifting mechanism 43 is lowered to enable the cache rack 23 to carry the goods, and continues to lower and move after the cache rack 23 carries the goods to separate the load-bearing portion 41 from the goods.

[0163] The handling device 40 of this embodiment is equipped with a lifting mechanism 43, by which the load-bearing part 41 can be raised and lowered to meet the needs of handing over goods to the cache rack 23. During the process of entering and leaving the warehouse, the goods to be left by the fork device 10 can be transferred to the handling device 40. When the handling device 40 is not idle or fails to reach the shelf 20, or when the current workstation does not need the goods, the goods can also be placed on the cache rack 23 first; the goods to be entered into the warehouse by the handling device 40 can be transferred to the fork device 10 for direct entry into the warehouse, or when the fork device 10 is not idle, the handling device 40 can also place the goods on the cache rack 23, saving the waiting time and idle time of the handling device 40 and the fork device 10, thereby improving the efficiency of entering and leaving the warehouse.

[0164] In some embodiments, Fig.11A and 11B , Fig.18A and Fig.18B The two fork bodies 1 can move away from or approach each other along the first direction x, and are configured to separate from the goods by moving away from each other after the load-bearing portion 41 carries the goods in the outbound link, and to carry the goods by moving closer to each other in the inbound link.

[0165] This embodiment can make the two fork bodies 1 move away from each other after the load-bearing portion 41 carries the goods in the outbound link. When the handling equipment 40 leaves after carrying the goods, it can prevent collision with the fork body 1, thereby improving the reliability of outbound delivery, and is suitable for structures where no opening is set at the end of the fork body 1.

[0166] For the embodiment in which the two fork bodies 1 can move away from or approach each other along the first direction x, two embodiments are given below for different handling devices 40 .

[0167] like Fig.16A and Fig. 16BFor the handling equipment 40 whose load-bearing portion 41 is fixed at a height relative to the main body 42, in the outbound link, after the load-bearing portion 41 carries the goods, the fork device 10 can first be moved downward for a certain distance, and then move away from the bottom surface of the goods along the first direction x, and then the fork device 10 is moved upward to be higher than the top surface of the goods, and then the handling equipment 40 carrying the goods is moved away, which can prevent collision with the fork body 1 and improve the reliability of outbound.

[0168] like 17A to 17C For a handling device that is provided with a lifting mechanism 43 so that the bearing part 41 can be raised and lowered relative to the main body 42, in the outbound link, such as Fig.17A As shown, the handling device 40 reaches the preset position at the bottom of the fork device 10; Fig. 17B , the lifting mechanism 43 rises to make the load-bearing portion 41 carry the goods, and then the lifting mechanism 43 continues to rise to make the fork body 1 separate from the goods in the height direction; Fig. 17C , make the two fork bodies 1 move away from each other and away from the bottom surface of the cargo along the first direction x, then move the fork device 10 upward to be higher than the top surface of the cargo, and then make the handling equipment 40 carrying the cargo leave, which can prevent collision with the fork body 1 and improve the reliability of outbound delivery.

[0169] In some embodiments, Figure 2 As shown, a plurality of shelves 20 are provided, and the plurality of shelves 20 are arranged at intervals, and aisles 24 are formed between adjacent shelves 20. The fork device 10 is arranged outside the shelf 20 and can move along the outer side of the shelf 20;

[0170] The fork body 1 has a fixed length, and the handling device 40 is configured to be parked in the alley 24 or outside the shelf 20 and in an area directly below the fork device 10; or the fork body 1 is retractable, and the handling device 40 is configured to be parked in the alley 24, outside the shelf 20, or below the shelf 20 in an area staggered from the fork device 10, and the fork body 1 is extended forward or backward to deliver the goods.

