Warehousing system

Abstract

The utility model provides a warehousing system, and relates to the technical field of warehousing. The warehousing system comprises a goods shelf and a goods shelf robot, the goods shelf comprises a plurality of storage layers arranged in the vertical direction, and each storage layer comprises a plurality of storage positions. The size of the goods shelf in the vertical direction is larger than that of the goods shelf robot. The multiple goods shelf robots are distributed at different heights of the goods shelf in the vertical direction so that the multiple goods shelf robots can cover all the storage layers of the goods shelf in the vertical direction, and the goods shelf robots are at least used for carrying goods to be carried to target storage positions. According to the warehousing system, the clearance of the warehouse in the vertical direction can be fully utilized, the warehouse space waste is reduced, and then the cost is reduced.

Description

Technical Field

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

[0002] In order to improve space utilization rate and reduce floor space cost, a shelf with multiple storage layers is usually provided in a warehousing system, and a cargo handling robot is used to store and retrieve goods.

[0003] Generally, in order to make the cargo handling robot match the height of the shelf, the height of the cargo handling robot is set to be the same as the height of the shelf, so that the cargo handling robot can cover the entire shelf in the vertical direction.

[0004] However, the height of the cargo handling robot is limited, which limits the height of the shelf. When the height of the warehouse in the vertical direction is much greater than the height of the shelf, only a shelf with the same height as the picking height of the cargo handling robot can be set, resulting in the problem of ineffective utilization of the net space in the vertical direction of the warehouse and waste of space. Summary of the Utility Model

[0005] The utility model provides a warehousing system, which can make full use of the net space in the vertical direction of the warehouse, reduce the waste of warehouse space, and further reduce the warehousing cost.

[0006] An embodiment of the utility model provides a warehousing system, including a shelf and a plurality of shelf robots; wherein,

[0007] The shelf includes multiple storage layers arranged in the vertical direction, and each storage layer includes a plurality of storage positions;

[0008] The size of the shelf in the vertical direction is greater than the size of the shelf robot in the vertical direction;

[0009] A plurality of the shelf robots are distributed in different heights of the shelf in the vertical direction, so that the plurality of shelf robots can cover all the storage layers of the shelf in the vertical direction, and the shelf robot is at least used to transport the goods to be transported to the target storage position.

[0010] In the warehousing system in the implementation of this application, shelves are set up to store goods, and shelf robots are set up to move goods to the shelves or move goods down from the shelves. By setting the size of the shelf in the vertical direction to be larger than the size of the shelf robot in the vertical direction, the height of the shelf can be made higher, so that more goods can be stored, thereby making full use of the space in the warehouse, reducing the waste of warehouse space, and thus reducing the warehousing cost. By distributing multiple shelf robots vertically at different heights of the shelf, multiple shelf robots can cover all the storage layers of the shelf in the vertical direction. In this way, multiple different shelf robots can be responsible for at least some of the storage layers at different heights. Since different robots can operate independently on different storage layers, the waiting time and operation bottlenecks can be reduced, thereby improving the overall operation efficiency. In addition, the shelf can be designed to be more compact and efficient, maximizing the utilization rate of the warehousing space. Since each shelf robot only needs to move on the storage layer it is responsible for, the time for moving up and down is reduced, thus speeding up the picking and storing speed. In addition, the shelf robots work independently on their respective storage layers, avoiding collisions and interferences that may occur when multiple shelf robots operate simultaneously on the same storage layer.

[0011] Optionally, the size of the shelf robot in the vertical direction is variable; wherein,

[0012] The shelf robot includes an expanded state, in which the size of the shelf robot in the vertical direction is the largest;

[0013] When at least one of the shelf robots is in the expanded state, the multiple shelf robots can cover all the storage layers of the shelf in the vertical direction.

[0014] By designing the shelf robot to have a variable size in the vertical direction, the shelf robot can cover shelf layers at different heights, adapt to various storage requirements and shelf designs, and the shelf robot can adjust its working height according to real-time needs to flexibly handle different warehousing tasks and changing workloads. The shelf robot can directly extend and contract in the vertical direction to the required height, reducing the time for horizontal movement and up and down movement, thus increasing the picking and storing speed. Since the shelf robot can flexibly adjust its height, the shelf can be designed to be more compact and efficient, maximizing the utilization rate of the warehousing space. By designing multiple shelf robots to be able to cover all the storage layers of the shelf in the vertical direction when at least one shelf robot is in the expanded state, the total number of required shelf robots can be reduced while ensuring that multiple shelf robots can cover all the storage layers of the shelf in the vertical direction, thereby reducing the initial equipment cost and maintenance cost.

[0015] Optionally, the shelf robot includes a column gantry, a handling device, and a connecting device; wherein,

[0016] The handling device is movably connected to the column gantry along the vertical direction, and the column gantry is configured as a track for the handling device to move along the vertical direction;

[0017] The connecting device is connected to the column gantry, and the connecting device is used to connect the shelf robot to the shelf.

[0018] With such a setting, the handling device can move along the column gantry in the vertical direction, so that the handling of goods between shelves at different levels in the vertical direction can be realized. By setting the connecting device, the connection between the shelf robot and the shelf can be realized, and the connection stability between the shelf robot and the shelf can be improved.

[0019] Optionally, the column gantry is a telescopic column gantry; wherein,

[0020] When the telescopic column gantry performs telescopic movement in the vertical direction, the size of the telescopic column gantry in the vertical direction is changed to change the size of the shelf robot in the vertical direction.

[0021] With such a setting, the length of the shelf robot in the vertical direction can be changed, so as to adapt to different handling scenarios and improve the adaptability of the shelf robot. In addition, when the shelf robot moves along the length direction on the shelf, the length of the shelf robot in the vertical direction can be shortened to prevent collisions between shelf robots at different heights, thereby improving the adaptability of the shelf robot.

