Warehousing system and goods shelf

Abstract

The embodiment of the utility model provides a warehousing system and goods shelves. The warehousing system comprises a plurality of goods shelves arranged at intervals, a tallying robot and a carrying robot. The goods shelf comprises a robot docking space; roadways are formed between the adjacent goods shelves; the tallying robot is arranged in a roadway; the carrying robot is used for carrying the workbins outside the goods shelf to the workbin butt joint layer or carrying the workbins on the workbin butt joint layer away from the goods shelf; the height of the robot butt joint space is larger than the lowest height of the carrying robot bearing material box, so that the carrying robot can move freely in the robot butt joint space and the roadway under the condition that the carrying material box moves. The robot butt joint space and the roadway allow the carrying robots to pass when the material boxes are borne, the movable paths of the carrying robots are increased, carrying is more flexible, avoiding among the carrying robots is reduced, the goods taking and placing efficiency and the carrying efficiency of the carrying robots are improved, and the labor intensity of workers is lowered. Therefore, the goods taking and placing efficiency and the carrying efficiency of the whole warehousing system are improved.

Description

Technical Field

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

[0002] In related technologies, a warehousing system includes multiple shelves, with one or more transport robots positioned in the aisles between adjacent shelves. These robots can move along the aisles to retrieve and place goods on the shelves. This retrieval method restricts the robots to a single aisle, resulting in a limited and inflexible transport path. Furthermore, multiple transport robots must avoid each other when traveling in the same aisle, leading to low efficiency in the warehousing system. Utility Model Content

[0003] The purpose of the embodiments of the present application is to provide a warehousing system and shelf to improve the efficiency of picking and placing goods. The specific technical solutions are as follows:

[0004] An embodiment of the present application provides a warehousing system, comprising: a plurality of shelves arranged at intervals, a sorting robot and a handling robot; the shelves comprise a material box storage space and a robot docking space arranged from top to bottom; the material box storage space is provided with multiple material box storage layers; a material box docking layer is provided at the bottom of the material box storage space; the material box docking layer has a preset height from the ground to form the robot docking space; lanes extending along the length direction of the shelves are formed between adjacent shelves; the sorting robot is arranged in the lane for sorting and placing material boxes on adjacent shelves, and for moving material boxes between the material box storage layer and the material box docking layer of adjacent shelves; the handling robot is used to transport material boxes outside the shelf to the material box docking layer, or to move material boxes on the material box docking layer away from the shelf; the height of the robot docking space is greater than the lowest height of the handling robot carrying material boxes, so that the handling robot can move arbitrarily in the robot docking space and lane when the carrying material box moves.

[0005] In some embodiments, in the robot docking space of the first shelf among the adjacent shelves, a first channel and a second channel are sequentially arranged along the direction close to the aisle; in the robot docking space of the second shelf among the adjacent shelves, a third channel and a fourth channel are sequentially arranged along the direction close to the aisle; the first channel, the second channel, the third channel and the fourth channel are all parallel to the aisle and extend to the outside of the shelf; the handling robot can carry the material box and move arbitrarily in the first channel, the second channel, the third channel and the fourth channel and the aisle.

[0006] In some embodiments, the transport robot includes: a first mobile chassis, a first lifting mechanism and a first lifting platform arranged in sequence from bottom to top; the material box docking layer includes a plurality of docking storage positions; the plurality of docking storage positions are arranged sequentially along the length direction of the lane, and are used to dock with the sorting robot or the transport robot to temporarily store the material boxes to be picked up and placed; a through slot is provided at the bottom of each of the docking storage positions, and the through slot is perpendicular to the lane, so that the first lifting mechanism can drive the first lifting platform to pass through the through slot to lift or place the material box.

[0007] In some embodiments, the material box docking layer of the first shelf and the second shelf is a single-depth layer plate, which is set from the side of the shelf located in the aisle toward the inside of the shelf and is respectively located above the second channel and the fourth channel.

[0008] In some embodiments, the handling robot is used to move empty from any of the first channel, the second channel, the third channel, the fourth channel or the lane to the target docking storage position where the material box is temporarily stored when leaving the warehouse, and to drive the first lifting platform to rise through the through slot by the first lifting mechanism to lift the material box, and then drive the material box to move along the moving through slot to the first channel, the third channel or the lane based on the first mobile chassis. After the first lifting platform drops to the lowest state, the handling robot drives the material box from any of the first channel, the second channel, the third channel, the fourth channel or the lane to move out of the first shelf or the second shelf; and, when entering the warehouse, the handling robot carrying the target material box A person, based on the first mobile chassis, travels at the lowest height and moves from any road in the first channel, second channel, third channel, fourth channel or alley to a position corresponding to an idle target docking storage position on the first channel, third channel or alley, drives the first lifting platform to rise through the first lifting mechanism to lift the material box, and moves toward the through slot of the target docking storage position based on the first mobile chassis, and then drives the first lifting platform to descend through the first lifting mechanism to place the material box in the target docking storage position; finally, lowers the first lifting platform and moves out of the first shelf or the second shelf empty from any road in the first channel, second channel, third channel, fourth channel or alley.

[0009] In some embodiments, the first shelf and the second shelf are both double-deep shelves; the material box docking layer of the first shelf and the second shelf is a double-deep layer plate; the multiple docking storage positions are arranged in two rows along the length direction of the lane, and in the two rows of docking storage positions, the through grooves of two adjacent docking storage positions along the width direction of the lane are connected.

[0010] In some embodiments, the handling robot is used to move empty from any of the first channel, the second channel, the third channel, the fourth channel or the lanes to the target docking storage position where the material box is temporarily stored when leaving the warehouse, and to drive the first lifting platform to rise through the through slot by the first lifting mechanism to lift the material box, and then drive the material box to move along the moving through slot to the lane based on the first mobile chassis. After the first lifting platform drops to the lowest state, the handling robot drives the material box from any of the first channel, the second channel, the third channel, the fourth channel or the lanes to move out of the first shelf or the second shelf; and, when entering the warehouse, the handling robot carrying the target material box A person, based on the first mobile chassis, travels at the lowest height and moves from any road in the first channel, second channel, third channel, fourth channel or alley to a position on the alley corresponding to an idle target docking storage position, drives the first lifting platform to rise through the first lifting mechanism to lift the material box, and moves toward the through slot of the target docking storage position based on the first mobile chassis, and then drives the first lifting platform to descend through the first lifting mechanism to place the material box in the target docking storage position; finally, lowers the first lifting platform and moves out of the first shelf or the second shelf empty from any road in the first channel, second channel, third channel, fourth channel or alley.

[0011] In some embodiments, the handling robot includes: a second mobile chassis, a second lifting mechanism and a second lifting platform arranged in sequence from bottom to top; the second lifting platform is comb-shaped; the material box docking layer includes a plurality of docking storage positions; the plurality of docking storage positions are arranged sequentially along the length direction of the aisle, and are used to dock with the sorting robot or the handling robot to temporarily store the material boxes to be picked up and placed; a comb-shaped opening facing the inside of the shelf is opened at the bottom of each of the docking storage positions, which is used to cooperate with the second lifting platform of the handling robot, so that the second lifting mechanism drives the second platform to pass through the comb-shaped opening to lift or place the material box.