[0171] In this embodiment, for the structure of the fork body 1 with a fixed length, the handling device 40 needs to be located in the area directly below the fork device 10, so that the goods can be located in the middle area of ​​the receiving piece after the goods are delivered; for the structure of the fork body 1 being retractable, when the handling device 40 is docked in the area below the shelf 20, the support portion 11 of the fork device 10 on the shelf 20 can be extended in the reverse direction to enter the area below the shelf 20 to deliver the goods; or the support portion 11 of the fork device 10 on the adjacent shelf 20 can be extended forward to enter the area below the shelf 20 to deliver the goods. This structure can also meet the demand for delivering goods in the vertical direction when the handling device 40 is not docked in the area directly below the fork device 10, making the docking position of the handling device 40 more flexible.

[0172] In some embodiments, at least two fork bodies 1 are provided, and an opening 31 is provided at the end along the second direction y, and the handling device 40 is configured to enter the handover passage 3 from the opening 31 before handing over the goods, and to leave the handover passage 3 from the opening 31 after handing over the goods. This embodiment maintains a fixed structure for the distance between the two fork bodies 1, which facilitates the carrying portion 41 to enter or leave the handover passage 3.

[0173] In some embodiments, Fig.12 and Fig.13 As shown, the warehousing and warehousing system also includes:

[0174] A first identification code 61 is set at a first preset position on the ground. For example, the first identification code 61 is a barcode or a QR code; and

[0175] The first photographing component 62 is provided on the transporting device 40 and is configured to photograph the first identification code 61 to locate the transporting device 40 .

[0176] This embodiment detects the first identification code 61 through the first shooting component 62, and can accurately position the handling equipment 40 so as to align the goods with the fork device 10. In particular, accurate positioning in the first direction x can prevent the load-bearing part 41 from colliding with the side fork body 1, thereby improving the reliability of the goods delivery.

[0177] In addition, in addition to detecting the identification code, there are many other ways to locate the handling device 40, such as laser navigation, magnetic strip navigation positioning or any other form of navigation. The positioning of the fork device 10 can also be calculated by an encoder.

[0178] In some embodiments, Fig.12 and Fig.13 , the warehousing and warehousing system also includes:

[0179] A second identification code 71 is provided at a second preset position on the shelf 20. For example, the second identification code 71 is a bar code or a QR code; and

[0180] The second photographing component 72 is provided on the fork device 10 and is configured to photograph the second identification code 71 to locate the fork device 10 in the first direction x and the height direction z.

[0181] For example, the second identification code 71 can be affixed at the height closest to the ground, the second shooting component 71 can be set at the ends of the two fork bodies 1, and the second identification code 71 can be affixed to the crossbeam 22 that can be photographed by the second shooting components 71 on both sides. The fork device 10 is configured to move to the area where the second identification code 71 is located, and then obtain the distance deviation by photographing the second identification code 71, and finely adjust the position of the fork device 10 according to the distance deviation until there is no distance deviation with the second identification code 71, thereby achieving precise positioning of the fork device 10.

[0182] This embodiment detects the second identification code 71 through the second shooting component 72, and can accurately position the fork device 10 so as to be aligned with the handling equipment 40 for handing over the goods. Accurate positioning in the first direction x can prevent the load-bearing portion 41 from colliding with the inner side surface of the fork body 1. Accurate positioning in the height direction z can prevent the load-bearing portion 41 from colliding with the top surface or bottom surface of the fork body 1 when the handling equipment 40 enters the area where the fork device 10 is located, thereby improving the reliability of handing over the goods.

[0183] Specifically, the cargo handover position can be the outside of the lane 23 or the shelf 20, or it can be below the shelf 20. The most ideal position for cargo handover is when the center of the cargo corresponds to the center of the receiving piece. For example, in the outbound link, the center of the cargo corresponds to the center of the load-bearing part 41, and in the inbound link, the center of the cargo corresponds to the center of the fork device 10. By setting the above-mentioned first identification code 61 and second identification code 71, it is easy to adjust and locate to the preset cargo handover position.