[0022] Optionally, the column gantry includes a support rod and a telescopic rod; wherein,

[0023] The telescopic rod is slidably connected to the support rod along the vertical direction;

[0024] The column gantry includes an extended state and a retracted state. In the extended state, one end of the telescopic rod extends along the vertical direction to the outside of the support rod, and in the retracted state, the telescopic rod is located inside the support rod;

[0025] When the shelf robot is in the unfolded state, the column gantry is in the extended state.

[0026] By providing the column gantry with a support rod and a telescopic rod, the column gantry can have a telescopic function. That is to say, the height of the shelf robot in the vertical direction can be changed, so that the shelf robot can be applicable to different application scenarios. In addition, by providing the support rod and the telescopic rod for the column gantry, the structure of the column gantry can be made simpler, thereby reducing the cost of the shelf robot.

[0027] Optionally, the handling device includes a telescopic mechanism for telescopic movement in the depth direction of the shelf, and the depth direction is perpendicular to the vertical direction.

[0028] With such a setting, the handling device can adapt to storage positions with different depths, so as to adapt to storage positions with different depths and improve the applicability of the shelf robot.

[0029] Optionally, the shelf includes a guide rail provided along the length direction of the shelf; wherein,

[0030] In the length direction, the shelf robot is movably connected to the guide rail, and the guide rail is configured as a track for the shelf robot to move along the length direction, and the length direction is perpendicular to both the depth direction and the vertical direction.

[0031] By providing the shelf with a guide rail provided along the length direction, the shelf robot can move along the length direction on the shelf, so that the shelf robot can cover multiple storage positions in the length direction of the shelf, thereby expanding the handling range of the shelf robot. In this way, when the shelf is relatively large in the length direction, fewer shelf robots can be set, thereby reducing the cost of the warehousing system.

[0032] Optionally, one of the storage layers of the shelf or multiple adjacent storage layers are configured as a transfer area;

[0033] When there are multiple transfer areas, the multiple transfer areas are spaced apart in the vertical direction;

[0034] In the vertical direction, the storage layer below the transfer area is a low-level storage area, and the storage layer above the transfer area is a high-level storage area. The shelf robots are provided in the low-level storage area and the high-level storage area corresponding to each transfer area; wherein,

[0035] The first shelf robot covers all the storage layers in the low-level storage area, the second shelf robot covers all the storage layers in the high-level storage area, and the first shelf robot and the second shelf robot can simultaneously cover at least one storage layer of the transfer area;

[0036] When transporting the first goods to be transported located in the lower-level storage area to the upper-level storage area, the first shelf robot is used to transport the first goods to be transported to the transfer area, and the second shelf robot transports the first goods to be transported in the transfer area to the upper-level storage area;

[0037] When transporting the second goods to be transported located in the upper-level storage area to the lower-level storage area, the second shelf robot is used to transport the second goods to be transported to the transfer area, and the first shelf robot transports the second goods to be transported in the transfer area to the lower-level storage area.

[0038] By setting up a transfer area, it is convenient for the handover of goods between two adjacent shelf robots in the vertical direction, thereby facilitating the collaborative operation of shelf robots at different heights in the vertical direction, and then storing the goods in the higher storage layers of the shelf, or transporting the goods on the higher storage layers of the shelf to below the shelf. By setting the first shelf robot and the second shelf robot to be able to simultaneously cover at least one storage layer of the transfer area in the vertical direction, a connection area can be formed on the storage layer in the transfer area covered by both the first shelf robot and the second shelf robot. That is to say, the goods to be transported can be transported to this connection area by the first shelf robot, and then transported to the target storage location by the second shelf robot, thereby enabling seamless connection of shelf robots at different heights and improving the working efficiency of the warehousing system.

[0039] Optionally, two adjacent shelf robots in the vertical direction satisfy:

[0040] The lower-positioned shelf robot among the two shelf robots covers the storage layers from the a-th layer to the a + b-th layer, and the higher-positioned shelf robot among the two shelf robots covers the storage layers from the a + b + 1 - c-th layer to the a + b + 1 - c + d-th layer; where,

[0041] a, b, and d are all integers greater than 0;

[0042] c is an integer greater than or equal to 0 and less than b + 1.

[0043] With such a setting, the first shelf robot and the second shelf robot can cover all the storage layers in the vertical direction of the shelf, and cover different heights of the shelf and operate independently on different storage layers, which can reduce waiting time and operation bottlenecks, thereby improving the overall operation efficiency.

[0044] Optionally, when there are multiple transfer areas, the multiple transfer areas are arranged at intervals in the vertical direction.

[0045] With such a setting, the transfer of goods can be carried out in multiple areas, which can improve the transfer efficiency.

[0046] Optionally, a plurality of buffer positions are provided at the bottom of the shelf;

[0047] The shelf robot is used to carry the goods to be carried at the target storage position to the buffer position, and / or the shelf robot is used to carry the goods to be carried at the buffer position to the target storage position.

[0048] By setting the buffer position, the goods can be temporarily stored, which is convenient for handling.

[0049] Optionally, the warehousing system further includes a ground robot; wherein,

[0050] The ground robot is used to carry the goods to be carried at the buffer position to the target workstation, and / or the ground robot is used to carry the goods to be carried at the target workstation to the buffer position.

[0051] By setting the ground robot, the transfer of goods between the shelf and the workstation can be realized. In this way, the goods on the storage layers at different heights of the shelf can be carried by the shelf robot, and then the transfer of goods between the workstations can be realized by the ground robot, thereby effectively improving the handling efficiency of the entire warehousing system.

