Warehousing system

Abstract

The utility model relates to the technical field of logistics storage, and discloses a storage system which comprises a work station, a storage platform, a storage platform and a control system. The goods shelf is provided with multiple layers of storage positions and cache positions located at the top of the goods shelf; the transfer robot is used for climbing on the goods shelf and transferring goods between the storage position and the temporary storage position; and the carrying device is used for carrying goods between the temporary storage position and the work station. Through the mode, the warehousing system provided by the utility model can improve the overall carrying efficiency of the warehouse when the carrying task is heavy.

Description

Technical Field

[0001] The present application relates to the field of logistics and warehousing technology, and in particular to a warehousing system. Background Art

[0002] Warehousing systems are a crucial component of modern logistics. As the intermediary between supply and consumption, they can buffer and balance supply and demand. Warehousing operations generally include receiving, storing, picking up, and shipping goods.

[0003] With the development of technology and the accelerated pace of life, the degree of automation in warehousing systems is becoming increasingly higher. In existing warehousing systems, automated cargo handling is generally achieved by using shelf-climbing robots to carry cargo and move on the ground between shelves and workstations. Since shelf-climbing robots can usually only carry one box at a time, when there are many handling tasks, there will be a large number of robots on the ground and on the shelves. This not only places higher requirements on the path planning of each shelf-climbing robot, but also easily causes congestion, affecting the overall handling efficiency of the warehouse. Utility Model Content

[0004] In view of the above problems, an embodiment of the present application provides a warehousing system that can improve the overall handling efficiency of the warehouse when the handling tasks are heavy.

[0005] An embodiment of the present application provides a warehousing system, including: a workstation for processing goods; a shelf having multiple layers of storage locations and a cache location at the top of the shelf; a transfer robot for climbing on the shelf and transferring goods between the storage location and the cache location; and a transport device for transporting goods between the cache location and the workstation.

[0006] In an optional embodiment, the handling device includes a first conveyor line arranged on the top of the shelf, a cache position is formed on the first conveyor line, and the cache position closest to the workstation on the first conveyor line is the cargo entry and exit position; the handling device includes a handling robot, which is used to walk between the workstation and the shelf and climb on the shelf to transport goods between the cargo entry and exit position and the workstation.

[0007] In an optional embodiment, the handling device includes a second conveyor line arranged on the top of the shelf, a cache position is formed on the second conveyor line, and the second conveyor line has a cargo entrance and exit extending to the workstation.

[0008] In an optional embodiment, there are multiple cache locations on the top of the shelf, and the multiple cache locations are interconnected by a second conveyor line; and / or, there are multiple shelves, and the multiple shelves are divided into multiple groups, and the cache locations on the top of the same group of shelves are connected to each other by a second conveyor line.

[0009] In an optional embodiment, there are multiple workstations, and the second conveyor line has multiple cargo entrances and exits, and the multiple cargo entrances and exits extend to multiple workstations accordingly.

[0010] In an optional manner, the transport device includes a lifting mechanism arranged on the top of the shelf and the workstation, and the lifting mechanism is used to lift the goods and transport them between the cache position and the workstation.

[0011] In an optional embodiment, the lifting mechanism includes a track extending between the workstation and the top of the cache position and a lifting claw slidably connected to the track and capable of being raised and lowered. The lifting claw is used to first descend to grab the goods, and then rise and slide along the track to transport the goods between the cache position and the workstation.

[0012] In an optional embodiment, the track is annular and is provided with a plurality of lifting claws, each of which is used to slide back along the track in the same direction after carrying the goods.

[0013] In an optional embodiment, the shelves include multiple rows arranged along a first direction, and each row of shelves is arranged along a second direction, wherein the first direction is perpendicular to the second direction; the track includes multiple first sub-rails extending along the second direction at the top of each row of shelves; the workstation includes multiple workstations arranged along the first direction, and each is arranged on one side of the shelf along the second direction; the track also includes a second sub-rail extending along the first direction between the tops of the multiple workstations; each first sub-rail is connected to the second sub-rail, and the lifting claw can slide between the first sub-rail and the second sub-rail; the lifting claw is used to pick up and place goods at the target cache position when sliding to a position on the first sub-rail opposite to the target cache position, and is also used to pick up and place goods at the target workstation when sliding to a position on the second sub-rail opposite to the target workstation.