[0184] In addition, the present disclosure provides a storage in and out method based on the storage in and out system of the above embodiment, which in some embodiments includes:

[0185] Step 110, moving the transport device 40 to a first preset position;

[0186] Step 120, moving the fork device 10 to a second preset position on the shelf 20;

[0187] Step 130: Make the carrying part 41 pass vertically through the handover passage 3, so that the carrying part 41 or the fork body 1 serving as a receiving part carries the goods to realize the goods handover.

[0188] The execution order of steps 110 and 120 can be set according to the requirements of the in-and-out tasks, and step 130 is executed after steps 110 and 120. For example, in the out-of-warehouse link, since the fork device 10 is above the load-bearing part 41 of the handling device 40, the execution order of steps 110 and 120 is not limited; in the in-warehouse link, since the fork device 10 is below the load-bearing part 41, step 120 is executed before 110.

[0189] In the warehousing method of this embodiment, the fork device 10 and the handling equipment 40 adopt a vertical cargo delivery mode, which can simplify the action process of cargo delivery, improve the accuracy of cargo delivery, reduce the time required for cargo delivery, and improve the delivery efficiency, thereby improving the overall warehousing efficiency in the automatic warehousing system.

[0190] In some embodiments, the steps of achieving cargo delivery in step 130 include:

[0191] Step 131, the load-bearing portion 41 and the fork body 1 are moved vertically relative to each other so that the receiving piece contacts the bottom surface of the cargo to carry the cargo;

[0192] Step 132: After the receiving piece carries the goods, the carrying portion 41 and the fork body 1 are moved relative to each other so that the carrying portion 41 or the fork body 1 serving as the delivering piece is separated from the goods.

[0193] Among them, step 132 is executed after step 131.

[0194] In the outbound link, the fork device 10 carries the goods, and the fork body 1 is in the initial position higher than the top surface of the load-bearing part 41, so that the handling device 40 moves to the bottom of the fork body 1, so that the load-bearing part 41 enters the handover channel 3 from bottom to top, and then the fork device 10 moves downward or the load-bearing part 41 moves upward in a relative motion mode in step 131, so that the load-bearing part 41 contacts the bottom surface of the goods to carry the goods. Then, in step 132, the fork device 10 is further moved downward, or the load-bearing part 41 is moved upward, or the two fork bodies 1 are separated from each other along the first direction x, so that the fork device 10 is separated from the goods.

[0195] In the warehousing link, the handling device 40 carries the goods, and the fork body 1 is at an initial position lower than the top surface of the load-bearing part 41, so that the handling device 40 moves to the position of the fork body 1, so that the load-bearing part 41 enters the handover channel 3 from top to bottom, and then the fork device 10 moves upward or the load-bearing part 41 moves downward in a relative motion mode in step 131, so that the fork body 1 contacts the bottom surface of the goods to carry the goods. Then, in step 132, the fork device 10 is further moved upward, or the load-bearing part 41 is moved downward, or the two forks 1 are separated from each other along the first direction x, so that the load-bearing part 41 is separated from the goods.

[0196] This embodiment can not only enable the handling device 40 to smoothly reach the area where the goods are delivered to the fork device 10 and enable the receiving piece to reliably carry the goods, but also enable the delivering piece to separate from the goods after the receiving piece has carried the goods, so that the receiving piece can smoothly leave with the goods.

[0197] In some embodiments, 4A to 4D The handling device 40 further includes a main body 42, and the bearing portion 41 is fixed in height relative to the main body 42, wherein:

[0198] In the outbound link, the second preset position is higher than the top surface of the load-bearing portion 41, and the steps of handing over the goods include:

[0199] After the transport device 40 reaches the first preset position, the fork device 10 is lowered from the second preset position until the load-bearing portion 41 contacts the bottom surface of the cargo;

[0200] The fork device 10 continues to descend to separate the fork body 1 from the bottom surface of the cargo; during this process, continuous detection is performed through the distance sensor or the weight sensor, and the descending displacement of the fork device 10 does not exceed the preset distance to prevent interference and collision with the main body 42 of the handling equipment 40.

