Material box warehousing system

Abstract

The utility model discloses a material box warehousing system which comprises a goods shelf unit, a first carrying robot and a second carrying robot, the first carrying robot and the second carrying robot have different operation height ranges, the goods shelf unit comprises a first goods shelf and a second goods shelf, and the height of a first storage position of the first goods shelf is within the first operation height range of the first carrying robot. The height of the second storage position of the second goods shelf is within the second operation height range of the second transfer robot, and the two transfer robots are configured to be in butt joint with the first storage position and the second storage position correspondingly, so that the two transfer robots can be in butt joint with the two different goods shelves matched with the respective operation height ranges correspondingly; or, the first storage position and the second storage position can be arranged on the same goods shelf, so that the two transfer robots can be in butt joint with the storage positions matched with the respective operation height ranges on the same goods shelf, and the situation that the warehouse-in and warehouse-out operation of the workbins is affected due to the fact that the transfer robots cannot be in butt joint with the storage positions of the goods shelf units is avoided.

Description

Technical Field

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

[0002] At present, more and more intelligent warehouses are being used. Generally, in an intelligent warehouse, a handling robot that can operate along the height direction of a shelf unit is used to dock with the shelf unit to realize the inbound and outbound operations of bins.

[0003] However, there may be multiple types of handling robots in an intelligent warehouse. Due to differences in type or structure, one type of handling robot may not be able to dock with storage locations at certain heights, which causes inconvenience to the inbound and outbound operations of bins. Summary of the Utility Model

[0004] In view of at least one of the above technical problems, an embodiment of the present application provides a bin storage system, which includes a shelf unit, a first handling robot, and a second handling robot with different operating height ranges. The shelf unit may include a first shelf and a second shelf, for example. The height of a first storage location on the first shelf is within the first operating height range of the first handling robot. Correspondingly, the height of a second storage location on the second shelf is within the second operating height range of the second handling robot. Moreover, the first handling robot is configured to dock with the first storage location, and the second handling robot is configured to dock with the second storage location. In this way, two handling robots with different operating height ranges can respectively dock with two different shelves that match their respective operating height ranges. Alternatively, the shelf unit may include a third shelf, which has both the above-mentioned first storage location and second storage location. In this way, two handling robots with different operating height ranges can dock with storage locations on the same shelf that respectively match their respective operating height ranges, thus avoiding the situation where the handling robot and the storage location of the shelf unit cannot be docked and affecting the inbound and outbound operations of bins during the inbound and outbound operations of bins, thereby solving the above problems.

[0005] An embodiment of the present application provides a shelf unit having a plurality of storage locations at different heights;

[0006] A handling robot for docking with the storage location, the handling robot at least includes a first handling robot with a first operating height range and a second handling robot with a second operating height range;

[0007] Among them, the shelf unit at least includes a first shelf and a second shelf. The first shelf has a first storage position, and the height of the first storage position is within the first operation height range. The second shelf has a second storage position, and the height of the second storage position is within the second operation height range. Moreover, the first handling robot is configured to dock with the first storage position, and the second handling robot is configured to dock with the second storage position; or,

[0008] The shelf unit includes a third shelf. The third shelf has both a first storage position and a second storage position. The height of the first storage position is within the first operation height range, and the height of the second storage position is within the second operation height range. Moreover, the first handling robot is configured to dock with the first storage position, and the second handling robot is configured to dock with the second storage position.

[0009] In one embodiment, preferably, the handling robot includes a walking chassis, a lifting gantry fixedly installed on the walking chassis, and a bin handling mechanism arranged to lift along the lifting gantry;

[0010] Among them, the height range in which the bin handling mechanism of the first handling robot lifts up and down along its lifting gantry is the first operation height range, and the height range in which the bin handling mechanism of the second handling robot lifts up and down along its lifting gantry is the second operation height range.

[0011] In one embodiment, preferably, the bin handling mechanism includes a lifting chassis and a bin transfer device;

[0012] Among them, the lifting chassis is installed on the lifting gantry to lift up and down, and the bin transfer device is installed on the lifting chassis to extend horizontally, so that when the lifting chassis docks with the storage position, the bin transfer device is used to transfer bins between the storage position and the lifting chassis.