[0012] In some embodiments, a plurality of horizontal tracks are provided on at least one shelf on both sides of the aisle; the plurality of horizontal tracks are arranged at intervals in the vertical direction; the sorting robot is hung on the side of the at least one shelf located in the aisle based on the horizontal tracks, and can move in the aisle along the horizontal tracks; the height from the bottom of the sorting robot to the ground is greater than the lowest height of the carrying box of the transport robot, so that the transport robot can move arbitrarily in the aisle when the carrying box moves.

[0013] In some embodiments, the sorting robot includes a column gantry and a pick-and-place assembly; the column gantry is vertically installed on the horizontal track; the pick-and-place assembly is arranged on the column gantry, and can move along the horizontal track with the column gantry, and rise and fall along the column gantry; the material box storage layer includes a plurality of material box storage positions, and the sorting robot is used to sort and place materials on a plurality of material box storage positions of adjacent shelves based on the movement of the pick-and-place assembly along the horizontal track with the column gantry, and / or the lifting and falling along the column gantry, and to move materials between the material box storage layer and the material box docking layer of adjacent shelves.

[0014] In some embodiments, the picking and placing component of the sorting robot is used to move the boxes from the box storage layer on the adjacent shelf to the box docking layer, or move the boxes on the box docking layer of the adjacent shelf to the target box storage position, or move the boxes on the box storage position of the adjacent shelf to the target box storage position.

[0015] An embodiment of the present application also provides a shelf, comprising: a material box storage space and a robot docking space arranged from top to bottom; the material box storage space is provided with multiple layers of material box storage layers; a material box docking layer is provided at the bottom of the material box storage space; the material box docking layer has a preset height from the ground to form the robot docking space for the transport robot to move and dock to pick up and place material boxes; lanes extending along the length direction of the shelves are formed between adjacent shelves; a sorting robot is provided in the lane; the height of the robot docking space is greater than the lowest height of the material box carried by the transport robot, so that the transport robot can move arbitrarily in the robot docking space and lane when the carried material box moves.

[0016] In some embodiments, in the robot docking space of the first shelf among the adjacent shelves, a first channel and a second channel are sequentially arranged along the direction close to the aisle; in the robot docking space of the second shelf among the adjacent shelves, a third channel and a fourth channel are sequentially arranged along the direction close to the aisle; the first channel, the second channel, the third channel and the fourth channel are all parallel to the aisle and extend to the outside of the shelf.

[0017] In some embodiments, the material box docking layer includes multiple docking storage locations; the multiple docking storage locations are arranged sequentially along the length direction of the lane, and are used to dock with the sorting robot or the handling robot to temporarily store the material boxes to be picked up and placed; a through groove is opened at the bottom of each of the docking storage locations, and the through groove is perpendicular to the lane, so that the handling robot can pass through the through groove to lift or place the material box.

[0018] In some embodiments, the material box docking layer of the first shelf and the second shelf is a single-depth layer plate, which is set from the side of the shelf located in the aisle toward the inside of the shelf and is respectively located above the second channel and the fourth channel.

[0019] In some embodiments, the first shelf and the second shelf are both double-deep shelves; the material box docking layer of the first shelf and the second shelf is a double-deep layer plate; the multiple docking storage positions are arranged in two rows along the length direction of the lane, and in the two rows of docking storage positions, the through grooves of two adjacent docking storage positions along the width direction of the lane are connected.

[0020] In the warehousing system and shelves provided by the embodiments of the present application, a tallying robot moves within the aisles, picking up and placing boxes between adjacent shelves, and a handling robot carries boxes between shelves and the outside of the shelves. Through the division of labor and cooperation between the two types of robots, the efficiency of picking up and placing goods and the efficiency of handling can be improved in the warehousing system. Both the robot docking space and the aisles of the shelves allow the handling robot to pass through when carrying boxes, which increases the number of paths the handling robot can move, making handling more flexible and reducing the need for avoidance between handling robots. Furthermore, when the handling robot moves within the robot docking space, it will not interfere with the tallying robot, thereby improving the efficiency of picking up and placing goods and the efficiency of handling. This, in turn, improves the efficiency of picking up and placing goods and the efficiency of handling of the handling robot, thereby improving the efficiency of picking up and placing goods and the efficiency of handling of the entire warehousing system.

[0021] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0023] Figure 1 This is a three-dimensional structural diagram of the storage system according to the first embodiment of the present application;

[0024] Figure 2 for Figure 1 A partial schematic diagram of the storage system shown;

[0025] Figure 3 for Figure 1 A schematic side view of the storage system shown;

[0026] Figure 4a for Figure 1 A three-dimensional structural diagram of a first embodiment of the transport robot shown;

[0027] Figure 4b for Figure 1 A three-dimensional structural diagram of a second embodiment of the transport robot shown;

[0028] Figure 5This is a three-dimensional structural diagram of a storage system according to a second embodiment of the present application;

[0029] Figure 6 for Figure 5 A partial schematic diagram of the storage system shown;

[0030] Figure 7 for Figure 5 Schematic side view of the storage system shown.

[0031] Reference numerals:

[0032] Shelf 100; first shelf 100A; second shelf 100B; container storage space 110; container storage layer 111; container storage location 1111; container docking layer 112; docking storage location 1121; through slot 1123; robot docking space 120; first channel 121; second channel 122; third channel 123; fourth channel 124; lane 130; horizontal track 140;

[0033] Tallying robot 200; column gantry 210; picking and placing assembly 220;

[0034] Transport robot 300; first mobile chassis 310a; first lifting mechanism 320a; first lifting platform 330a; second mobile chassis 310b; second lifting mechanism 320b; second lifting platform 330b;

[0035] Material box 400;

[0036] Workstation 500. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0038] As mentioned in the background, in related art, a warehouse system includes multiple shelves, with one or more transport robots positioned in the lanes between adjacent shelves. These robots can move within the lanes to retrieve and place goods on the shelves. This retrieval method restricts the robots to moving within the lanes, resulting in a single, inflexible transport path. Furthermore, multiple transport robots must avoid each other when traveling in the same lane, leading to low efficiency in the retrieval system.

[0039] In order to improve the efficiency of picking and placing goods in a warehousing system, an embodiment of the present application provides a warehousing system and a shelf. First, the warehousing system provided in the embodiment of the present application is described in detail.

[0040] See also Figures 1 to 3 ; Figure 1 This is a three-dimensional structural diagram of the storage system according to the first embodiment of the present application; Figure 2 for Figure 1 A partial schematic diagram of the storage system shown; Figure 3 for Figure 1 Schematic side view of the storage system shown.