[0201] In the warehousing link, the second preset position is lower than the top surface of the load-bearing portion 41, and the fork device 10 moves to the second preset position before the handling device 40 carries the goods and moves to the first preset position; the steps of handing over the goods include:

[0202] The fork device 10 is raised from the second preset position until the fork body 1 contacts the bottom surface of the cargo;

[0203] The fork device 10 is made to continue to rise with the cargo, so that the carrying portion 41 is separated from the bottom surface of the cargo.

[0204] This warehousing method of this embodiment can adopt a handling device 40 with a simpler structure and lower cost. The entire cargo transfer process can be achieved by moving the fork device 10 in the height direction z. The control is simple, and since the load-bearing part 41 remains fixed, the cargo can be stably carried. During the process of leaving after the cargo transfer is completed, the center of gravity is low, which is conducive to increasing the driving speed, thereby improving the efficiency of transferring the cargo to the target location.

[0205] In some embodiments, the transport device 40 further includes a main body 42 and a lifting mechanism 43, and the carrying portion 41 is escalably mounted on the main body 42 via the lifting mechanism 43, wherein:

[0206] In the outbound link, the second preset position is higher than the top surface of the load-bearing portion 41, and the steps of handing over the goods include:

[0207] After the transport device 40 reaches the first preset position, the lifting mechanism 43 is moved upward with the load-bearing portion 41 until the load-bearing portion 41 contacts the bottom surface of the cargo;

[0208] The lifting mechanism 43 and the load-bearing portion 41 are continuously raised, or the fork device 10 is lowered from the second preset position, so that the fork body 1 is separated from the bottom surface of the cargo; and / or

[0209] In the warehousing link, the second preset position is lower than the top surface of the load-bearing portion 41, and the fork device 10 moves to the second preset position before the handling device 40 carries the goods and moves to the first preset position; the steps of handing over the goods include:

[0210] After the handling device 40 reaches the first preset position, the lifting mechanism 43 and the carrying portion 41 are lowered until the fork body 1 contacts the bottom surface of the cargo;

[0211] The lifting mechanism 43 is made to continue to descend with the load-bearing portion 41 , or the fork device 10 is made to rise from the second preset position, so that the load-bearing portion 41 is separated from the bottom surface of the cargo.

[0212] This warehousing method of this embodiment adopts a handling device 40 with a lifting mechanism 43, and the lifting mechanism 43 can be used to lift the load-bearing part 41 to meet the needs of handing over the goods with the fork device 10, which can reduce the requirements for the parking height position of the fork device 10; moreover, after the handling device 40 carries the goods, the goods can be placed in a higher position, which can adapt to the operating height of people during subsequent manual picking at the workstation.

[0213] In some embodiments, a plurality of shelves 20 are provided, and the plurality of shelves 20 are arranged at intervals, and a lane 24 is formed between adjacent shelves 20; the step of moving the transport device 40 to the first preset position includes:

[0214] like Fig.12 As shown, if the length of the fork body 1 is fixed, the handling device 40 is moved to a first preset position in the lane 24 or outside the shelf 20, and the first preset position is located directly below the fork device 10 at the second preset position;

[0215] like Fig.19 As shown, the fork body 1 is retractable so that the handling equipment 40 moves to a first preset position in the aisle 24, outside the shelf 20 or below the shelf 20, and the first preset position is located in an area staggered from the fork device 10 along the second direction y, and the second direction y is perpendicular to the first direction x, so that the fork body 1 can be extended forward or reversely to deliver the goods.

[0216] In this embodiment, for the structure of the fixed length of the fork body 1, the handling equipment 40 is located in the area directly below the fork device 10, and the goods can be located in the middle area of ​​the receiving piece after the goods are delivered. For the structure of the retractable fork body 1, when the handling equipment 40 is docked in the area below the shelf 20, the support plate 11 of the fork device 10 on the shelf 20 can be extended in the reverse direction to enter the area below the shelf 20 to deliver the goods; or the support plate 11 of the fork device 10 on the adjacent shelf 20 can be extended forward to enter the area below the shelf 20 to deliver the goods. This structure can also meet the demand for delivering goods in the vertical direction when the handling equipment 40 is not docked in the area directly below the fork device 10, making the docking position of the handling equipment 40 more flexible.