[0052] Optionally, the ground robot includes a chassis and a lifting mechanism; wherein,

[0053] The lifting mechanism is located at the top of the chassis, the lifting mechanism can move telescopically in the vertical direction, and the top of the lifting mechanism is used to carry the goods to be carried;

[0054] Rollers are provided at the bottom of the chassis.

[0055] By setting the lifting mechanism, the telescopic movement of the ground robot in the vertical direction can be realized, thereby realizing the goods transfer between the ground robot and the shelf robot, and meeting the requirements of workstations at different heights, improving the applicability. By setting rollers on the chassis, the ground robot can move freely on the ground to realize its handling function.

[0056] The structure of the present utility model and its other utility model purposes and beneficial effects will become more obvious and understandable through the description of the preferred embodiments in conjunction with the drawings. Description of the Drawings

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0058] Figure 1 is a schematic structural diagram of a warehousing system provided by an embodiment of the present invention;

[0059] Figure 2 is a schematic structural diagram of a shelf robot of a warehousing system provided by an embodiment of the present invention;

[0060] Figure 3 is a schematic structural diagram of a column gantry of a shelf robot of a warehousing system provided by an embodiment of the present invention;

[0061] Figure 4 is a schematic structural diagram of a handling device of a shelf robot of a warehousing system provided by an embodiment of the present invention;

[0062] Figure 5 is a schematic structural diagram of a ground robot of a warehousing system provided by an embodiment of the present invention.

[0063] Explanation of reference numerals:

[0064] 100 - Warehousing system; 10 - Shelf; 11 - Storage layer;

[0065] 12 - Storage location; 13 - Guide rail; 14 - Buffer location;

[0066] 15 - Transfer area; 20 - Shelf robot; 21 - First shelf robot;

[0067] 22 - Second shelf robot; 23 - Column gantry; 231 - Support rod;

[0068] 232 - Telescopic rod; 24 - Handling device; 241 - Telescopic mechanism;

[0069] 25 - Connecting device; 30 - Ground robot; 31 - Chassis;

[0070] 32 - Lifting mechanism; 33 - Roller; 200 - Ground. Detailed implementation manners

[0071] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0072] The warehousing system provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0073] The embodiments of the present utility model provide a warehousing system, as Figure 1 shown. The warehousing system 100 may include a shelf 10 and a shelf robot 20. Among them, the shelf 10 includes multiple storage layers 11 arranged vertically. Each storage layer 11 includes multiple storage positions 12, and the multiple storage positions 12 are arranged side by side in the length direction.

[0074] Exemplarily, the size of the shelf 10 in the vertical direction is greater than the size of the shelf robot 20 in the vertical direction. For example, when the size of the shelf robot 20 in the vertical direction is five meters, the height of the shelf 10 in the vertical direction may be eight meters, ten meters, fifteen meters, etc.

[0075] It should be noted that in the embodiments of the present application, the vertical direction is taken as the z direction in the figure, the length direction of the shelf is taken as the x direction in the figure, and the depth direction of the shelf is taken as the y direction in the figure. The y direction is perpendicular to both the x direction and the z direction.

[0076] Optionally, multiple shelf robots 20 are distributed vertically at different heights of the shelf 10 so that the multiple shelf robots 20 can cover all the storage layers 11 of the shelf 10 in the vertical direction (z direction). The shelf robot 20 is at least used to transport the goods to be transported to the target storage position.

[0077] In the warehousing system 100 in the embodiments of the present application, the shelf 10 is provided to store goods, and the shelf robot 20 is provided to transport the goods to the shelf 10 or transport the goods down from the shelf 10. By setting the size of the shelf 10 in the vertical direction to be greater than the size of the shelf robot 20 in the vertical direction, the height of the shelf 10 can be higher, so that more goods can be stored, thereby making full use of the space in the warehouse, reducing the waste of warehouse space, and further reducing the warehousing cost.

[0078] By arranging multiple shelf robots 20 vertically at different heights of the shelf 10, the multiple shelf robots 20 can cover all the storage layers 11 of the shelf 10 in the vertical direction. In this way, multiple different shelf robots 20 can be responsible for at least some of the storage layers 11 at different heights. Since different shelf robots 20 can operate independently on different storage layers, the waiting time and operation bottlenecks can be reduced, thereby improving the overall operation efficiency. In addition, the shelf 10 can be designed to be more compact and efficient, maximizing the utilization rate of the storage space. Since each shelf robot 20 only needs to move on the storage layer it is responsible for, the time for moving up and down is reduced, thus accelerating the speed of picking and storing goods. In addition, the shelf robots 20 work independently on their respective storage layers, avoiding collisions and interferences that may occur when multiple shelf robots 20 operate simultaneously on the same storage layer.

[0079] In a possible implementation, the size of the shelf robot 20 is variable in the vertical direction (z direction). The shelf robot 20 includes an expanded state, in which the size of the shelf robot 20 in the vertical direction is the largest. When at least one of the shelf robots 20 is in the expanded state, the multiple shelf robots 20 can cover all the storage layers 11 of the shelf 10 in the vertical direction.

[0080] Exemplarily, in the vertical direction, two shelf robots 20 are distributed on the shelf 10. When one of the two shelf robots 20 is in the expanded state and the other is not in the expanded state, all the storage layers 11 of the shelf 10 in the vertical direction can be covered. Or, when both of the two shelf robots 20 are in the expanded state, the two shelf robots can cover all the storage layers 11 of the shelf 10 in the vertical direction. Or, when neither of the two shelf robots 20 is in the expanded state, all the storage layers 11 of the shelf 10 in the vertical direction can be covered.