[0041] like Figures 1 to 3 As shown, the warehousing system provided by the first embodiment of the present application includes: a plurality of shelves 100 arranged at intervals, a sorting robot 200 and a transport robot 300.

[0042] The shelf 100 includes a material box storage space 110 and a robot docking space 120 arranged from top to bottom; the material box storage space 110 is provided with multiple layers of material box storage layers 111; the material box docking layer 112 is provided at the bottom of the material box storage space 110; the material box docking layer 112 has a preset height with the ground to form the robot docking space 120.

[0043] Lanes 130 extending along the length direction of the shelves are formed between adjacent shelves 100.

[0044] The sorting robot 200 is arranged in the lane 130 to sort and place the boxes 400 on the adjacent shelves 100 and move the boxes 400 between the box storage layer 111 and the box docking layer 112 of the adjacent shelves 100.

[0045] The transport robot 300 is used to transport the material box 400 outside the shelf 100 to the material box docking layer 112 , or to move the material box 400 on the material box docking layer 112 away from the shelf 100 .

[0046] The height of the robot docking space 120 is greater than the lowest height of the transport robot 300 carrying the material box 400, so that the transport robot 300 can move freely in the robot docking space 120 and the lane 130 when the carrying material box 400 moves.

[0047] In the warehousing system provided by the embodiment of the present application, the sorting robot 200 moves in the lane 130, picking up and placing the material boxes 400 between adjacent shelves 100, and the handling robot 300 carries the material boxes 400 between the shelves 100 and the outside of the shelves 100. Through the division of labor and cooperation between the above two types of robots, the efficiency of picking up and placing goods and the handling efficiency of the warehousing system can be improved. The robot docking space 120 of the shelf 100 and the lane 130 both allow the handling robot 300 to pass through when carrying the material boxes 400, which increases the movable paths of the handling robot 300, makes handling more flexible, reduces the avoidance between the handling robots 300, and when the handling robot 300 travels in the robot docking space 120, it will not interfere with the sorting robot 200, thereby improving the efficiency of picking up and placing goods and the handling efficiency of the handling robot 300, thereby improving the efficiency of picking up and placing goods and the handling efficiency of the entire warehousing system.

[0048] In this embodiment, Figures 1 to 3 As shown, in the robot docking space 120 of the first shelf 100A among the adjacent shelves 100, the first channel 121 and the second channel 122 are sequentially arranged along the direction close to the lane 130; in the robot docking space 120 of the second shelf 100B among the adjacent shelves 100, the third channel 123 and the fourth channel 124 are sequentially arranged along the direction close to the lane 130.

[0049] The first channel 121 , the second channel 122 , the third channel 123 and the fourth channel 124 are all parallel to the lane 130 and extend to the outside of the shelf 100 .

[0050] The transport robot 300 can carry the material box 400 and move freely in the first channel 121 , the second channel 122 , the third channel 123 , the fourth channel 124 and the lane 130 .

[0051] Specifically, if Figure 1 and Figure 3 As shown, the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 and the lane 130 can extend to the workstation 500 outside the shelf 100, and the transport robot 300 travels along the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 and the lane 130 to transport the material box 400 between the shelf 100 and the workstation 500 to put the material box 400 into or out of the warehouse.

[0052] The first channel 121, the second channel 122, the third channel 123, the fourth channel 124, and the lane 130 are bidirectional channels for the transport robots 300 to travel back and forth. There can be multiple transport robots 300. When a transport robot 300 is traveling in any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124, or the lane 130, if there are other transport robots 300 in its path, the transport robot 300 can move to channels on either side of the current channel to avoid them. When the transport robot 300 is traveling in the first channel 121, the second channel 122, the third channel 123, or the fourth channel 124, it will not interfere with the tallying robot 200, thereby improving the handling efficiency of the warehousing system.

[0053] By applying the embodiments of the present application, the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 and the lane 130 all allow the transport robot 300 to pass when carrying the material box 400, thereby increasing the movable paths of the transport robot 300 and reducing the avoidance between the transport robots 300. In addition, when the transport robot 300 is traveling in the first channel 121, the second channel 122, the third channel 123 or the fourth channel 124, it will not interfere with the sorting robot 200, thereby improving the picking and placing efficiency and the handling efficiency of the transport robot 300, thereby improving the picking and placing efficiency and the handling efficiency of the entire warehousing system.

[0054] exist Figure 1 In the embodiment shown, Figures 1 to 3 As shown, a plurality of horizontal rails 140 are provided on at least one shelf 100 on both sides of the lane 130 , and the plurality of horizontal rails 140 are arranged at intervals along the vertical direction.

[0055] The sorting robot 200 is mounted on a side of at least one shelf 100 located in the lane 130 based on a horizontal track 140 and can move in the lane 130 along the horizontal track 140 .

[0056] The height from the bottom of the tallying robot 200 to the ground is greater than the lowest height of the transporting robot 300 carrying the material box 400, so that the transporting robot 300 can move freely in the lane 130 when the carrying material box 400 moves.

[0057] Specifically, when the handling robot 300 carries the material box 400 and travels at its lowest height in the lane 130, it is lower than the tallying robot 200 and does not interfere with the tallying robot 200. Using the embodiments of the present application, when the handling robot 300 carries the material box 400 and travels at its lowest height in the robot docking space 120 or the lane 130, it does not interfere with the tallying robot 200, thus resolving the issue of the two robots needing to avoid each other and improving the retrieval and handling efficiency of the warehousing system.

[0058] exist Figure 1 In the embodiment shown, see Figure 4a , Figure 4a for Figure 1 The three-dimensional structure diagram of the first embodiment of the transport robot is shown in FIG. Figures 1 to 4a As shown, the transport robot 300 includes: a first moving chassis 310a, a first lifting mechanism 320a and a first lifting platform 330a which are arranged in sequence from bottom to top.

[0059] The material box docking layer 112 includes a plurality of docking storage locations 1121 ; the plurality of docking storage locations 1121 are sequentially arranged along the length direction of the lane 130 and are used for docking with the tallying robot 200 or the transport robot 300 to temporarily store the material boxes 400 to be picked up and placed.

[0060] A through slot 1123 is defined at the bottom of each docking storage position 1121 . The through slot 1123 is perpendicular to the lane 130 , allowing the first lifting mechanism 320 a to drive the first lifting platform 330 a through the through slot 1123 to lift or place the material box 400 .

[0061] In this embodiment, multiple docking storage locations 1121 are provided on the container docking layer 112 to temporarily store containers 400. These locations can be used by multiple handling robots 300 to simultaneously retrieve and place containers 400 for loading and unloading, thereby improving the warehousing system's efficiency in both loading and unloading. The handling robots 300 can access and place containers 400 at the bottom of the container docking layer 112 by lifting the first lifting platform 330a through the through slot 1123.

[0062] Specifically, the first mobile chassis 310a is arranged at the bottom of the transport robot 300, and is used to drive the first lifting mechanism 320a and the first lifting platform 330a to move on the ground. It can include universal wheels to achieve multi-directional movement; the first lifting mechanism 320a and the first lifting platform 330a are arranged at the top of the first mobile chassis 310a.