[0217] In some embodiments, after the goods are delivered, the warehousing method further includes:

[0218] In the outbound link, the handling device 40 is firstly moved away from the first preset position, and then the fork device 10 performs subsequent operations; and / or

[0219] In the warehousing stage, the transport device 40 is moved away from the first preset position, and the fork device 10 performs the warehousing operation.

[0220] In the outbound link of this embodiment, after the handling device 40 carries the goods, the fork body 1 is located below the goods and is blocked by the goods and cannot move flexibly. Therefore, the handling device 40 must be moved away from the first preset position before the fork device 10 can move freely. In the inbound link, after the fork device 10 carries the goods, although the fork body 1 is located below, the handling device 40 and the fork device 10 carrying the goods do not affect each other when leaving, so the order is not restricted.

[0221] In some embodiments, the handling device 40 further includes a main body 42 and a lifting mechanism 43, the bearing part 41 is escalably mounted on the main body 42 through the lifting mechanism 43, and a buffer rack 23 is provided in the lower area of ​​the shelf 20; the storage method further includes:

[0222] When the transport equipment 40 is in an occupied state, the fork device 10 places the goods on the buffer rack 23; and / or

[0223] When all the fork devices 10 are in an occupied state, the transport device 40 is enabled to obtain the goods from the buffer rack 23 .

[0224] Specifically, in the outbound link, the lifting mechanism 43 is lifted to enable the load-bearing portion 41 to carry the goods, and continues to lift upward after the load-bearing portion 41 carries the goods to separate the cache rack 23 from the goods; and in the inbound link, the lifting mechanism 43 is lowered to enable the cache rack 23 to carry the goods, and continues to lower and move after the cache rack 23 carries the goods to separate the load-bearing portion 41 from the goods.

[0225] The handling device 40 of this embodiment is equipped with a lifting mechanism 43, by which the load-bearing part 41 can be raised and lowered to meet the needs of handing over goods to the cache rack 23. During the process of entering and leaving the warehouse, the goods to be left by the fork device 10 can be transferred to the handling device 40. When the handling device 40 is not idle or fails to reach the shelf 20, or when the current workstation does not need the goods, the goods can also be placed on the cache rack 23 first; the goods to be entered into the warehouse by the handling device 40 can be transferred to the fork device 10 for direct entry into the warehouse, or when the fork device 10 is not idle, the handling device 40 can also place the goods on the cache rack 23, saving the waiting time and idle time of the handling device 40 and the fork device 10, thereby improving the efficiency of entering and leaving the warehouse.

[0226] The warehouse entry and exit control methods of the above embodiments can all be executed by a controller.

[0227] In addition, the present disclosure also provides a storage access control device, including a memory and a processor. The memory is used to store instructions, the processor is coupled to the memory, and the processor is configured to execute the above storage access method based on the instructions stored in the memory. The processor can be a central processing unit CPU, or can be an application-specific integrated circuit ASIC, or is configured to implement one or more integrated circuits of the embodiments of the present disclosure.

[0228] The present disclosure also relates to a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the warehousing method of the above embodiment is implemented.

[0229] In some embodiments, the functional unit module described above can be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components or any appropriate combination thereof for performing the functions described in the present disclosure.

[0230] The above are merely exemplary embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A cargo storage and retrieval mechanism, characterized in that: The invention comprises a vertical rail (14) and a fork device (10), wherein the fork device (10) is used to receive and receive goods from a handling device (40), wherein the handling device (40) has a load-bearing portion (41), and the fork device (10) comprises: A base (2) is mounted on the vertical track (14) and is movable along the vertical track (14); at least one fork body (1) connected to the base (2) and arranged at intervals along a first direction (x), the fork body (1) being used to carry goods, the area between adjacent forks (1) and / or the outer area of ​​the forks (1) forming a vertically penetrating connecting channel (3), the connecting channel (3) being configured to allow the carrying portion (41) to vertically pass through, so that the carrying portion (41) or the fork body (1) serving as a receiving piece can carry goods; and The storage and retrieval assembly is configured to transfer goods between the fork body (1) and the storage location.

2. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The load-bearing portion (41) comprises at least one load-bearing surface, and at least one of the fork bodies (1) is configured to be arranged alternately with the at least one load-bearing surface when delivering goods.

3. The cargo storage and retrieval mechanism according to claim 2, characterized in that: The fork bodies (1) are provided with two, and the area between the two fork bodies (1) forms the connecting channel (3). In the first direction (x), the width of the connecting channel (3) is smaller than the width of the bottom surface of the cargo so as to carry the cargo.

4. The cargo storage and retrieval mechanism according to claim 3, characterized in that: In the first direction (x), the width of the connecting channel (3) is greater than the width of the bearing portion (41).

5. The cargo storage and retrieval mechanism according to claim 3, characterized in that: The two forks (1) can move away from or toward each other along the first direction (x), and the handling equipment (40) can leave the forks (1) when the width of the handover passage (3) is greater than the width of the bottom of the cargo.

6. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The fork body (1) is configured to have a gap with the load-bearing portion (41) in the first direction (x) when delivering goods.

7. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The fork body (1) is provided with at least two openings (31) at the end along the second direction (y), and the opening (31) is configured to allow the handling equipment (40) carrying the goods to leave the fork body (1), and the second direction (y) is perpendicular to the first direction (x).

8. The cargo storage and retrieval mechanism according to claim 1, characterized in that: Each of the fork bodies (1) comprises a fixing portion (12) and a supporting portion (11), wherein the supporting portion (11) is movable relative to the fixing portion (12) along a second direction (y), and the second direction (y) is perpendicular to the first direction (x).

9. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The access component comprises: A mounting member (7) disposed above the fork body (1) and connected to the base (2); A force applying member (8) is disposed at the lower part of the mounting member (7) and is configured to drive the cargo to move from the top or end of the cargo; a transverse movement mechanism (91), disposed on the mounting member (7), and configured to drive the force applying member (8) to move along a second direction (y), wherein the second direction (y) is perpendicular to the first direction (x); and The lifting mechanism (92) is arranged on the mounting member (7) and is configured to drive the force applying member (8) to move up and down.

10. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The access component comprises: Two mounting members (7), respectively disposed on both sides of the two fork bodies (1) and connected to the base (2); Two force applying members (8), respectively disposed on the inner sides of the two mounting members (7), and configured to drive the cargo to move from two side areas; and Two transverse movement mechanisms (91) are respectively arranged on the two mounting members (7), and are configured to drive the force applying member (8) on the corresponding side to move along a second direction (y), wherein the second direction (y) is perpendicular to the first direction (x).

11. The cargo storage and retrieval mechanism according to claim 9 or 10, characterized in that: The fork body (1) is provided with a conveying component, which is configured to cooperate with the force-applying member (8) to move the goods into position on the fork body (1), or to move the goods out of the fork body (1).

12. A storage and retrieval system, characterized in that: include: A shelf (20) configured to store goods; The cargo storage and retrieval mechanism according to any one of claims 1 to 11, wherein the cargo fork device (10) can move along the surface of the shelf (20) and is configured to perform storage and retrieval operations; and The handling device (40) comprises a load-bearing portion (41), wherein the load-bearing portion (41) is arranged to vertically pass through a transfer passage (3) so that the load-bearing portion (41) or the fork body (1) serving as a receiving piece can carry goods.

13. The storage and retrieval system according to claim 12, characterized in that: The load-bearing portion (41) and the fork body (1) are configured to enable the receiving member to contact the bottom surface of the cargo through vertical relative movement to carry the cargo; and / or The load-bearing portion (41) and the fork body (1) are configured so that after the receiving piece carries the goods, the load-bearing portion (41) or the fork body (1) serving as the receiving piece is separated from the goods through relative movement.