[0081] By designing the shelving robot 20 to have variable dimensions in the vertical direction, the shelving robot 20 can cover shelves 10 of different heights, adapt to various storage requirements and shelf 10 designs. The shelving robot 20 can adjust its working height according to real-time needs, flexibly coping with different warehousing tasks and changing workloads. The shelving robot 20 can directly extend and retract in the vertical direction to the required height, reducing the time for horizontal movement and up-and-down movement, thereby improving the speed of picking and storing goods. Since the shelving robot 20 can flexibly adjust its height, the shelf 10 can be designed to be more compact and efficient, maximizing the utilization rate of the warehousing space. By designing multiple shelving robots 20 to be able to cover all the storage layers 11 of the shelf 10 in the vertical direction when at least one shelving robot 20 is in the deployed state, it is possible to reduce the total number of required shelving robots 20 while ensuring that multiple shelving robots 20 can cover all the storage layers 11 of the shelf 10 in the vertical direction, thereby reducing the initial equipment cost and maintenance cost.

[0082] Optionally, in the length direction, multiple shelving robots 20 spaced at intervals in the length direction can be provided at the same height, so that the areas responsible for the shelving robots 20 with different distribution positions in the length direction are smaller, thereby improving the working efficiency of the shelving robots 20.

[0083] Taking the shelf 10 including twenty storage layers 11 and the number of shelving robots 20 being two, namely the first shelving robot 21 and the second shelving robot 22, as an example for illustration. "Multiple shelving robots 20 are distributed at different heights of the shelf 10 in the vertical direction" can specifically refer to that the first shelving robot 21 is responsible for picking and placing goods on the storage layers 11 from the first layer to the tenth layer, and the second shelving robot 22 is responsible for picking and placing goods on the storage layers 11 from the eighth layer to the twentieth layer. This makes it possible for the shelf 10 to be arranged without relying on the height limit of the picking and placing goods of the shelving robot 20, and the arrangement of ultra-high shelves 10 becomes possible.

[0084] It should be noted that the first shelving robot 21 being responsible for picking and placing goods on the storage layers 11 from the first layer to the tenth layer means that when the first shelving robot 21 is in the deployed state, it can cover the first layer to the tenth layer of the storage layer 11 in the vertical direction. The second shelving robot 22 being responsible for picking and placing goods on the storage layers 11 from the eighth layer to the twentieth layer means that when the second shelving robot 22 is in the deployed state, it can cover the eighth layer to the twentieth layer of the storage layer 11 in the vertical direction.

[0085] Continue to refer to Figure 1 As shown, the shelf 10 can include guide rails 13 provided along the length direction of the shelf. Among them, in the length direction, the shelving robot 20 is movably connected to the guide rail 13, and the guide rail 13 is configured as a track for the shelving robot 20 to move along the length direction.

[0086] By providing guide rails 13 arranged along the length direction on the shelf 10, the shelf robot 20 can move along the length direction on the shelf 10, so that the shelf robot 20 can cover multiple storage positions 12 in the length direction of the shelf 10, thereby expanding the handling range of the shelf robot 20. In this way, when the shelf 10 is relatively large in the length direction, fewer shelf robots 20 can be provided, thereby reducing the cost of the warehousing system 100.

[0087] It should be noted that in the embodiments of the present application, the specific structure of the guide rail 13 is not further limited, as long as it can enable the shelf robot 20 to move along the guide rail 13 in the length direction. The sizes of the storage layers 11 located on different layers may be the same or different in the vertical direction.

[0088] In some embodiments, as Figure 2 shown, the shelf robot 20 may include a column gantry 23, a handling device 24, and a connecting device 25. Among them, the handling device 24 is movably connected to the column gantry 23 in the vertical direction, and the column gantry 23 is configured as a track for the handling device 24 to move in the vertical direction. The connecting device 25 is connected to the column gantry 23, and the connecting device 25 is used to connect the shelf robot 20 to the shelf 10.

[0089] With such a setting, the handling device 24 can move along the column gantry 23 in the vertical direction, so that the handling of goods between shelves 10 on different layers in the vertical direction can be realized. By providing the connecting device 25, the connection between the shelf robot 20 and the shelf 10 can be realized, and the connection stability between the shelf robot 20 and the shelf 10 can be improved.

[0090] Exemplarily, a slide rail structure may be provided on the column gantry 23, and a part of the structure of the handling device 24 is connected in cooperation with the slide rail structure. A driving device may be provided on one of the column gantry 23 and the handling device 24, and the driving device is used to drive the handling device 24 to move along the slide rail structure of the column gantry 23 in the vertical direction.

[0091] In a possible implementation manner, the column gantry 23 may be a telescopic column gantry 23. Among them, the telescopic column gantry 23 is used to change the size of the telescopic column gantry 23 in the vertical direction when performing telescopic movement in the vertical direction, and further change the size of the shelf robot 20 in the vertical direction.

[0092] By setting the column gantry 23 as a telescopic column gantry 23, the length of the shelf robot 20 in the vertical direction can be changed, so as to adapt to different handling scenarios and improve the adaptability of the shelf robot 20. In addition, when the shelf robot 20 moves along the length direction on the shelf 10, the length of the shelf robot 20 in the vertical direction can be shortened to prevent collisions between shelf robots 20 at different heights, thereby improving the adaptability of the shelf robot 20.

[0093] Exemplarily, as Figure 3 shown, the column gantry 23 may include a support rod 231 and a telescopic rod 232, and the telescopic rod 232 is slidably connected to the support rod 231 in the vertical direction. Exemplarily, the telescopic rod 232 and the support rod 231 may be in plug-in fit. The column gantry 23 may include an extended state and a retracted state. In the extended state, one end of the telescopic rod 232 extends outward along the vertical direction of the support rod 231, and in the retracted state, the telescopic rod 232 is located inside the support rod 231. When the shelf robot 20 is in the deployed state, the column gantry 23 is in the extended state, and in the deployed state, the extended distance of the telescopic rod 232 of the column gantry 23 is the largest.