[0063] In this embodiment, the first lifting platform 330a is in the shape of a flat plate and is used to carry the material box 400. It can move the material box horizontally under the drive of the first movable chassis 310a and lift or lower the material box 400 under the drive of the first lifting mechanism 320a.

[0064] The width of the through slot 1123 is configured to be smaller than the size of the material box 400 and larger than the size of the first lifting platform 330a, so that the first lifting platform 330a can lift or lower the material box 400 through the through slot 1123 and prevent the material box 400 from falling from the through slot 1123.

[0065] exist Figure 1 In the embodiment shown, Figures 1 to 3As shown, the material box docking layer 112 of the first shelf 100A and the second shelf 100B is a single-depth layer plate, both of which are set from the side of the shelf 100 located in the aisle 130 toward the inside of the shelf 100, and are respectively located above the second channel 122 and the fourth channel 124.

[0066] Specifically, the rack 100 can be a double-deep rack or a multi-deep rack. Accordingly, the width of the first aisle 121 or the third aisle 123 is greater than or equal to the width of the second aisle 122 or the third aisle 123. For multi-deep racks, the width of the first aisle 121 or the third aisle 123 is greater than the width of the second aisle 122 or the fourth aisle 124. The first aisle 121 or the third aisle 123 can be further divided into multiple aisles for the transport robot 300 to pass through, thereby further improving the pick-up and delivery efficiency of the transport robot 300 and the transport efficiency.

[0067] like Figures 1 to 3 As shown, in a specific embodiment of the present application, the shelf 100 is a double-deep shelf, and the sorting robot 200 is mounted on the first shelf 100A, and can pick up and place the double-deep material boxes 400 on the first shelf 100A and the second shelf 100B.

[0068] The handling work of the sorting robot 200 is specifically divided into the following four types: the first is to move the material box 400 on the material box storage space 110 of the first shelf 100A to the target docking storage position 1121 of the material box docking layer 112 of the first shelf 100A or the second shelf 100B; the second is to move the material box 400 on the material box storage space 110 of the second shelf 100B to the target docking storage position 1121 of the material box docking layer 112 of the first shelf 100A or the second shelf 100B; the third is to move the material box 400 on the material box storage position 1111 of the material box storage space 110 of the first shelf 100A to the target material box storage position 1111 of the first shelf 100A or the second shelf 100B; the fourth is to move the material box 400 on the material box storage position 1111 of the material box storage space 110 of the second shelf 100B to the target material box storage position 1111 of the first shelf 100A or the second shelf 100B.

[0069] The area enclosed by the bottommost bin storage layer 111 of the bin storage space 110, the shelves located above the first aisle 121 or the third aisle 123, the bin docking layer 112, and the shelf legs constitutes the robot docking space 120. The height at which the first aisle 121 or the third aisle 123 allows the transport robot 300 to pass carrying the bin 400 is greater than the height at which the second aisle 122 or the fourth aisle 124 allows the transport robot 300 to pass carrying the bin 400.

[0070] When applying this embodiment, the material box docking layer 112 is a single-depth layer plate, which increases the robot docking space 120, so that the first channel 121 or the third channel 123 can allow the transport robot 300 to carry the material box 400 through a higher height, and the transport robot 300 can adjust the height in the first channel 121 or the third channel 123.

[0071] exist Figure 1 In the embodiment shown, Figures 1 to 3 As shown, the handling robot 300 is used to move empty from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130 to the bottom of the target docking storage position 1121 where the material box 400 is temporarily stored when leaving the warehouse, and drives the first lifting platform 330a to rise through the through slot 1123 through the first lifting mechanism 320a to lift the material box 400, and then drives the material box 400 along the moving through slot 1123 to the first channel 121, the third channel 123 or the lane 130 based on the first mobile chassis 310a. After the first lifting platform 330a descends to the lowest state, the handling robot 300 drives the material box 400 from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130 to move out of the first shelf 100A or the second shelf 100B.

[0072] Furthermore, when entering the warehouse, the handling robot 300 carrying the target material box 400, based on the first mobile chassis 310a, travels at the lowest height state, and moves from any road in the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130 to the position corresponding to the vacant target docking storage position 1121 on the first channel 121, the third channel 123 or the lane 130, and drives the first lifting platform 330a to rise by the first lifting mechanism 320a to lift the material box. 400, and moves toward the through slot 1123 of the target docking storage position 1121 based on the first mobile chassis 310a, and then drives the first lifting platform 330a to descend through the first lifting mechanism 320a to place the material box 400 in the target docking storage position 1121; finally, the first lifting platform 330a is lowered and moved out of the first shelf 100A or the second shelf 100B empty from any road in the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130.

[0073] Specifically, if Figure 3 As shown, the warehousing and outbound process when the target docking storage location 1121 is located at the first shelf 100A is described.

[0074] When leaving the warehouse, the empty handling robot 300 can first travel along any road in the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130, and finally switch to the second channel 122 below the target docking storage position 1121.

[0075] After the first lifting platform 330a rises and passes through the through slot 1123 to lift the material box 400, the handling robot 300 drives the material box 400 along the moving through slot 1123 to the first channel 121 or alley 130 adjacent to the second channel 122 based on the first mobile chassis 310a. After the first lifting platform 330a descends to the lowest state, the handling robot 300 drives the material box 400 from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the alley 130, moves out of the shelf 100, and goes to the workstation 500 for delivery.

[0076] When entering the warehouse, the handling robot 300 moves to the position corresponding to the idle target docking storage position 1121 on the first channel 121 or the lane 130, the first lifting platform 330a rises and lifts the material box 400, and moves toward the through slot 1123 of the target docking storage position 1121. After lowering the first lifting platform 330a, the empty load is moved out of the shelf 100 from any road in the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130.

[0077] Next, the warehousing and unloading process when the target docking storage location 1121 is located at the second shelf 100B is described.

[0078] When leaving the warehouse, the empty handling robot 300 can first travel along any road in the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130, and finally switch to the fourth channel 124 below the target docking storage position 1121.

[0079] After the first lifting platform 330a rises and passes through the through slot 1123 to lift the material box 400, the handling robot 300 drives the material box 400 along the moving through slot 1123 to the third channel 123 or the alley 130 adjacent to the fourth channel 124 based on the first mobile chassis 310a. After the first lifting platform 330a descends to the lowest state, the handling robot 300 drives the material box 400 from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the alley 130, moves out of the shelf 100, and goes to the workstation 500 for delivery.

[0080] When entering the warehouse, the handling robot 300 moves to the position corresponding to the idle target docking storage position 1121 on the third channel 123 or the lane 130, the first lifting platform 330a rises and lifts the material box 400, and moves toward the through slot 1123 of the target docking storage position 1121. After lowering the first lifting platform 330a, the empty load is moved out of the shelf 100 from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130.