[0013] In one embodiment, preferably, the bin transfer device includes a telescopic fork or a telescopic suction cup.

[0014] In one embodiment, preferably, the bin handling mechanism is arranged on one side of the lifting gantry, and a robot storage position is fixedly installed on the other side of the lifting gantry. A plurality of the robot storage positions are arranged at intervals along the height direction of the lifting gantry.

[0015] In one embodiment, preferably, the first operation height range has a first lower limit height and a first upper limit height, the second operation height range has a second lower limit height and a second upper limit height, the second lower limit height is higher than the first lower limit height and lower than the first upper limit height, and the second upper limit height is higher than the first upper limit height;

[0016] The storage locations include a high-level storage location, a middle-level storage location, and a low-level storage location arranged in the height direction;

[0017] Among them, the height of the low-level storage location is between the first lower limit height and the second lower limit height, and the low-level storage location is configured to be docked with the first handling robot;

[0018] The height of the high-level storage location is between the first upper limit height and the second upper limit height, and the high-level storage location is configured to be docked with the second handling robot;

[0019] The height of the middle-level storage location is between the second lower limit height and the first upper limit height, and the middle-level storage location is configured to be docked with both the first handling robot and the second handling robot.

[0020] In one embodiment, preferably, a limiting structure is provided on the traveling chassis of the second handling robot, and the limiting structure is used to limit the lowering height of the bin handling mechanism of the second handling robot, so that the second lower limit height is higher than the first lower limit height and lower than the first upper limit height.

[0021] In one embodiment, preferably, the shelf unit is arranged in a warehousing area to form a warehousing shelf;

[0022] Among them, when the bin is transferred into the warehousing shelf for warehousing, the first handling robot carrying the bin is configured to be docked with the first storage location, or the second handling robot carrying the bin is configured to be docked with the second storage location.

[0023] In one embodiment, preferably, the warehousing shelf includes any one of the high-level storage location, the middle-level storage location, and the low-level storage location; or,

[0024] The warehousing shelf includes any two of the high-level storage location, the middle-level storage location, and the low-level storage location; or,

[0025] The warehousing shelf includes the high-level storage location, the middle-level storage location, and the low-level storage location.

[0026] In one embodiment, preferably, the shelf unit is arranged at a sorting workstation to form a workstation shelf;

[0027] Among them, when the bin is transferred into the workstation shelf for out-of-warehouse, the first handling robot carrying the bin is configured to be docked with the first storage location, or the second handling robot carrying the bin is configured to be docked with the second storage location.

[0028] In one embodiment, preferably, the workstation shelf includes any one of the high-level storage position, the middle-level storage position, and the low-level storage position; or,

[0029] the workstation shelf includes any two of the high-level storage position, the middle-level storage position, and the low-level storage position; or,

[0030] the workstation shelf includes the high-level storage position, the middle-level storage position, and the low-level storage position.

[0031] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0032] The embodiments of the present application provide a bin storage system, which includes a shelf unit and a handling robot for docking with the storage positions of the shelf unit. Among them, the handling robot includes at least a first handling robot and a second handling robot with different operating height ranges. For example, the shelf unit may include a first shelf and a second shelf. The height of the first storage position of the first shelf is within the first operating height range of the first handling robot. Correspondingly, the height of the second storage position of the second shelf is within the second operating height range of the second handling robot. And the first handling robot is configured to dock with the first storage position, and the second handling robot is configured to dock with the second storage position. In this way, two handling robots with different operating height ranges can respectively dock with two different shelves that match their respective operating height ranges; or, the shelf unit may include a third shelf, and the third shelf has both the first storage position and the second storage position mentioned above. In this way, two handling robots with different operating height ranges can dock with the storage positions on the same shelf that match their respective operating height ranges respectively, thereby avoiding the situation that the handling robot and the storage position of the shelf unit cannot be docked and affecting the bin inbound and outbound operations during the bin inbound and outbound operations, thus solving the above problems. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 It is a schematic structural diagram of the bin storage system in the embodiments of the present application, where Figure 1 it shows that the first robot tag is associated with the first storage position tag, and the second robot tag is associated with the second storage position tag.