[0094] By setting the column gantry 23 to include a support rod 231 and a telescopic rod 232, the column gantry 23 can have a telescopic function, that is to say, the height of the shelf robot 20 in the vertical direction can be changed, so that the shelf robot 20 can be applicable to different application scenarios. In addition, by setting the support rod 231 and the telescopic rod 232 of the column gantry 23, the structure of the column gantry 23 can be made simpler, thereby reducing the cost of the shelf robot 20.

[0095] It should be noted that the column gantry 23 in the embodiments of the present application includes but is not limited to Figure 3 the structure shown in. In some embodiments, the column gantry 23 may be a fixed rod-shaped structure, that is to say, the size of the column gantry 23 in the vertical direction cannot be changed. In the case where the column gantry 23 is a fixed rod-shaped structure, the shelf robot 20 is always in the deployed state.

[0096] In addition, in some embodiments, the column gantry 23 may also achieve telescopic movement in the vertical direction through other forms of structures, so as to realize the dimensional change of the shelf robot 20 in the vertical direction. In the embodiments of the present application, the specific structure of the column gantry 23 is not further limited.

[0097] In a possible implementation, the handling device 24 may include a telescopic mechanism 241. The telescopic mechanism 241 is configured to perform telescopic movement in the depth direction of the shelf (i.e., the y direction in the figure). The depth direction (i.e., the y direction in the figure) is perpendicular to both the length direction (i.e., the x direction in the figure) and the vertical direction (i.e., the z direction in the figure).

[0098] With such a setting, the handling device 24 can adapt to storage positions 12 with different depths, so as to adapt to storage positions 12 with different depths and improve the applicability of the shelf robot 20. It should be noted that different depths refer to different positions in the y direction. For example, Figure 4 the A position and the B position shown in the figure refer to storage positions 12 with different depths. When the telescopic mechanism 241 is at the position of the dotted line in Figure 4 the figure, it can grasp the goods at the B position, and when the telescopic mechanism 241 is at the position of the solid line, it can grasp the goods at the A position.

[0099] It should be noted that the telescopic range of the handling device 24 in the y direction is not limited in the embodiments of the present application. For example, the size that the handling device 24 can extend in the y direction can cover the position of one depth on the shelf 10, or can cover the positions of two depths on the shelf 10, and of course can also cover the positions of three depths on the shelf 10, or more.

[0100] Continuing to refer to Figure 1 the figure shown, in some embodiments, the shelf 10 may further include at least one transfer area 15. Among them, when there are multiple transfer areas 15, the multiple transfer areas 15 may be spaced apart in the vertical direction. One storage layer 11 or multiple adjacent storage layers 11 of the shelf 10 are configured as the transfer area 15.

[0101] Exemplarily, in the vertical direction, the storage layer 11 below the transfer area 15 is a low-level storage area, and the storage layer 11 above the transfer area 15 is a high-level storage area. Shelf robots 20 are provided in the low-level storage area and the high-level storage area corresponding to each transfer area 15. Among them, the first shelf robot 21 covers all the storage layers 11 in the low-level storage area, the second shelf robot 22 covers all the storage layers 11 in the high-level storage area, and the first shelf robot 21 and the second shelf robot 22 can simultaneously cover at least one storage layer 11 of the transfer area 15.

[0102] When transporting the first goods to be transported in the low-level storage area to the high-level storage area, the first shelf robot 21 is used to transport the first goods to be transported to the transfer area 15, and the second shelf robot 22 transports the first goods to be transported in the transfer area 15 to the high-level storage area.

[0103] When the second cargo to be transported located in the high-level storage area is transported to the low-level storage area, the second shelf robot 22 is used to transport the second cargo to be transported to the transfer area 15, and the first shelf robot 21 transports the second cargo to be transported in the transfer area 15 to the low-level storage area.

[0104] At least one shelf robot 20 is provided at both ends of each transfer area 15. The shelf robots 20 located at both ends of the transfer area 15 are configured as the first shelf robot 21 and the second shelf robot 22. In the vertical direction, the first shelf robot 21 and the second shelf robot 22 can at least cover the same storage layer 11 of the transfer area 15.

[0105] Exemplarily, the first shelf robot 21 and the second shelf robot 22 can cover the same layer, the same two layers, the same three layers or the same four layers of the storage layer 11 of the transfer area 15, etc. In the embodiments of the present application, the number of layers of the storage layer 11 of the transfer area 15 that the first shelf robot 21 and the second shelf robot 22 can jointly cover is not further limited.

[0106] It should be noted that the first shelf robot 21 and the second shelf robot 22 can simultaneously cover at least one storage layer 11 of the transfer area 15 when in the deployed state, or can also simultaneously cover at least one storage layer 11 of the transfer area 15 when not in the deployed state. In the embodiments of the present application, the state when the first shelf robot and the second shelf robot can simultaneously cover at least one storage layer 11 of the transfer area 15 is not further limited.

[0107] By providing the transfer area 15, it is convenient for the handover of goods between two adjacent shelf robots 20 in the vertical direction, and thus it is convenient for the shelf robots 20 at different heights in the vertical direction to cooperate, and further store the goods in the higher storage layer 11 of the shelf 10, or transport the goods on the higher storage layer 11 of the shelf 10 to below the shelf 10. By arranging the first shelf robot 21 and the second shelf robot 22 to be able to cover the same storage layer 11 of the transfer area 15 in the vertical direction, a connection area can be formed on the storage layer 11 in the transfer area 15 that is covered by both the first shelf robot 21 and the second shelf robot 22. That is to say, the first shelf robot 21 can transport the goods to be transported to this connection area, and then the second shelf robot 22 transports them to the target storage position, so that the shelf robots 20 at different heights can be seamlessly connected, improving the working efficiency of the storage system 100.