[0081] The vertical movement of the first lifting mechanism 320a and the horizontal movement of the first mobile chassis 310a can be carried out simultaneously, that is, when the first mobile chassis 310a moves into or out of the target docking storage position 1121, the first lifting mechanism 320a can raise or lower the material box 400, thereby improving the handling efficiency of the handling robot 300.

[0082] The warehousing system also includes a control device that communicates with the control modules installed on each sorting robot 200 and transfer robot 300. The control device can plan the movement routes of the transfer robots 300 based on the location of the target docking storage location 1121 and the occupancy of each aisle in the current warehousing system. When the transfer robot 300 is traveling along the planned movement route, if there are other transfer robots 300 in the forward path, the control device can send instructions to the transfer robot 300, instructing the transfer robot 300 to move to the aisles on both sides of the current aisle to avoid them.

[0083] By applying this embodiment, the aforementioned planning of the transport robot 300's inbound and outbound routes makes the transport robot 300's inbound and outbound operations more flexible, improving the efficiency of the transport robot 300 in picking up and placing goods, as well as the handling efficiency, thereby improving the efficiency of the entire warehouse system. The transport robot 300 can pick up and place bins 400 without stopping or with a brief stop, thereby improving the efficiency of the transport robot 300 in picking up and placing bins 400. Furthermore, the transport robot 300 can pick up and place bins 400 below the docking storage location 1121, thereby improving the space utilization of the shelf 100.

[0084] In other embodiments, the specific structure of the transport robot 300 and the manner of docking with the material box 400 may be various.

[0085] The handling robot 300 can move to the position below the target docking storage position 1121 as described in the above embodiment, that is, on the second channel 122 or the fourth channel 124, and pick up and place the material box 400 by lifting; it can also be located on the side of the target docking storage position 1121, that is, on the first channel 121, the third channel 123 or the lane 130, and move the material box 400 by lateral extension and retraction of the telescopic pick-up and placement mechanism. For example, the telescopic pick-up and placement mechanism can be a lever mechanism.

[0086] See also Figure 4b , Figure 4b for Figure 1 The three-dimensional structure diagram of the second embodiment of the transport robot is shown in FIG. Figure 4b As shown, the transport robot 300 includes: a second mobile chassis 310b, a second lifting mechanism 320b and a second lifting platform 330b which are arranged in sequence from bottom to top; the second lifting platform 330b is in a comb-tooth shape.

[0087] like Figure 3 As shown, the material box docking layer 112 includes multiple docking storage locations 1121; the multiple docking storage locations 1121 are arranged sequentially along the length direction of the lane 130, and are used to dock with the sorting robot 200 or the handling robot 300 to temporarily store the material boxes 400 to be picked up and placed.

[0088] A comb-shaped opening facing the inside of the shelf is provided at the bottom of each docking storage position 1121 for cooperating with the second lifting platform 330b of the transport robot 300 so that the second lifting mechanism 320b can drive the second lifting platform 330b through the comb-shaped opening to lift or place the material box 400.

[0089] Specifically, the second lifting platform 330b is comb-shaped, with a plurality of protrusions arranged in a comb-tooth shape on the top. Each comb-tooth opening of the docking storage position 1121 has a comb-tooth gap that is larger than the width of the protrusion on the top of the second lifting platform 330b, so that the comb-tooth-shaped protrusion of the second lifting platform 330b can pass through the comb-tooth-shaped opening, thereby lifting or placing the material box 400.

[0090] The comb-shaped openings of the docking storage positions 1121 of the first shelf 100A face the first passage 121, and the comb-shaped openings of the docking storage positions 1121 of the second shelf 100B face the third passage 123. The structures of the second mobile chassis 310b and the second lifting mechanism 320b can be the same as the first mobile chassis 310a and the first lifting mechanism 320a in the above embodiment.

[0091] The handling robot 300 of this embodiment is used to move empty from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130 to the bottom of the target docking storage position 1121 where the material box 400 is temporarily stored when leaving the warehouse. The second lifting mechanism 320b drives the second lifting platform 330b to rise through the comb-shaped opening to lift the material box 400. Then, based on the second mobile chassis 310b, the material box 400 is driven to move along the comb-shaped opening to the first channel 121 or the third channel 123. After the second lifting platform 330b descends to the lowest state, the handling robot 300 drives the material box 400 from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130 to move out of the first shelf 100A or the second shelf 100B.

[0092] Furthermore, when entering the warehouse, the handling robot 300 carrying the target container 400 travels at the lowest height based on the second mobile chassis 310b, and moves from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130 to a position corresponding to the vacant target docking storage position 1121 on the first channel 121 or the third channel 123, and drives the second lifting platform 330b to rise by the second lifting mechanism 320b to lift the container 400. 0, and moves toward the comb-shaped opening of the target docking storage position 1121 based on the second mobile chassis 310b, and then drives the second lifting platform 330b to descend through the second lifting mechanism 320b to place the material box 400 in the target docking storage position 1121; finally, the second lifting platform 330b is lowered and moved out of the first shelf 100A or the second shelf 100B empty from any road in the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130.

[0093] exist Figure 1 In the embodiment shown, Figures 1 to 3 As shown, the sorting robot 200 includes a column gantry 210 and a cargo picking and placing assembly 220; the column gantry 210 is vertically installed on the horizontal track 140; the cargo picking and placing assembly 220 is arranged on the column gantry 210, and can move along the horizontal track 140 with the column gantry 210, and rise and fall along the column gantry 210.

[0094] The material box storage layer 111 includes multiple material box storage locations 1111. The sorting robot 200 is used to sort and place the materials boxes 400 on the multiple material box storage locations 1111 of the adjacent shelves 100 based on the movement of the picking and placing component 220 along the horizontal track 140 with the column gantry 210, and / or the lifting and lowering along the column gantry 210, and to move the materials boxes 400 between the material box storage layer 111 and the material box docking layer 112 of the adjacent shelves 100.

[0095] When applying the embodiment of the present application, the cargo picking and placing assembly moves along the horizontal track 140 with the column gantry 210, and can pick up and place different material boxes 400 in the length direction of adjacent shelves 100. The cargo picking and placing assembly rises and falls along the column gantry 210, and can pick up and place material boxes 400 at different heights of adjacent shelves 100. The specific picking and placing method is detailed in the subsequent description.

[0096] exist Figure 1 In the embodiment shown, Figure 1 and Figure 5 As shown, the picking and placing component 220 of the sorting robot 200 is used to move the box 400 on the box storage layer 111 on the adjacent shelf 100 to the box docking layer 112, or move the box 400 on the box docking layer 112 of the adjacent shelf 100 to the target box storage position 1111, or move the box 400 on the box storage position 1111 of the adjacent shelf 100 to the target box storage position 1111.

[0097] Specifically, the pick-up and placement component 220 has a telescopic function and can be telescoped toward the first shelf 100A or the second shelf 100B to pick up and place the material box 400. The specific structure of the pick-up and placement component 220 can be a fork, a clamping plate, a suction cup, a hook, etc., which is not limited in this application.