[0014] In an optional embodiment, the transporting device includes a drone.

[0015] In the warehousing system provided in the embodiment of the present application, by utilizing a transport device to transport goods between a workstation and a cache location on the top of a shelf at high altitude, the number of robots required can be reduced, the warehouse space can be fully utilized, and the overall transport efficiency of goods in the warehousing system can be effectively improved.

[0016] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0018] Figure 1 A schematic diagram of the layout structure of the storage system provided in Example 1 of the present utility model;

[0019] Figure 2 This is a side structural diagram of the shelves and transfer robots in the storage system provided by Example 1 of the present utility model;

[0020] Figure 3 A schematic diagram of the layout structure of a storage system provided in Example 2 of the present utility model;

[0021] Figure 4 This is a front structural diagram of a storage system provided in Example 3 of the present utility model;

[0022] Figures 5a to 5d A schematic diagram of the structure of each state when the lifting claw grabs goods in the warehousing system provided in Example 3;

[0023] Figure 6 A schematic diagram of the layout structure of a storage system provided in Example 4 of the present utility model;

[0024] Figure 7 A schematic diagram of the layout structure of a storage system provided in Example 5 of the present utility model;

[0025] Figure 8 A schematic diagram of the layout structure of a storage system provided in Example 6 of the present utility model;

[0026] Figure 9 A schematic diagram of the layout structure of a storage system provided in Example 7 of the present utility model;

[0027] Figure 10 A schematic diagram of the structure of the shelves and lifting robots in the storage system provided in an embodiment of the present application.

[0028] The accompanying drawings in the specific implementation manner are as follows:

[0029] 100. Warehousing system;

[0030] 110. Workstation; 111. Target workstation;

[0031] 120, shelf; 121, storage location; 122, cache location; 1221, goods entry and exit location; 1222, target cache location;

[0032] 130. Transfer robot;

[0033] 140. Handling device; 141. First conveyor line; 142. Handling robot; 143. Second conveyor line; 1431. Cargo entrance and exit; 144. Lifting mechanism; 1441. Track; 1441a. First sub-track; 1441b. Second sub-track; 1441c. Third sub-track; 1441d. Fourth sub-track; 1442. Lifting claw; 145. Drone;

[0034] 150. Lifting robot;

[0035] 200. Goods; 210. Outgoing goods; 220. Incoming goods. DETAILED DESCRIPTION

[0036] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0038] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0039] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0040] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0041] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0042] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0043] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0044] In order to solve the problem that when there are many handling tasks, the overall handling efficiency is affected by the complex path planning of the shelf climbing robot and the congestion that is prone to occur, this application uses high-altitude operations to undertake the transportation of goods between workstations and shelves, thereby realizing the utilization of higher space in the warehouse, and can reduce the number of robots required for the warehousing system, thereby improving the overall handling efficiency of the warehouse.

[0045] This application embodiment provides a storage system. Figure 1 As shown in the figure, the storage system 100 includes a workstation 110, a shelf 120, a transfer robot 130 and a handling device 140.

[0046] The workstation 110 is used to process the goods 200, such as the storage and unloading, unpacking, inventory checking, and sorting of the goods 200. In addition, scattered or small goods 200 can be placed in a cargo container for transportation, while large goods 200 can be directly transported in their packaging boxes.

[0047] See also Figure 2, the figure shows the structure of the shelf 120 and the transfer robot 130 from a side perspective. The shelf 120 has multiple layers of storage positions 121 and a cache position 122 located at the top of the shelf 120. The transfer robot 130 is used to climb on the shelf 120 and transfer goods between the storage positions 121 and the cache position 122. Specifically, the transfer robot 130 can achieve translation and lifting on the shelf 120 through the cooperation of the driving mechanism with the beams and columns of the shelf 120, and can use the forks on it to pick up and place the goods 200 at the corresponding storage positions 121 and cache positions 122 on the shelf 120, thereby completing the transfer of the goods 200 between the storage positions 121 and the cache position 122.