[0035] Figure 2Schematic diagram for comparison of the first working height range of the first handling robot and the second working height range of the second handling robot in the embodiments of the present application.

[0036] Figure 3 Schematic diagram of the structure of the shelf unit in the embodiments of the present application, which has low-level storage locations, middle-level storage locations, and high-level storage locations at the same time.

[0037] Figure 4 Schematic diagram of the structure of the shelf unit in the embodiments of the present application, which has low-level storage locations and middle-level storage locations at the same time.

[0038] Figure 5 Schematic diagram of the structure of the shelf unit in the embodiments of the present application, which only has low-level storage locations.

[0039] Among them, reference numerals:

[0040] 10 - Shelf unit, 11 - Storage level, 12 - Storage location,

[0041] 121 - First storage location label, 122 - Second storage location label,

[0042] 21 - Traveling chassis, 22 - Lifting gantry, 23 - Bin handling mechanism, 24 - Robot storage location,

[0043] 30 - First handling robot, 31 - First robot label, 32 - First working height range,

[0044] 321 - First lower limit height, 322 - First upper limit height,

[0045] 40 - Second handling robot, 41 - Second robot label, 42 - Second working height range,

[0046] 421 - Second lower limit height, 422 - Second upper limit height,

[0047] 50 - Low-level storage location,

[0048] 60 - Middle-level storage location,

[0049] 70 - High-level storage location. Detailed implementation manners

[0050] To better understand the above technical solutions, exemplary embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described herein.

[0051] Figure 1 Schematic diagram of the structure of the bin storage system. Please refer to Figure 1, a bin storage system, which includes a shelf unit 10 and bin handling robots. The shelf unit 10 has a number of storage locations 12 at different heights; the handling robots are used to dock with the storage locations 12, and the handling robots at least include a first handling robot 30 with a first operating height range 32 and a second handling robot 40 with a second operating height range 42.

[0052] Among them, the shelf unit 10 at least includes a first shelf and a second shelf. The first shelf has a first storage location, and the height of the first storage location is within the first operating height range 32. The second shelf has a second storage location, and the height of the second storage location is within the second operating height range 42; moreover, the first handling robot 30 is configured to dock with the first storage location, and the second handling robot 40 is configured to dock with the second storage location; or,

[0053] The shelf unit 10 includes a third shelf, and the third shelf has both a first storage location and a second storage location at the same time. The height of the first storage location is within the first operating height range 32, and the height of the second storage location is within the second operating height range 42; moreover, the first handling robot 30 is configured to dock with the first storage location, and the second handling robot 40 is configured to dock with the second storage location.

[0054] Specifically, the bin storage system includes a shelf unit 10 and handling robots; the shelf unit 10 includes a number of storage location layers 11 arranged at intervals in the height direction, and a number of storage locations 12 are provided along the length direction of the shelf unit 10; the handling robots are used to dock with the storage locations 12.

[0055] Among them, the handling robots at least include a first handling robot 30 with a first robot label 31 and a second handling robot 40 with a second robot label 41 for example. The first handling robot 30 has a first operating height range 32, and the second handling robot 40 has a second operating height range 42; among them, the storage location 12 (i.e., the first storage location) within the first operating height range 32 is provided with a first storage location label 121 associated with the first robot label 31 (i.e., Figure 1 the circle shown in), so that the first handling robot 30 is used to dock with the storage location 12 within the first operating height range 32; the storage location 12 (i.e., the second storage location) within the second operating height range 42 is provided with a second storage location label 122 associated with the second robot label 41 (i.e., Figure 1 the star shown in), so that the second handling robot 40 is used to dock with the storage location 12 within the second operating height range 42.