[0098] By applying the embodiment of the present application, the picking and placing component 220 can realize the arrangement of the material boxes 400 on the adjacent shelves 100 and the picking and placing of the material boxes 400 to be put in and out of the warehouse on the material box docking layer 112.

[0099] As mentioned earlier, Figure 1 In the storage system of the first embodiment shown, the material box docking layer 112 of the first shelf 100A and the second shelf 100B is a single-depth layer. In other embodiments of the storage system, the material box docking layer 112 of the first shelf 100A and the second shelf 100B can be a double-depth layer.

[0100] See also Figures 5 to 7 , Figure 5 This is a three-dimensional structural diagram of a storage system according to a second embodiment of the present application; Figure 6 for Figure 5 A partial schematic diagram of the storage system shown; Figure 7 for Figure 5 The side view of the storage system is shown in Figure 1. Figures 5 to 7 As shown, in the storage system of the second embodiment of the present application, the first shelf 100A and the second shelf 100B are both double-deep shelves. The material box docking layer 112 of the first shelf 100A and the second shelf 100B is a double-deep layer, and multiple docking storage positions 1121 are arranged in two rows along the length of the lane 130. In the two rows of docking storage positions 1121, the through slots 1123 of two adjacent docking storage positions 1121 along the width of the lane 130 are connected.

[0101] Specifically, the arrangement of the tally robot 200 can be similar to Figure 1 The first embodiment shown is set up in the same way, hanging on the first shelf 100A, and can pick up and put the double-deep material box 400 on the first shelf 100A and the second shelf 100B. Figure 1 The first embodiment is the same as that shown, and will not be described again here. Figure 4a A transfer robot 300 according to a first embodiment is shown.

[0102] like Figures 5 to 7 As shown, the tallying robot 200 can also be a robot that picks and places single-deep bins 400, and only picks and places bins between the bin storage layer 111 and the bin docking layer 112 of the first shelf 100A, or between the bin storage layer 111 and the bin docking layer 112 of the second shelf 100B. Because the docking storage locations 1121 are arranged in two rows, tallying robots 200 are installed in the lanes 130 adjacent to both rows of docking storage locations 1121. Specifically, tallying robots 200 are required to be installed on both sides of the outermost shelves 100 in the shelf array.

[0103] The multiple shelves 100 of the storage system can be arranged in a line or in a square array.

[0104] like Figure 5 As shown, multiple shelves 100 form a square array, and the shelves 100 located on both sides of the square array can also be set as single-depth shelves to avoid the waste caused by requiring the sorting robots 200 to be set on both sides of the outermost shelves 100 of the shelf array.

[0105] The area enclosed by the container docking layer 112 and the shelf legs is the robot docking space 120. The height at which the first channel 121 or the third channel 123 allows the transport robot 300 to pass through while carrying the container 400 is equal to the height at which the second channel 122 or the fourth channel 124 allows the transport robot 300 to pass through while carrying the container 400.

[0106] When applying the embodiment of the present application, the material box docking layer 112 is configured as a double-deep layer, including two rows of docking storage positions 1121, which improves the space utilization rate of the robot docking space 120 of the shelf 100 and the temporary storage capacity of the material box docking layer 112, thereby improving the picking and placing efficiency and the handling efficiency of the warehousing system.

[0107] In the second embodiment of the present application, Figures 5 to 7As shown, the handling robot 300 is used to move empty from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130 to the bottom of the target docking storage position 1121 where the material box 400 is temporarily stored when leaving the warehouse, and drives the first lifting platform 330a to rise through the through slot 1123 through the first lifting mechanism 320a to lift the material box 400, and then drives the material box 400 along the moving through slot 1123 to the lane 130 based on the first mobile chassis 310a. After the first lifting platform 330a descends to the lowest state, the handling robot 300 drives the material box 400 from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130 to move out of the first shelf 100A or the second shelf 100B.

[0108] Furthermore, when entering the warehouse, the handling robot 300 carrying the target container 400 travels at the lowest height based on the first mobile chassis 310a, and moves from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130 to the position corresponding to the vacant target docking storage position 1121 on the lane 130, and drives the first lifting platform 330a to rise by the first lifting mechanism 320a to lift the container 400, and based on the first lifting mechanism 320a, the container 400 is moved to the storage space 1121 on the lane 130. A mobile chassis 310a moves toward the through slot 1123 of the target docking storage position 1121, and then drives the first lifting platform 330a to descend through the first lifting mechanism 320a to place the material box 400 in the target docking storage position 1121; finally, the first lifting platform 330a is lowered and moved empty out of the first shelf 100A or the second shelf 100B from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the lane 130.

[0109] Specifically, when entering or leaving the warehouse, the handling robot 300 needs to travel on the aisle 130 after picking up the material box 400 or going to place the material box 400. However, if avoidance is required, it can avoid to the first channel 121, the second channel 122, the third channel 123 or the fourth channel 124 in the lowest state, and finally start docking with the target docking storage location 1121 on the aisle 130 side of the target docking storage location 1121.

[0110] By applying the embodiment of the present application, the above-mentioned planning of the inbound and outbound routes of the transport robot 300 is performed, making the inbound and outbound operations of the transport robot 300 more flexible, improving the picking and placing efficiency and the handling efficiency of the transport robot 300, thereby improving the picking and placing efficiency and the handling efficiency of the entire warehousing system.

[0111] in addition, Figure 5In the second embodiment shown, except for the arrangement of the tallying robot 200, the structure of the material box docking layer 112, and the handling method of the tallying robot 200 and the handling robot 300, the remaining structures of the material box storage space 110, the tallying robot 200, and the handling robot 300 can be the same as those in the embodiment shown. Figure 1 The structures of the material box storage space 110, the sorting robot 200 and the transporting robot 300 in the first embodiment are exactly the same and are not described again here.

[0112] That is to say, Figure 5 The second embodiment shown is Figure 1 The first embodiment shown mainly differs in the arrangement of the tallying robot 200, the structure of the material box docking layer 112, and the handling method of the tallying robot 200 and the handling robot 300. Other arrangements may be consistent.

[0113] In actual applications, whether the first or second embodiment, or variations of the two embodiments, is used, the two robots can work together to improve the efficiency of picking up and placing goods, and the efficiency of handling goods, by dividing the work between them. The tallying robot 200 moves within the lane 130, picking up and placing boxes 400 between adjacent shelves 100, and the handling robot 300 carries boxes 400 between shelves 100 and the outside of shelves 100. The robot docking space 120 and the lane 130 both allow the handling robot 300 to pass through when carrying boxes 400, thereby increasing the number of paths the handling robot 300 can move and reducing the avoidance between the handling robots 300. Furthermore, when the handling robot 300 travels within the robot docking space 120, it will not interfere with the tallying robot 200, thereby improving the efficiency of picking up and placing goods, and the efficiency of handling goods, and thus improving the efficiency of picking up and placing goods, and the efficiency of handling goods, of the entire warehouse system.