[0048] The transport device 140 is used to transport goods between the buffer location 122 and the workstation 110. The present application provides multiple implementations of the transport device 140, which will be described in detail in the various embodiments provided below.

[0049] Example 1

[0050] like Figure 1 and Figure 2 As shown, the handling device 140 includes a first conveyor line 141 disposed on top of the shelf 120. For ease of distinction, the first conveyor line 141 is shown in dashed lines. Buffering positions 122 are formed on the first conveyor line 141. The buffering position 122 on the first conveyor line 141 closest to the workstation 110 is a cargo entry and exit position 1221. The handling device 140 also includes a handling robot 142, which is used to travel between the workstation 110 and the shelf 120 and climb on the shelf 120 to transport the cargo 200 between the shelf 120 and the workstation 110.

[0051] It should be noted that the handling robot 142 and the transfer robot 130 can be the same robot. That is, the same robot can be responsible for both transferring goods 200 between the storage location 121 and the buffer location 122, and for transporting goods 200 between the buffer location 122 and the workstation 110. The specific tasks can be performed according to the actual operational needs and corresponding control in the warehousing system 100. Of course, the handling robot 142 can also be the same type of robot as the transfer robot 130, or use the same method to climb and move on the shelf 120, but the two are not the same robot, which means that the transfer robot 130 and the handling robot 142 have a clear division of labor.

[0052] It should also be noted that in Figure 1In the specific embodiment shown, a plurality of shelves 120 are arranged in an array in the storage system 100, and a plurality of workstations 110 are arranged along the direction indicated by the Y-axis. This is merely an exemplary display and does not constitute a limitation on the specific number and layout of the workstations 110 and shelves 120.

[0053] Figure 1 The first conveyor line 141 connects the tops of a row of shelves 120 arranged in the direction indicated by the X-axis, so that the goods 200 on the cache position 122 at the top of each shelf 120 can be conveyed to the goods entry and exit position 1221 on the leftmost side of the row (that is, the position closest to the workstation 110) through the corresponding first conveyor line 141. After that, the handling robot 142 takes the goods 200 at the goods entry and exit position 1221, descends from the shelf 120 to the ground and moves to the workstation 110 to unload the goods, thereby completing the transportation of the goods 200 from the shelf 120 to the workstation 110. The transportation from the workstation 110 to the shelf 120 can be carried out by reversing the above steps, which will not be repeated here. In other embodiments, the first conveyor line 141 can also connect the cache positions 122 on the top of a row of shelves 120 along the direction indicated by the Y-axis, or can connect different cache positions 122 together along an inclined direction, or can group different shelves according to the properties of the stored goods 200, and connect the cache positions 122 on the same group of shelves 120 together. The specific connection form of the cache positions 122 by the first conveyor line 141 is not limited here. Regardless of the method, it is sufficient to ensure that the goods 200 on each cache position 122 can be transported to the goods entry and exit position 1221 by the first conveyor line 141.

[0054] The first conveyor line 141 can be a roller conveyor line, a chain conveyor line, a synchronous belt conveyor line, a flat top chain conveyor line, a flexible chain conveyor line, a double speed conveyor line or a mesh belt conveyor line, etc., and the specific details are not limited here.

[0055] In Example 1, a first conveyor line 141 and a handling robot 142 together constitute a handling device 140 for handling goods 200 between a workstation 110 and a cache 122. The first conveyor line 141 is responsible for transferring the goods 200 in the air between the cache 122 and the goods access point 1221, while the handling robot 142 is responsible for handling the goods 200 between the workstation 110 and the goods access point 1221. Compared to the existing method of handling goods entirely on the ground by robots, a portion of the handling path is transferred to the high-altitude first conveyor line 141, thereby reducing the number of robots. When there are many handling tasks, the movement trajectory of each handling robot 142 can also be better planned, thereby improving overall handling efficiency.

[0056] Example 2

[0057] like Figure 3 As shown in the layout structure in FIG, the handling device 140 includes a second conveyor line 143 arranged on the top of the shelf 120, a cache position 122 is formed on the second conveyor line 143, and the second conveyor line 143 has a cargo entrance and exit 1431 extending to the workstation 110.