[0056] Generally speaking, for the first handling robot and the second handling robot with different operating height ranges, among several storage locations of the shelf unit in this embodiment, a first storage location label associated with the first robot label of the first handling robot is set at the storage locations within the first operating height range of the first handling robot, and a second storage location label associated with the second robot label of the second handling robot is set at the storage locations within the second operating height range of the second handling robot. In this way, the two handling robots can be respectively docked with the storage locations within their respective operating height ranges, thus avoiding the situation where the handling robot and the storage location of the shelf unit cannot be docked, which affects the incoming and outgoing operations of the bins.

[0057] Among them, the shelf unit includes several storage location layers arranged at intervals in the height direction. The distance between adjacent storage location layers should be greater than the height of the bin. Each storage location layer is provided with several storage locations along the length direction of the shelf unit, and the storage locations are used to store bins.

[0058] Among them, for the handling robot, due to different structures or models, handling robots with different structures have different operating height ranges; the bin storage and handling system in this embodiment includes at least two handling robots with different operating height ranges, namely the first handling robot and the second handling robot. The first handling robot has a first operating height range, and the second handling robot has a second operating height range; moreover, in this embodiment, a first robot label and a second robot label are respectively set for the first handling robot and the second handling robot. In this way, it can be understood that different handling robots with different operating height ranges can be distinguished through different robot labels.

[0059] Among them, for several storage locations of the shelf unit, in this embodiment, a first storage location label associated with the first robot label of the first handling robot is set at the storage locations within the first operating height range of the first handling robot, and a second storage location label associated with the second robot label of the second handling robot is set at the storage locations within the second operating height range of the second handling robot; it can be understood that in this way, through the association between the first storage location label and the first robot label, and the association between the second storage location label and the second robot label, the bin storage and handling system in this embodiment can dock the first handling robot with the storage locations within its operating height range (i.e., the first operating height range), and dock the second handling robot with the storage locations within its operating height range (i.e., the second operating height range). Thus, whether it is for the incoming operation or the outgoing operation of the bins, the first handling robot and the second handling robot can be driven to be respectively docked with the storage locations within their respective operating height ranges, avoiding the situation where the handling robot and the storage location of the shelf unit cannot be docked, which affects the incoming and outgoing operations of the bins.

[0060] It can be understood that the above-mentioned first robot tag, second robot tag, first storage location tag, and second storage location tag can be, for example, an electronic tag.

[0061] Among them, it can be understood that the above-mentioned first storage location and second storage location can be located in the same shelf unit at the same time, that is, the third shelf. Or, it can also be that the first shelf only has the first storage location, and the second shelf only has the second storage location. This embodiment does not limit this.

[0062] The embodiment of the present application provides a bin storage system. The bin storage system includes a shelf unit and a handling robot for docking with the storage locations of the shelf unit. Among them, the handling robot at least includes a first handling robot and a second handling robot with different operating height ranges. Among them, the shelf unit can include, for example, a first shelf and a second shelf. The height of the first storage location of the first shelf is within the first operating height range of the first handling robot. Correspondingly, the height of the second storage location of the second shelf is within the second operating height range of the second handling robot. And, the first handling robot is configured to dock with the first storage location, and the second handling robot is configured to dock with the second storage location. In this way, two handling robots with different operating height ranges can respectively dock with two different shelves that match their respective operating height ranges; or, the shelf unit can include a third shelf, and the third shelf simultaneously has the above-mentioned first storage location and second storage location. In this way, two handling robots with different operating height ranges can dock with the storage locations on the same shelf that respectively match their respective operating height ranges, thereby avoiding the situation that the handling robot and the storage location of the shelf unit cannot be docked and affecting the bin in-and-out operation during the bin in-and-out operation process, thus solving the above problem. In a possible implementation manner, the handling robot includes a walking chassis 21, a lifting gantry 22 fixedly installed on the walking chassis 21, and a bin handling mechanism 23 arranged to lift along the lifting gantry 22; among them, the height range of the bin handling mechanism 23 of the first handling robot 30 lifting up and down along its lifting gantry 22 is the first operating height range 32, and the height range of the bin handling mechanism 23 of the second handling robot 40 lifting up and down along its lifting gantry 22 is the second operating height range 42.