[0114] Finally, the shelf provided in the embodiment of the present application is described in detail. Figures 1 to 3 and Figures 5 to 7 The shelf includes: a material box storage space 110 and a robot docking space 120 arranged from top to bottom; the material box storage space 110 is provided with multiple layers of material box storage layers 111; a material box docking layer 112 is provided at the bottom of the material box storage space 110; the material box docking layer 112 has a preset height from the ground to form a robot docking space 120 for the handling robot 300 to move and dock and pick up material boxes 400; a lane 130 extending along the length direction of the shelf is formed between adjacent shelves 100; a sorting robot 200 is arranged in the lane 130; the height of the robot docking space 120 is greater than the lowest height of the handling robot 300 carrying the material box 400, so that the handling robot 300 can move arbitrarily in the robot docking space 120 and the lane 130 when the carrying material box 400 moves.

[0115] By using the embodiment of the present application, the shelf 100 is divided into a bin storage space 110 and a robot docking space 120, which are respectively used for storing bins 400 and temporarily storing bins 400 to be loaded and unloaded. The clear divisions improve the space utilization of the shelf 100 and the efficiency of the tally robot 200 and the handling robot 300 docking with the bin docking layer 112 to pick up and place bins 400. Both the robot docking space 120 and the lane 130 allow the handling robot 300 to pass through when carrying a bin 400, which increases the movable paths of the handling robot 300 and reduces the avoidance between the handling robots 300. Moreover, when the handling robot 300 travels in the robot docking space 120, it will not interfere with the tally robot 200, thereby improving the efficiency of the handling robot 300 in picking up and placing goods and the handling efficiency.

[0116] In some embodiments of the present application, Figures 1 to 3 and Figures 5 to 7 As shown, within the robot docking space 120 of the first shelf 100A among adjacent shelves 100, a first channel 121 and a second channel 122 are sequentially arranged along a direction approaching the lane 130; and within the robot docking space 120 of the second shelf 100B among adjacent shelves 100, a third channel 123 and a fourth channel 124 are sequentially arranged along a direction approaching the lane 130. The first channel 121, the second channel 122, the third channel 123, and the fourth channel 124 are all parallel to the lane 130 and extend to the exterior of the shelf 100.

[0117] By applying the embodiments of the present application, a first channel 121, a second channel 122, a third channel 123, a fourth channel 124 and an alley 130 are set to allow the transport robot 300 to travel between the bottom of the shelf 100 and the adjacent shelf 100, thereby increasing the movable path of the transport robot 300, reducing the avoidance between the transport robots 300, and improving the space utilization of the shelf 100 and the efficiency of docking and placing the material box 400.

[0118] In some embodiments of the present application, the material box docking layer 112 includes multiple docking storage locations 1121; the multiple docking storage locations 1121 are arranged sequentially along the length direction of the lane 130, and are used to dock with the sorting robot 200 or the handling robot 300 to temporarily store the material boxes 400 to be picked up and placed.

[0119] A through slot 1123 is defined at the bottom of each docking storage location 1121 . The through slot 1123 is perpendicular to the lane 130 , allowing the transport robot 300 to pass through the through slot 1123 and lift or place the material box 400 .

[0120] In this embodiment of the present application, multiple docking storage locations 1121 are provided on the container docking layer 112 to temporarily store containers 400. These locations allow multiple handling robots 300 to simultaneously retrieve and place containers 400 for loading and unloading, thereby improving the warehousing system's efficiency in both loading and unloading. The handling robots 300 can access and place containers 400 at the bottom of the container docking layer 112 by lifting the first lifting platform 330a through the through slot 1123.

[0121] In some embodiments of the present application, Figures 1 to 3 As shown, the material box docking layer 112 of the first shelf 100A and the second shelf 100B is a single-depth layer plate, both of which are set from the side of the shelf 100 located in the aisle 130 toward the inside of the shelf 100, and are respectively located above the second channel 122 and the fourth channel 124.

[0122] When applying the embodiment of the present application, the material box docking layer 112 is a single-depth layer plate, which increases the robot docking space 120, so that the first channel 121 or the third channel 123 can allow the handling robot 300 to carry the material box 400 through a higher height, and the handling robot 300 can adjust the height in the first channel 121 or the third channel 123.

[0123] In some embodiments of the present application, Figures 5 to 7 As shown, the first shelf 100A and the second shelf 100B are both double-deep shelves; the material box docking layer 112 of the first shelf 100A and the second shelf 100B is a double-deep layer board.

[0124] The material box docking layer 112 includes multiple docking storage positions 1121; the multiple docking storage positions 1121 are arranged in two rows along the length direction of the lane 130. In the two rows of docking storage positions 1121, the through grooves 1123 of two adjacent docking storage positions 1121 along the width direction of the lane 130 are connected.

[0125] When applying the embodiment of the present application, the material box docking layer 112 is set as a double-deep layer, including two rows of docking storage positions 1121, which improves the space utilization rate of the robot docking space 120 of the shelf 100 and the temporary storage capacity of the material box docking layer 112, thereby improving the picking and placing efficiency and the handling efficiency of the warehousing system.

[0126] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0127] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application are included in the scope of protection of the present application.

Claims

1. A warehousing system, characterized in that: include: A plurality of shelves (100) arranged at intervals, a sorting robot (200) and a transport robot (300); The shelf (100) comprises a material box storage space (110) and a robot docking space (120) arranged from top to bottom; the material box storage space (110) is provided with multiple material box storage layers (111); a material box docking layer (112) is provided at the bottom of the material box storage space (110); the material box docking layer (112) has a preset height from the ground to form the robot docking space (120); A lane (130) extending along the length direction of the shelf is formed between adjacent shelves (100); The tallying robot (200) is arranged in the lane (130) and is used to sort and place the boxes (400) on the adjacent shelves (100), and to move the boxes (400) between the box storage layer (111) and the box docking layer (112) of the adjacent shelves (100); The transport robot (300) is used to transport a material box (400) outside the shelf (100) to the material box docking layer (112), or to move a material box (400) on the material box docking layer (112) away from the shelf (100); The height of the robot docking space (120) is greater than the lowest height of the carrying box (400) of the transport robot (300), so that the transport robot (300) can move arbitrarily in the robot docking space (120) and the lane (130) when the carrying box (400) moves.

2. The storage system according to claim 1, characterized in that: In the robot docking space (120) of the first shelf (100A) among the adjacent shelves (100), a first channel (121) and a second channel (122) are sequentially arranged along a direction close to the lane (130); in the robot docking space (120) of the second shelf (100B) among the adjacent shelves (100), a third channel (123) and a fourth channel (124) are sequentially arranged along a direction close to the lane (130); The first channel (121), the second channel (122), the third channel (123), and the fourth channel (124) are all parallel to the lane (130) and extend to the outside of the shelf (100); The transport robot (300) is capable of carrying the material box (400) and moving arbitrarily in the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) and the lane (130).