[0108] When there are multiple transfer areas 15, the multiple transfer areas 15 are arranged at intervals in the vertical direction. In this way, the transfer of goods can be carried out in multiple areas, improving the transfer efficiency.

[0109] It should be noted that in the embodiments of the present application, there is no further limitation on the number of layers of the loading platform occupied by the transfer area 15 in the vertical direction. For example, it can be one layer, two layers, three layers, four layers or more layers. The transfer area 15 is used for relay handling by the shelf robots 20 at different heights, so that the two shelf robots 20 at different heights can cover more layers of the storage layers 11 in the vertical direction in a relay form.

[0110] In a possible implementation manner, two adjacent shelf robots 20 in the vertical direction satisfy: the lower-positioned shelf robot among the two shelf robots 20 covers the storage layers 11 from the a-th layer to the a + b-th layer. The higher-positioned shelf robot 20 among the two shelf robots 20 covers the storage layers 11 from the a + b + 1 - c-th layer to the a + b + 1 - c + d-th layer. Wherein, a, b, and d are all integers greater than 0. c is an integer greater than or equal to 0 and less than b + 1.

[0111] It should be noted that for the convenience of description, the lower-positioned shelf robot among the two adjacent shelf robots 20 in the vertical direction can be regarded as the first shelf robot 21, and the higher-positioned shelf robot is the second shelf robot 22. Among them, the first shelf robot 21 covers the storage layers 11 from the a-th layer to the a + b-th layer, and the second shelf robot 22 covers the storage layers 11 from the a + b + 1 - c-th layer to the a + b + 1 - c + d-th layer.

[0112] When c is 0, the first shelf robot 21 and the second shelf robot 22 can cover all the storage layers 11 on the shelf, but there is no transfer area 15.

[0113] When c is greater than or equal to 1, the first shelf robot 21 and the second shelf robot 22 can simultaneously cover the a + b-th storage layer 11, that is to say, a transfer area 15 is formed in the a + b-th storage layer 11.

[0114] The following takes the shelf 10 including twenty storage layers 11 and the number of shelf robots 20 being two, namely the first shelf robot 21 and the second shelf robot 22, as an example for illustration.

[0115] Exemplarily, the first shelf robot 21 is responsible for picking and placing goods on the storage layers 11 from the first layer to the tenth layer, and the second shelf robot 22 is responsible for picking and placing goods on the storage layers 11 from the eighth layer to the twentieth layer. Then at least one layer among the eighth layer to the tenth layer can be used as the transfer area 15. For example, the eighth and ninth layers are used as the transfer area 15, or the ninth and tenth layers are used as the transfer area 15, or the eighth, ninth, or tenth layer is used as the transfer area 15, etc.

[0116] With such a setting, it is possible to achieve the handling of goods between the storage layer 11 at a higher level and the storage layer 11 at a lower level, that is, to cover all the storage layers 11 of the entire shelf 10 in the vertical direction by means of relay. This can improve the utilization rate of the shelf 10, and the height of the shelf 10 can be unrestricted by the height of the shelf robot 20, so that the shelf 10 can make full use of the clear height of the warehouse, improve the utilization rate of the warehouse, and reduce the warehousing cost.

[0117] The following takes the example of handling the goods on the first storage layer 11 to the fifteenth storage layer 11, and the transfer area 15 is the ninth storage layer 11 for illustration.

[0118] In use, the goods located on the first storage layer 11 can be carried by the first shelf robot 21 to the ninth storage layer 11, and then the goods located on the ninth storage layer 11 can be carried by the second shelf robot 22 to the fifteenth storage layer 11.

[0119] When handling the goods on the fifteenth storage layer 11 to the first storage layer 11, the goods on the fifteenth storage layer 11 can be first carried by the second shelf robot 22 to the ninth storage layer 11, and then the goods located on the ninth storage layer 11 can be carried by the first shelf robot 21 to the first storage layer 11.

[0120] In some embodiments, continue to refer to Figure 1 As shown, a plurality of buffer positions 14 are provided at the bottom of the shelf 10. The shelf robot 20 is used to carry the goods to be handled at the target storage position to the buffer position 14, and / or the shelf robot 20 is used to carry the goods to be handled at the buffer position 14 to the target storage position. By setting the buffer position 14, the goods can be temporarily stored for convenient handling.

[0121] Exemplarily, the buffer position 14 can be set at the bottom of the shelf 10, that is, below the storage layer 11 closest to the ground 200, or a plurality of buffer positions 14 are provided on the storage layer 11 closest to the ground 200, that is, the buffer position 14 is set on the first storage layer 11 of the shelf 10 starting from the ground. In the embodiments of the present application, the position of the buffer position 14 is not further limited.

[0122] As Figure 5 shown, the warehousing system 100 may further include a ground robot 30. Among them, the ground robot 30 is used to carry the goods to be handled at the buffer position 14 to the target workstation, and / or the ground robot 30 is used to carry the goods to be handled at the target workstation to the buffer position 14.

[0123] By setting up the ground robot 30, the transfer of goods between the shelf 10 and the workstations can be realized. In this way, the goods on the storage layers 11 at different heights of the shelf 10 can be carried by the shelf robot 20, and then the transfer of goods between the workstations can be realized by the ground robot 30, thereby effectively improving the handling efficiency of the entire warehousing system 100.

[0124] It should be noted that the workstation refers to the incoming goods position or the delivery position. In the embodiments of the present application, the position of the workstation is not further limited.