[0063] Please refer to Figure 2 , the handling robot generally includes a walking chassis. The walking chassis is provided with walking wheels. A lifting gantry is fixedly installed above the walking chassis. Then, a bin handling mechanism is installed on the handling robot to lift along the lifting gantry; when lifting along the lifting gantry to be level with the height of a certain storage location, the bin handling mechanism can transfer bins between the storage locations.

[0064] At this time, it can be understood that for the handling robot, the height range of the bin handling mechanism lifting up and down along the lifting gantry is its operating height range; that is to say, Figure 2The height range in which the bin handling mechanism 23 of the first handling robot 30 on the left side moves up and down along its lifting gantry 22 is Figure 1 the first operation height range 32 in Figure 2 The height range in which the bin handling mechanism 23 of the second handling robot 40 on the right side moves up and down along its lifting gantry 22 is Figure 1 the second operation height range 42 in

[0065] In a specific embodiment, the bin handling mechanism 23 includes a lifting chassis and a bin transfer device. Among them, the lifting chassis is installed on the lifting gantry 22 to move up and down, and the bin transfer device is installed on the lifting chassis to horizontally extend and retract, so that when the lifting chassis is docked with the storage location 12, the bin transfer device is used to transfer bins between the storage location 12 and the lifting chassis.

[0066] That is, specifically, the bin handling mechanism includes, for example, a lifting chassis and a bin transfer device. The lifting chassis is installed on the above-mentioned lifting gantry to move up and down, and then the bin transfer device is installed on the lifting chassis to horizontally extend and retract. In this way, it can be understood that when the lifting chassis moves up and down along the lifting gantry to be docked (i.e., at the same height) with a certain storage location, the bin transfer device can horizontally extend and retract relative to the lifting chassis along the direction towards the storage location, so as to transfer bins between the storage locations.

[0067] Specifically, the bin transfer device includes telescopic forks or telescopic suction cups.

[0068] In another specific embodiment, the bin handling mechanism 23 is provided on one side of the lifting gantry 22, and a robot storage location 24 is fixedly installed on the other side of the lifting gantry 22. A plurality of robot storage locations 24 are arranged at intervals along the height direction of the lifting gantry 22.

[0069] That is to say, in order to improve the efficiency of bin transfer, a plurality of robot storage locations can also be fixedly installed along the lifting gantry for this handling robot; among them, the robot storage location and the bin handling mechanism are respectively provided on both sides of the lifting gantry. For example, continue to refer to Figure 2 and along the front and back directions of the handling robot, the bin handling mechanism 23 and the robot storage location 24 are respectively arranged on the front and back sides of the lifting gantry.

[0070] In a possible implementation manner, refer to Figure 3 , the first operation height range 32 has a first lower limit height 321 and a first upper limit height 322, the second operation height range 42 has a second lower limit height 421 and a second upper limit height 422, the second lower limit height 421 is higher than the first lower limit height 321 and lower than the first upper limit height 322, and the second upper limit height 422 is higher than the first upper limit height 322; the storage location 12 includes a high-level storage location 70, a middle-level storage location 60, and a low-level storage location 50 arranged along the height direction.

[0071] Among them, the height of the low-level storage location 50 is between the first lower limit height 321 and the second lower limit height 421, and the low-level storage location is configured to dock with the first handling robot 30.

[0072] The height of the high-level storage location 70 is between the first upper limit height 322 and the second upper limit height 422, and the high-level storage location 70 is configured to dock with the second handling robot 40.

[0073] The height of the middle-level storage location 60 is between the second lower limit height 421 and the first upper limit height 322, and the middle-level storage location 60 is configured to dock with both the first handling robot 30 and the second handling robot 40.

[0074] In this embodiment, please first return to refer to Figure 2 , the first handling robot is, for example, a low-level handling robot, and the range of its first operating height may include the height of the storage locations at the lower levels of the shelf unit. However, due to the limitation of the lifting height, the range of its first operating height may not include the height of the storage locations at the higher levels of the shelf unit; correspondingly, the second handling robot is, for example, a high-level handling robot, and the range of its second operating height may include the height of the storage locations at the higher levels of the shelf unit. However, due to the limitation of the lifting height, the range of its second operating height may not include the height of the storage locations at the lower levels of the shelf unit.