[0058] Compared with Example 1, in Example 2, the second conveyor line 143 is directly responsible for transporting the goods 200 between the cache position 122 and the workstation 110, that is, the second conveyor line 143 extends to the goods entrance and exit 1431 of the workstation 110, and can directly transfer the goods 200 from the workstation 110 to the cache position 122, or from the cache position 122 to the workstation 110.

[0059] Specifically, considering that the distance between the shelf 120 and the workstation 110 is generally long, in order to ensure that the second conveyor line 143 in this section can stably support the goods 200, the support frame of the second conveyor line 143 can be produced using a stronger material, or the frame of the second conveyor line 143 can be hung and fixed at multiple positions using ceiling brackets, or it can be supported and fixed at the bottom of the frame of the second conveyor line 143 using ground brackets. The second conveyor line 143 can adopt the same conveying method as the first conveyor line 141 mentioned above.

[0060] like Figure 3 As shown, in Example 2, the top of the shelf 120 can have multiple cache positions 122, which means that the top of a shelf 120 can have multiple cache positions 122, that is, the top of a shelf 120 can temporarily store multiple goods 200 at the same time, and the multiple cache positions 122 are interconnected by a second conveyor line 143 to realize the transfer of goods 200 between different cache positions 122 on the same shelf 120.

[0061] Furthermore, multiple shelves 120 can be provided, and the multiple shelves 120 are divided into multiple groups, and the cache positions 122 on the top of the same group of shelves 120 are interconnected through the second conveyor line 143.

[0062] There may also be multiple workstations 110 , and accordingly, the second conveyor line 143 may have multiple cargo entrances and exits 1431 , and the multiple cargo entrances and exits 1431 extend to the multiple workstations 110 .

[0063] Specifically, if Figure 3As shown, in Example 2, a plurality of shelves 120 arranged along the direction indicated by the X-axis are grouped together, and the buffer locations 122 on them are interconnected through a section of the second conveyor line 143 extending along the direction indicated by the X-axis. At the same time, a row of shelves 120 at the leftmost end along the direction indicated by the Y-axis is also grouped together, and the buffer locations 122 on them are also interconnected through one end of the second conveyor line 143 extending in the direction indicated by the Y-axis. This section of the second conveyor line 143 is also connected to multiple sections of the second conveyor line 143 extending along the direction indicated by the X-axis to multiple workstations 110. With this arrangement, the goods 200 can be transported between any workstation 110 and any buffer location 122 by changing the conveying direction of each section of the second conveyor line 143 and transferring the goods 200 between different sections of the second conveyor line 143.

[0064] Of course, in some other embodiments, multiple shelves 120 can also be grouped in different ways. For example, the properties of the goods 200 stored on certain shelves 120 are the same, that is, the goods 200 on these shelves 120 are usually transported together to the same workstation 110 for outbound delivery, or transported from the same workstation 110 for warehousing. Therefore, the cache positions 122 on the tops of these shelves 120 can be interconnected through a section of the second conveyor line 143, and a cargo entrance and exit 1431 extending to the corresponding workstation 110 is set on the section of the second conveyor line 143, so that the section of the second conveyor line 143 can transport the same batch of goods with the same properties outbound or inbound together.

[0065] Example 3

[0066] See also Figure 4 The figure shows the structure of the storage system from a front view. The handling device 140 includes a lifting mechanism 144 provided on the top of the shelf 120 and the workstation 110. The lifting mechanism 144 is used to lift the goods 200 and carry them between the buffer position 122 and the workstation 110. Figure 4 As shown by the double arrows at the middle lifting mechanism 144 , the lifting mechanism 144 can be raised and lowered on the top of the shelf 120 and the workstation 110 , and can be translated between the top of the shelf 120 and the workstation 110 to enable the picking, placing and transportation of the goods 200 .