14. The storage and retrieval system according to claim 12, characterized in that: The transport device (40) further comprises a main body (42), and the carrying portion (41) is fixed in height relative to the main body (42); The fork device (10) is configured to move up and down so that the receiving piece contacts the bottom surface of the goods to carry the goods, and to move up and down so that the carrying part (41) or the fork body (1) serving as the feeding piece is separated from the goods.

15. The storage and retrieval system according to claim 14, characterized in that: The fork device (10) further comprises a distance measuring sensor configured to detect the descending height of the fork device (10), so that the descending height of the fork body (1) does not exceed a preset distance after the load-bearing portion (41) carries the goods during the outbound process; or The handling equipment (40) further comprises a weight sensor, which is arranged on the load-bearing part (41) and is configured to detect a weight change of the load-bearing part (41) so as to stop the fork device (10) from descending when the weight change after the load-bearing part (41) contacts the bottom surface of the goods during the outbound process reaches a preset weight.

16. The storage and retrieval system according to claim 12, characterized in that: The transport device (40) further comprises a main body (42) and a lifting mechanism (43), wherein the carrying part (41) is liftably mounted on the main body (42) via the lifting mechanism (43), and the lifting mechanism (43) is configured to carry the goods by causing the receiving part to contact the bottom surface of the goods by lifting, and / or to separate the carrying part (41) or the fork body (1) as a feeding part from the goods by lifting.

17. The storage and retrieval system according to claim 12, characterized in that: The handling device (40) further comprises a main body (42) and a lifting mechanism (43); the bearing portion (41) is escalably mounted on the main body (42) via the lifting mechanism (43); a buffer rack (23) is provided in the lower area of ​​the shelf (20); and the handling device (40) is used to receive and deliver goods to the buffer rack (23); The lifting mechanism (43) is configured to lift the load-bearing portion (41) or the buffer rack (23) as a receiving portion to contact the bottom surface of the goods to carry the goods, and lift the load-bearing portion (41) or the buffer rack (23) as a delivering portion to separate from the goods.

18. The storage and retrieval system according to claim 12, characterized in that: The two fork bodies (1) can move away from or approach each other along the first direction (x), and are configured to separate from the goods by moving away from each other after the carrying part (41) carries the goods during the outbound link, and to move toward each other to carry the goods during the inbound link.

19. The storage and retrieval system according to claim 12, characterized in that: A plurality of the shelves (20) are provided, and the plurality of shelves (20) are arranged at intervals, and a lane (24) is formed between adjacent shelves (20); the fork device (10) is arranged outside the shelf (20) and can move along the outer side surface of the shelf (20); The fork body (1) has a fixed length, and the handling device (40) is configured to be parked in the lane (24) or outside the shelf (20) and located in an area directly below the fork device (10); or the fork body (1) is retractable, and the handling device (40) is configured to be parked in the lane (24), outside the shelf (20) or below the shelf (20) in an area offset from the fork device (10), and the fork body (1) is extended forward or backward to deliver the goods.

20. The storage and retrieval system according to any one of claims 12 to 19, characterized in that: The fork body (1) is provided with at least two forks, and an opening (31) is provided at the end along the second direction (y), and the handling device (40) is configured to enter the handover passage (3) from the opening (31) before handing over the goods, and to leave the handover passage (3) from the opening (31) after handing over the goods.

21. The storage and retrieval system according to any one of claims 12 to 19, characterized in that: Also includes: A first identification code (61) is set at a first preset position on the ground; and The first photographing component (62) is provided on the transporting device (40) and is configured to photograph the first identification code (61) to locate the transporting device (40).

22. The storage and retrieval system according to any one of claims 12 to 19, characterized in that: Also includes: a second identification code (71) disposed at a second preset position on the shelf (20); and The second photographing component (72) is provided on the fork device (10) and is configured to photograph the second identification code (71) to locate the fork device (10) in the first direction (x) and height direction (z).

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