[0125] In the embodiments of the present application, the ground robot 30 may include a chassis 31 and a lifting mechanism 32. Among them, the lifting mechanism 32 is located at the top of the chassis 31. The lifting mechanism 32 can move telescopically in the vertical direction, and the top of the lifting mechanism 32 is used to carry the goods to be carried. The bottom of the chassis 31 is provided with rollers 33.

[0126] By setting up the lifting mechanism 32, the ground robot 30 can be telescoped in the vertical direction, thereby realizing the transfer of goods between the ground robot 30 and the shelf robot 20, and can meet the requirements of workstations at different heights, improving the applicability. By setting the rollers 33 on the chassis 31, the ground robot 30 can move freely on the ground 200 to realize its handling function.

[0127] Exemplarily, a plurality of rollers 33 may be provided at the bottom of the chassis 31, and among the plurality of rollers 33, there may be a driving wheel and a steering wheel. The driving wheel has driving force and can be used to drive the ground robot 30 to move, and the steering wheel can steer, enabling the ground robot 30 to move in different directions.

[0128] Exemplarily, the lifting mechanism 32 of the ground robot 30 includes, but is not limited to, a guide rail type lifting mechanism, a link type lifting mechanism, and a sleeve type lifting mechanism, etc. In the embodiments of the present application, the specific form of the lifting mechanism is not further limited.

[0129] Of course, in other embodiments, the ground robot 30 may not be provided with the lifting mechanism 32. That is to say, the ground robot 30 includes a chassis 31 and a loading platform (not shown in the figure) provided at the top of the chassis. The bottom of the chassis 31 is provided with rollers 33. When in use, the goods can be placed on the loading platform. In the embodiments of the present application, the structure of the ground robot 30 is not further limited.

[0130] The following describes the method of goods connection between the shelf robot 20 and the ground robot 30.

[0131] Exemplarily, when the ground robot 30 includes a lifting mechanism 32 , and the shelf includes a cache position 14 , the shelf robot 20 is connected to the ground robot 30 via the cache position 14 .

[0132] In some other embodiments, when the ground robot 30 does not include the lifting mechanism 32 and the shelf includes the cache position 14 , the shelf robot 20 is connected to the ground robot 30 via the cache position 14 .

[0133] In some other embodiments, when the ground robot 30 does not include a lifting mechanism 32 and the shelf 10 does not have a buffer position 14, the shelf robot 20 can directly place the goods on the loading platform of the ground robot 30, or directly take the goods away from the loading platform of the ground robot 30.

[0134] The following is a detailed description of the use process of the storage system 100 when the shelf includes a buffer position.

[0135] When the warehousing system 100 is required to carry out warehousing and shelving.

[0136] First, a storage task is generated, and the system dispatches the ground robot 30 to the workstation to carry the goods. The storage system 100 allocates a target storage location on the shelf 10 for the incoming goods.

[0137] Secondly, the storage workstation can be provided with a buffer rack, and the goods are manually moved to the buffer rack, waiting for the ground robot 30 to take the goods on the buffer rack for storage. Alternatively, the goods are directly placed on the ground robot 30 by manual labor.

[0138] Then, the storage system 100 selects a target cache position that is closest to the target storage position of the high shelf 10 and is idle according to the occupancy status of the cache position 14 at the bottom of the current shelf 10 .

[0139] Then, the ground robot 30 moves the cargo to the target cache location.

[0140] Finally, the goods at the target buffer position are transported to the target storage position of the shelf 10 by the shelf robot 20 .

[0141] In some embodiments, when the target storage location requires multiple shelf robots 20 of different heights to perform relay transfer, the warehousing system 100 needs to select a transit area 15 where shelf robots 20 of different heights can pick up and place goods. The selection rule may be that the shelf robots 20 with lower heights perform as little longitudinal lifting as possible, that is, the longitudinal lifting height of the lower shelf robot 20 is smaller than the longitudinal lifting height of the higher shelf robot 20. In the length direction, the storage location 12 of the transit area 15 closest to the goods is preferentially selected.

[0142] Of course, in some other embodiments, there may be other selection rules. In the embodiment of the present application, when the target storage location requires multiple shelf robots 20 of different heights to perform relay transfer, the rules for the warehousing system 100 to select the first machine and the transfer area 15 are not further limited.

[0143] When the warehousing system 100 is required to carry out delivery and destocking.

[0144] First, the warehousing system 100 receives the outbound task, and the system dispatches the shelf robot 20 to move the goods from the target storage position on the shelf 10 to the target cache position at the bottom of the shelf 10. (When the target storage position requires multiple shelf robots 20 of different heights to carry out relay transfer, the warehousing system 100 needs to select a transfer area 15 for the goods where shelf robots 20 of different heights can pick up and place goods. The selection rule can be that the shelf robot 20 with a lower height performs longitudinal lifting as little as possible, that is, the longitudinal lifting height of the low-level shelf robot 20 is less than the longitudinal lifting height of the high-level shelf robot 20. In the length direction, the storage position 12 of the transfer area 15 closest to the goods is preferentially selected.

[0145] Of course, in some other embodiments, the selection rules may include other rules. In the embodiment of the present application, when the target storage location requires multiple shelf robots 20 of different heights to perform relay transfer, the rules for the warehousing system 100 to select the first machine and the transfer area 15 are not further limited.

[0146] Secondly, the system allocates and locks the target cache position at the bottom of the shelf 10. The system preferentially selects the cache position 14 closest to the transfer area 15 in the length direction as the target cache position based on the distance judgment.

[0147] Then, the system dispatches the ground robot 30 to go to the target cache location at the bottom of the shelf 10 to pick up the goods.

[0148] Finally, the ground robot 30 moves the goods to the workstation for shipment.