[0067] Specifically, the lifting mechanism 144 may include a track 1441 extending between the workstation 110 and the top of the cache 122, and a lifting claw 1442 slidably connected to the track and capable of being raised and lowered. Figure 5a On the basis shown in FIG, the claw 1442 first descends to the top of the cargo 200, presenting Figure 5bThe lifting claw 1442 can be lifted and lowered by means of a hanging steel cable, a telescopic push rod, a hydraulic cylinder, a pneumatic cylinder, a screw module, and the like. Then, the lifting claw 1442 rotates and tightens to clamp the cargo 200. Figure 5c The state shown in FIG. 14 is shown in FIG. 14. Of course, the hanging claw 1442 can also grasp the cargo 200 by means of translation clamping, suction cup negative pressure adsorption or magnetic adsorption. Finally, the hanging claw 1442 rises with the cargo 200. Figure 5d After that, the lifting claw 1442 holds the cargo 200 and moves horizontally on the track 1441 to move it to the designated position, and then moves in the reverse direction. Figure 5d to Figure 5a The operation places the goods 200 at the designated location (workstation 110 or cache location 122), completing the transportation of the goods 200.

[0068] Example 4

[0069] In order to improve the efficiency of cargo handling, Figure 6 In the layout structure shown in the top view, based on the above embodiment 3, the track 1441 can be arranged in a ring shape, and a plurality of hanging claws 1442 are provided on the track 1441. Each hanging claw 1442 is used to continue sliding along the track 1441 in the same direction to circle back after carrying the goods 200. Specifically, with respect to Figure 6 From the perspective shown, the lifting claw 1442 moves clockwise along the circular track 1441. For outbound cargo 210 that needs to be transported from the buffer 122 to the workstation 110, the lifting claw 1442 moves along the track 1441, which extends in the direction indicated by the lower X-axis, to the workstation 110. For inbound cargo 220 that needs to be transported from the workstation 110 to the buffer 122, the lifting claw 1442 moves clockwise along the track 1441 to the corresponding buffer 122. Of course, the lifting claw 1442 can also move counterclockwise along the track 1441. This arrangement allows all lifting claws 1442 to carry cargo 200 in an orderly manner without interfering with each other, effectively improving the efficiency of cargo 200 handling.

[0070] Example 5

[0071] like Figure 7As shown, based on the above-mentioned embodiment 4, the shelf 120 may include multiple rows arranged along a first direction (the direction shown by the Y axis in the figure), and each row of shelves 120 is arranged along a second direction (the direction shown by the X axis in the figure). The track 1441 includes a first sub-track 1441a extending along the direction shown by the Y axis at the top of each row of shelves 120. The workstation 110 includes multiple workstations 110 arranged along the direction shown by the Y axis, and each is arranged on one side of the shelf 120 along the direction shown by the X axis. The track 1441 also includes a second sub-track 1441b extending along the direction shown by the Y axis between the tops of the multiple workstations 110. Each first sub-track 1441a is connected to the second sub-track 1441b, and the hanging claw 1442 can slide between the first sub-track 1441a and the second sub-track 1441b. The lifting claw 1442 is used to pick up and place the goods 200 on the target cache position 1222 when sliding to the position on the first sub-track 1441a opposite to the target cache position 1222, and is also used to pick up and place the goods 200 on the target workstation 111 when sliding to the position on the second sub-track 1441b opposite to the target workstation 111, thereby realizing the transfer of the goods 200 between the cache position 122 and the workstation 110.

[0072] It should be noted here that the target cache position 1222 and the target workstation 111 are only relative to the transport task currently performed by the lifting claw 1442, that is, the currently performed transport task is to transport the goods from workstation A to cache position B, then the workstation A and cache position B are the corresponding target workstation 111 and target cache position 1222.

[0073] In addition, only one hanging claw 1442 may be provided, or Figure 7 Multiple lifting claws 1442 are provided, and the movement of the first sub-rail 1441a and the second sub-rail 1441b is not restricted, so that the lifting claw 1442 can transport goods between any cache position 122 and any workstation 110.