[0075] That is to say, the range of the first operating height of the first handling robot has a first lower limit height and a first upper limit height, and the range of the second operating height of the second handling robot has a second lower limit height and a second upper limit height, where the second lower limit height is higher than the first lower limit height and lower than the first upper limit height, and the second upper limit height is higher than the first upper limit height.

[0076] Then, in combination with Figure 1 and Figure 3 , according to the above situations of the two handling robots, this embodiment can divide the storage locations into three types, namely high-level storage locations, middle-level storage locations, and low-level storage locations.

[0077] Specifically, the low-level storage location is the storage location between the first lower limit height and the second lower limit height. The low-level storage location can dock with the first handling robot but not with the second handling robot. Therefore, the low-level storage location should be provided with a first storage label. In this way, through the association relationship between the first storage label and the first robot label, the low-level storage location can be associated with the first handling robot, or in other words, dock with the first handling robot;

[0078] The high-level storage location is the storage location between the first upper limit height and the second upper limit height. The high-level storage location can be docked with the second handling robot but not with the first handling robot. Therefore, the high-level storage location should be provided with a second storage label. In this way, through the association relationship between the second storage label and the second robot label, the high-level storage location can be associated with the second handling robot, or in other words, docked with the second handling robot.

[0079] The middle-level storage location is the storage location between the second lower limit height and the first upper limit height. The middle-level storage location can be docked with the first handling robot and the second handling robot respectively. Therefore, the middle-level storage location should be provided with both a first storage label and a second storage label. In this way, through the association relationship between the first storage label and the first robot label, and the association relationship between the second storage label and the second robot label, the middle-level storage location can be associated with the first handling robot and the second handling robot respectively, or in other words, docked with the first handling robot and the second handling robot respectively.

[0080] It can be seen that in this embodiment, the storage locations of the shelf unit are divided into three different types along the height direction. Thus, each type of storage location can correspond to one or two handling robots respectively through the association relationship between the storage label and the robot label. The structure is simple and convenient to use.

[0081] In a possible implementation, a limiting structure is provided on the traveling chassis 21 of the second handling robot 40. The limiting structure is used to limit the lowering height of the bin handling mechanism 23 of the second handling robot 40, so that the second lower limit height 421 is higher than the first lower limit height 321 and lower than the first upper limit height 322.

[0082] That is, regarding the setting of the second lower limit height of the second handling robot, please refer to Figure 2 , for example, it can be achieved by setting a limiting structure on the traveling chassis of the second handling robot. The limiting structure is, for example, an L-shaped sheet metal bracket.

[0083] In a possible implementation, the shelf unit 10 is configured in the storage area to form a storage shelf; among them, when the bin is transferred into the storage shelf for warehousing, the first handling robot 30 carrying the bin is configured to be docked with the first storage location.

[0084] That is to say, when the shelf unit is a storage shelf, for example, for the warehousing operation of the bin, this embodiment can allocate the warehousing storage location of the bin according to the operation height range of the handling robot carrying the bin.

[0085] Specifically, when it is determined that the handling robot carrying the tote bin is the first handling robot, the tote bin storage system can allocate a storage location with a first storage location label on the storage rack as the inbound storage location for the tote bin according to the association relationship between the first robot label of the first handling robot and the first storage location label, thereby ensuring the smooth progress of the tote bin inbound operation.

[0086] Similarly, when it is determined that the handling robot carrying the tote bin is the second handling robot, the tote bin storage system can allocate a storage location with a second storage location label on the storage rack as the inbound storage location for the tote bin according to the association relationship between the second robot label of the second handling robot and the second storage location label, thereby ensuring the smooth progress of the tote bin inbound operation.