[0149] The storage system 100 in the embodiment of the present application can realize the application of super-high shelves 10 through the shelf robot 20 and the ground robot 30. By setting the shelf robot 20 at different heights, the height of the shelf 10 breaks through the height limit of a single robot to pick up and place goods. Through the collaborative operation of the shelf robots 20 at different heights, the goods can be stored at a higher level of the shelf 10. At the same time, the goods are transferred between the shelf 10 and the workstation by the ground robot 30, and the shelf robot 20 only carries out the transportation of goods between the high and low positions of the shelf 10, which can effectively improve the transportation efficiency of the shelf robot 20.

[0150] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0151] In the description of the present utility model, it should be understood that the terms "comprising" and "having" used herein and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that comprises a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0152] Unless otherwise clearly specified and defined, the terms "installed", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, which can be the connection inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and are not intended to limit them. Although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A storage system, characterized in that: It includes a shelf and multiple shelf robots; among which, The shelf comprises multiple storage layers arranged in a vertical direction, and each storage layer comprises multiple storage locations; The size of the shelf in the vertical direction is greater than the size of the shelf robot in the vertical direction; The plurality of shelf robots are distributed at different heights of the shelf in the vertical direction, so that the plurality of shelf robots can cover all the storage layers of the shelf in the vertical direction, and the shelf robots are at least used to transport the goods to be transported to the target storage location.

2. The storage system according to claim 1, characterized in that: The shelf robot has a variable size in the vertical direction; wherein, The shelf robot comprises an unfolded state, in which the shelf robot has a maximum size in the vertical direction; When at least one of the shelf robots is in the expanded state, the plurality of shelf robots can cover all storage layers of the shelf in the vertical direction.

3. The storage system according to claim 2, characterized in that: The shelf robot includes a column door frame, a handling device and a connecting device; wherein, The transport device is movably connected to the column gantry along the vertical direction, and the column gantry is configured as a track for the transport device to move along the vertical direction; The connecting device is connected to the column door frame, and the connecting device is used to connect the shelf robot to the shelf.

4. The storage system according to claim 3, characterized in that: The column door frame is a retractable column door frame; wherein, The retractable column door frame is used to change the size of the retractable column door frame in the vertical direction when it is telescopically moved in the vertical direction, so as to change the size of the shelf robot in the vertical direction.

5. The storage system according to claim 4, characterized in that: The column door frame includes a support rod and a telescopic rod; wherein, The telescopic rod is slidably connected to the support rod along the vertical direction; The column door frame includes an extended state and a retracted state. In the extended state, one end of the telescopic rod extends to the outside of the support rod in the vertical direction. In the retracted state, the telescopic rod is located inside the support rod. When the shelf robot is in the deployed state, the column door frame is in the extended state.

6. The storage system according to claim 5, characterized in that: The transport device comprises a telescopic mechanism, and the telescopic mechanism is used for telescopic movement along the depth direction of the shelf, and the depth direction is perpendicular to the vertical direction.

7. The storage system according to any one of claims 1 to 6, characterized in that: The shelf includes a guide rail arranged along the length direction of the shelf; wherein, In the length direction, the shelf robot is movably connected to the guide rail, and the guide rail is configured as a track for the shelf robot to move along the length direction, and the length direction is perpendicular to both the depth direction and the vertical direction.

8. The storage system according to any one of claims 1 to 6, characterized in that: One of the storage layers of the shelf or multiple adjacent storage layers is configured as a transfer area; When there are multiple transfer areas, the multiple transfer areas are arranged at intervals in the vertical direction; In the vertical direction, the storage layer located at the lower layer of the transfer area is the low-level storage area, and the storage layer located at the upper layer of the transfer area is the high-level storage area. The low-level storage area and the high-level storage area corresponding to each transfer area are both provided with the shelf robot; wherein, The first shelf robot covers all the storage layers in the lower storage area, the second shelf robot covers all the storage layers in the upper storage area, and the first shelf robot and the second shelf robot can simultaneously cover at least one storage layer in the transfer area; When transporting the first cargo to be transported in the lower storage area to the upper storage area, the first shelf robot is used to transport the first cargo to be transported to the transfer area, and the second shelf robot transports the first cargo to be transported in the transfer area to the upper storage area; When the second cargo to be transported in the high-level storage area is transported to the low-level storage area, the second shelf robot is used to transport the second cargo to be transported to the transfer area, and the first shelf robot transports the second cargo to be transported in the transfer area to the low-level storage area.

9. The storage system according to any one of claims 1 to 6, characterized in that: Two adjacent shelf robots in the vertical direction meet the following conditions: The lower shelf robot of the two shelf robots covers the storage layers from layer a to layer a+b, and the higher shelf robot of the two shelf robots covers the storage layers from layer a+b+1-c to layer a+b+1-c+d; wherein, a, b and d are all integers greater than 0; c is an integer greater than or equal to 0 and less than b+1.

10. The storage system according to any one of claims 1 to 6, characterized in that: A plurality of cache positions are provided at the bottom of the shelf; The shelf robot is used to transport the goods to be transported located at the target storage position to the cache position, and / or the shelf robot is used to transport the goods to be transported located at the cache position to the target storage position.

11. The storage system according to claim 10, characterized in that: Also includes ground robots; among which, The ground robot is used to transport the goods to be transported located at the cache position to the target workstation, and / or the ground robot is used to transport the goods to be transported located at the target workstation to the cache position.

12. The storage system according to claim 11, characterized in that: The ground robot comprises a chassis and a lifting mechanism; wherein, The lifting mechanism is located on the top of the chassis, and the lifting mechanism can telescopically move in the vertical direction. The top of the lifting mechanism is used to carry the goods to be transported; Rollers are arranged at the bottom of the chassis.

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