[0074] Example 6

[0075] like Figure 8As shown, embodiment 6 is a combination of embodiment 4 and embodiment 5, that is, on the basis of multiple shelves 120 and multiple workstations 110, two second sub-rails 1441b are set, and two third sub-rails 1441c extending in the direction indicated by the Y axis are set on the side of the shelf 120 away from the workstation 110, each third sub-rail 1441c is connected to each first sub-rail 1441a, and a fourth sub-rail 1441d extending in the direction indicated by the X axis is respectively set on both sides of the shelf 120 as a whole in the direction indicated by the Y axis, wherein one of the fourth sub-rails 1441d is They are respectively connected to a first sub-track 1441a and a third sub-track 1441c, so that the fourth sub-track 1441d, the first sub-track 1441a, the third sub-track 1441c and any one of the first sub-tracks 1441a form a ring, and another fourth sub-track 1441d is respectively connected to another first sub-track 1441a and another third sub-track c, so that the other fourth sub-track 1441d, the first sub-track 1441a, the third sub-track 1441c also form a ring with any one of the first sub-tracks 1441a.

[0076] After being set up in the above manner, multiple lifting claws 1442 can move in a single direction on the track 1441 along the direction indicated by the dotted arrow in the figure to realize the transportation of the goods 200 between any workstation 110 and any cache position 122. When multiple lifting claws 1442 are transported synchronously, the path planning is simple and the transportation efficiency is high.

[0077] Example 7

[0078] like Figure 9 As shown, the transport device 140 may also include a drone 145. The drone 145 may use structures such as hooks, claws, and suction cups to grab the cargo 200 and carry it in flight, thereby realizing the transport of the cargo 200 between the workstation 110 and the cache location 122.

[0079] Finally, it should be noted that the various methods of transporting the goods 200 between the workstation 110 and the cache 122 provided in the above embodiments can be implemented simultaneously if the structure of the storage system 100 and the high-altitude space allow.

[0080] Based on the various high-altitude transports provided in the above embodiments, please refer to Figure 10 A cache position 122 can also be set at the bottom of the shelf 120, and the lifting robot 150 in the storage system 100 can be used to transport the goods 200 between the cache position 122 at the bottom and the workstation 110 to further improve the transportation efficiency of the goods 200.

[0081] To sum up, in the warehousing system 100 provided in the embodiment of the present application, by utilizing the transporting device 140 to transport the goods 200 between the workstation 110 and the cache position 122 at the top of the shelf 120 at high altitude, the number of robots required can be reduced, the warehouse space can be fully utilized, and the overall transport efficiency of the goods 200 in the warehousing system 100 can be effectively improved.

[0082] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they may modify the technical solutions described in the above embodiments or replace some or all of the technical features therein with equivalents. Such modifications or replacements do not deviate from the essence of the corresponding technical solutions within the scope of the technical solutions of the embodiments of this application. In particular, the various technical features described in the various embodiments may be combined in any manner as long as there are no structural conflicts.

Claims

1. A warehousing system, characterized in that: include: Workstations for handling goods; A shelf having multiple layers of storage locations and a cache location located on top of the shelf; a transfer robot, the transfer robot being used to climb on the shelf and transfer goods between the storage location and the cache location; a transport device for transporting goods between the cache location and the workstation; The transport device includes a hoisting mechanism provided on the top of the shelf and the workstation, and the hoisting mechanism is used to lift the goods and transport them between the cache position and the workstation; The lifting mechanism includes a track extending between the workstation and the top of the cache position, and a lifting claw slidably connected to the track and capable of being raised and lowered, the lifting claw being used to first descend to grab the goods, and then ascend and slide along the track to transport the goods between the cache position and the workstation; The track is annular and is provided with a plurality of lifting claws. Each lifting claw is used to continue sliding along the track in the same direction to circle back after carrying the goods.

2. The storage system according to claim 1, characterized in that: The shelves include a plurality of rows arranged along a first direction, and each row of shelves is arranged along a second direction, wherein the first direction is perpendicular to the second direction; The track includes a plurality of first sub-tracks extending along the second direction at the top of each row of shelves; The workstations include a plurality of workstations arranged along the first direction, and all of the workstations are arranged on one side of the shelf along the second direction; The track further includes a second sub-track extending along the first direction between the tops of the plurality of workstations; Each first sub-rail is connected to the second sub-rail, and the hanging claw is slidable between the first sub-rail and the second sub-rail; The lifting claw is used to pick up and place goods at the target cache position when sliding to a position opposite to the target cache position on the first sub-rail, and is also used to pick up and place goods at the target workstation when sliding to a position opposite to the target workstation on the second sub-rail.

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