[0087] In a specific embodiment, in combination with Figures 3 to 5 , the storage rack includes any one of the high-level storage locations 70, the middle-level storage locations 60, and the low-level storage locations 50; or, the storage rack includes any two of the high-level storage locations 70, the middle-level storage locations 60, and the low-level storage locations 50; or, the storage rack includes the high-level storage locations 70, the middle-level storage locations 60, and the low-level storage locations 50.

[0088] For example, the storage rack in this embodiment is a low-level rack, which only includes low-level storage locations; or, the storage rack is a middle-level rack, which includes low-level storage locations and middle-level storage locations, or, the storage rack is a high-level rack, which includes the above-mentioned low-level storage locations, middle-level storage locations, and high-level storage locations; of course, in some special cases, the storage rack may also only include the above-mentioned low-level storage locations and high-level storage locations.

[0089] In a possible implementation manner, the shelf unit 10 is configured at the sorting workstation to form a workstation shelf; wherein, when the tote bin is transferred out of the workstation shelf for outbound, the first handling robot 30 carrying the tote bin is configured to dock with the first storage location, or, the second handling robot 40 carrying the tote bin is configured to dock with the second storage location.

[0090] That is to say, when the shelf unit is a workstation shelf placed at the sorting workstation, for example, for the outbound operation of the tote bin, in this embodiment, the outbound storage location of the tote bin can be allocated according to the operation height range of the handling robot carrying the tote bin.

[0091] Specifically, when it is determined that the handling robot carrying the tote bin is the first handling robot, the tote bin storage system can allocate a storage location with a first storage location label on the workstation shelf as the outbound storage location for the tote bin according to the association relationship between the first robot label of the first handling robot and the first storage location label, thereby ensuring the smooth progress of the tote bin outbound operation.

[0092] Similarly, when it is determined that the transport robot carrying the material box is the second transport robot, the material box storage system can allocate a storage location for the material box to be dispatched from the storage location with the second storage location label on the workstation shelf according to the association between the second robot tag and the second storage location label of the second transport robot, thereby ensuring the smooth progress of the material box dispatching operation.

[0093] In one embodiment, also combined with Figures 3 to 5 , the workstation shelf includes any one of the high storage location 70, the middle storage location 60 and the low storage location 50; or, the workstation shelf includes any two of the high storage location 70, the middle storage location 60 and the low storage location 50; or, the workstation shelf includes the high storage location 70, the middle storage location 60 and the low storage location 50.

[0094] For example, the workstation shelf in this embodiment is a low-level shelf, which only includes low-level storage positions; or, the workstation shelf is a middle-level shelf, which includes low-level storage positions and middle-level storage positions; or, the workstation shelf is a high-level shelf, which includes the above-mentioned low-level storage positions, middle-level storage positions and high-level storage positions; of course, in some special cases, the workstation shelf may also only include the above-mentioned low-level storage positions and high-level storage positions.

[0095] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0096] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0097] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0098] The foregoing description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Thus, the present application is not intended to be limited to the aspects shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0099] The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the form disclosed herein. Although numerous example aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof should be encompassed within the scope of the present utility model.

Claims

1. A bin storage system, characterized in that, The bin storage system includes: A shelf unit (10) having a number of storage locations (12) at different heights; Handling robots for docking with the storage locations (12), the handling robots at least including a first handling robot (30) having a first operation height range (32) and a second handling robot (40) having a second operation height range (42); Wherein, the shelf unit (10) at least includes a first shelf and a second shelf, the first shelf has a first storage location, the height of the first storage location is within the first operation height range (32), the second shelf has a second storage location, the height of the second storage location is within the second operation height range (42); and, the first handling robot (30) is configured to dock with the first storage location, the second handling robot (40) is configured to dock with the second storage location; or, The shelf unit (10) includes a third shelf, the third shelf has both a first storage location and a second storage location at the same time, the height of the first storage location is within the first operation height range (32), the height of the second storage location is within the second operation height range (42); and, the first handling robot (30) is configured to dock with the first storage location, the second handling robot (40) is configured to dock with the second storage location.

2. The bin storage system according to claim 1, wherein The handling robot includes a traveling chassis (21), a lifting gantry (22) fixedly installed on the traveling chassis (21), and a bin handling mechanism (23) arranged to lift along the lifting gantry (22); Wherein, the height range of the bin handling mechanism (23) of the first handling robot (30) lifting up and down along its lifting gantry (22) is the first operation height range (32), and the height range of the bin handling mechanism (23) of the second handling robot (40) lifting up and down along its lifting gantry (22) is the second operation height range (42).

3. The bin storage system according to claim 2, wherein The bin handling mechanism (23) includes a lifting chassis and a bin transfer device; Wherein, the lifting chassis is installed on the lifting gantry (22) to lift up and down, and the bin transfer device is installed on the lifting chassis to horizontally extend and retract, so that when the lifting chassis docks with the storage location (12), the bin transfer device is used to transfer bins between the storage location (12) and the lifting chassis.

4. The bin storage system according to claim 3, characterized in that, The bin transfer device includes telescopic forks or telescopic suction cups.

5. The bin storage system according to claim 2, wherein The bin handling mechanism (23) is arranged on one side of the lifting gantry (22), and a robot storage location (24) is fixedly installed on the other side of the lifting gantry (22), and a number of the robot storage locations (24) are arranged at intervals along the height direction of the lifting gantry (22).

6. The bin storage system according to claim 1, wherein The first working height range (32) has a first lower limit height (321) and a first upper limit height (322), the second working height range (42) has a second lower limit height (421) and a second upper limit height (422), the second lower limit height (421) is higher than the first lower limit height (321) and lower than the first upper limit height (322), and the second upper limit height (422) is higher than the first upper limit height (322); The storage location (12) includes a high-level storage location (70), a middle-level storage location (60), and a low-level storage location (50) arranged in the height direction; Wherein, the height of the low-level storage location (50) is between the first lower limit height (321) and the second lower limit height (421), and the low-level storage location (50) is configured to dock with the first handling robot (30); The height of the high-level storage location (70) is between the first upper limit height (322) and the second upper limit height (422), and the high-level storage location (70) is configured to dock with the second handling robot (40); The height of the middle-level storage location (60) is between the second lower limit height (421) and the first upper limit height (322), and the middle-level storage location (60) is configured to dock with both the first handling robot (30) and the second handling robot (40).

7. The bin storage system according to claim 6, characterized in that, A limiting structure is provided on the traveling chassis (21) of the second handling robot (40), and the limiting structure is used to limit the lowering height of the bin handling mechanism (23) of the second handling robot (40), so that the second lower limit height (421) is higher than the first lower limit height (321) and lower than the first upper limit height (322).

8. The bin storage system according to claim 6, wherein, The shelf unit (10) is configured in the storage area to form a storage shelf; Wherein, when the bin is transferred into the storage shelf for warehousing, the first handling robot (30) carrying the bin is configured to dock with the first storage location, or the second handling robot (40) carrying the bin is configured to dock with the second storage location.

9. The bin storage system according to claim 8, wherein The storage shelf includes any one of the high-level storage location (70), the middle-level storage location (60), and the low-level storage location (50); or, The storage shelf includes any two of the high-level storage location (70), the middle-level storage location (60), and the low-level storage location (50); or, The storage shelf includes the high-level storage location (70), the middle-level storage location (60), and the low-level storage location (50).

10. The bin storage system according to claim 6, characterized in that, The shelf unit (10) is configured at the sorting workstation to form a workstation shelf; Wherein, when the bin is transferred out of the workstation shelf, the first handling robot (30) carrying the bin is configured to dock with the first storage location, or the second handling robot (40) carrying the bin is configured to dock with the second storage location.

11. The bin storage system according to claim 10, wherein The workstation shelf includes any one of the high-level storage position (70), the middle-level storage position (60), and the low-level storage position (50); or, The workstation shelf includes any two of the high-level storage position (70), the middle-level storage position (60), and the low-level storage position (50); or, The workstation shelf includes the high-level storage position (70), the middle-level storage position (60), and the low-level storage position (50).

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