3. The storage system according to claim 2, characterized in that: The transport robot (300) comprises: a first moving chassis (310a), a first lifting mechanism (320a), and a first lifting platform (330a) arranged in sequence from bottom to top; The material box docking layer (112) includes a plurality of docking storage locations (1121); the plurality of docking storage locations (1121) are sequentially arranged along the length direction of the lane (130) and are used to dock with the tallying robot (200) or the transporting robot (300) to temporarily store the material boxes (400) to be picked up and placed; A through slot (1123) is provided at the bottom of each docking storage position (1121), and the through slot (1123) is perpendicular to the lane (130), so that the first lifting mechanism (320a) can drive the first lifting platform (330a) through the through slot (1123) to lift or place the material box (400).

4. The storage system according to claim 3, characterized in that: The material box docking layer (112) of the first shelf (100A) and the second shelf (100B) is a single-depth layer plate, both of which are arranged from the side of the shelf (100) located in the lane (130) toward the inside of the shelf (100) and are respectively located above the second channel (122) and the fourth channel (124).

5. The storage system according to claim 4, characterized in that: The transport robot (300) is used to move empty from any of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the lane (130) to the bottom of the target docking storage position (1121) where the material box (400) is temporarily stored when leaving the warehouse, and to drive the first lifting platform (330a) to rise through the through slot (1123) to lift the material box (400) through the first lifting mechanism (320a), and then based on the first mobile chassis (310a) The material box (400) is driven to move along the moving groove (1123) to the first channel (121), the third channel (123) or the lane (130). After the first lifting platform (330a) is lowered to the lowest state, the transport robot (300) drives the material box (400) to move out of the first shelf (100A) or the second shelf (100B) from any of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the lane (130); Furthermore, when entering the warehouse, the transport robot (300) carrying the target material box (400) travels at the lowest height based on the first mobile chassis (310a), moves from any of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the lane (130) to a position corresponding to the vacant target docking storage position (1121) on the first channel (121), the third channel (123) or the lane (130), and drives the first lifting platform (330a) to rise by the first lifting mechanism (320a) to lift the material box (400). ), and based on the first mobile chassis (310a), moves toward the through slot (1123) of the target docking storage position (1121), and then drives the first lifting platform (330a) to descend through the first lifting mechanism (320a) to place the material box (400) in the target docking storage position (1121); finally, the first lifting platform (330a) is lowered and moves out of the first shelf (100A) or the second shelf (100B) empty from any road among the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the lane (130).

6. The storage system according to claim 3, characterized in that: The first shelf (100A) and the second shelf (100B) are both double-deep shelves; The material box docking layer (112) of the first shelf (100A) and the second shelf (100B) is a double-deep layer; The plurality of docking storage positions (1121) are sequentially arranged in two rows along the length direction of the lane (130); in the two rows of docking storage positions (1121), the through grooves (1123) of two adjacent docking storage positions (1121) along the width direction of the lane (130) are connected.

7. The storage system according to claim 6, characterized in that: The transport robot (300) is used to move empty from any of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the lane (130) to the bottom of the target docking storage position (1121) where the material box (400) is temporarily stored when leaving the warehouse, and to drive the first lifting platform (330a) to rise through the through slot (1123) to lift the material box (400) through the first lifting mechanism (320a), and then based on the first lifting mechanism (320a), the first lifting platform (330a) is driven to move up through the through slot (1123) to lift the material box (400). The movable chassis (310a) drives the material box (400) to move along the movable through groove (1123) to the lane (130). After the first lifting platform (330a) descends to the lowest state, the transport robot (300) drives the material box (400) to move out of the first shelf (100A) or the second shelf (100B) from any of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the lane (130). Furthermore, when entering the warehouse, the handling robot (300) carrying the target material box (400) travels at the lowest height based on the first mobile chassis (310a), moves from any of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the lane (130) to a position on the lane (130) corresponding to the idle target docking storage position (1121), drives the first lifting platform (330a) to rise by the first lifting mechanism (320a) to lift the material box (400), and based on the first moving chassis (310a), moves the first lifting platform (330a) to the lowest height. The movable chassis (310a) moves toward the through slot (1123) of the target docking storage position (1121), and then drives the first lifting platform (330a) to descend through the first lifting mechanism (320a) to place the material box (400) in the target docking storage position (1121); finally, the first lifting platform (330a) is lowered and moves out of the first shelf (100A) or the second shelf (100B) empty from any of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the lane (130).

8. The storage system according to claim 2, characterized in that: The transport robot (300) comprises: a second mobile chassis (310b), a second lifting mechanism (320b), and a second lifting platform (330b) arranged in sequence from bottom to top; the second lifting platform (330b) is comb-shaped; The material box docking layer (112) includes a plurality of docking storage locations (1121); the plurality of docking storage locations (1121) are sequentially arranged along the length direction of the lane (130) and are used to dock with the tallying robot (200) or the transporting robot (300) to temporarily store the material boxes (400) to be picked up and placed; A comb-shaped opening facing the interior of the shelf is provided at the bottom of each docking storage position (1121), and is used to cooperate with the second lifting platform (330b) of the transport robot (300), so that the second lifting mechanism (320b) drives the second lifting platform (330b) through the comb-shaped opening to lift or place the material box (400).

9. The storage system according to claim 1, characterized in that: A plurality of horizontal rails (140) are provided on at least one shelf (100) on both sides of the lane (130); The plurality of horizontal tracks (140) are arranged at intervals along the vertical direction; The tallying robot (200) is mounted on one side of the at least one shelf (100) located in the lane (130) based on the horizontal track (140), and is capable of moving within the lane (130) along the horizontal track (140); The height from the bottom of the tallying robot (200) to the ground is greater than the lowest height of the carrying box (400) of the transporting robot (300), so that the transporting robot (300) can move freely in the lane (130) when the carrying box (400) moves.

10. The storage system according to claim 9, characterized in that: The tallying robot (200) comprises a column gantry (210) and a cargo pick-up and placement assembly (220); the column gantry (210) is vertically mounted on the horizontal track (140); the cargo pick-up and placement assembly (220) is disposed on the column gantry (210) and is capable of moving along the horizontal track (140) with the column gantry (210) and rising and falling along the column gantry (210); The material box storage layer (111) includes a plurality of material box storage locations (1111), and the sorting robot (200) is used to sort and place material boxes (400) on the plurality of material box storage locations (1111) of adjacent shelves (100) based on the movement of the picking and placing component (220) along the horizontal track (140) with the column door frame (210), and / or the lifting and lowering of the column door frame (210), and to move the material boxes (400) between the material box storage layer (111) and the material box docking layer (112) of the adjacent shelves (100).

11. The storage system according to claim 10, characterized in that: The picking and placing component (220) of the tallying robot (200) is used to move a material box (400) on a material box storage layer (111) on an adjacent shelf (100) to a material box docking layer (112), or to move a material box (400) on a material box docking layer (112) on an adjacent shelf (100) to a target material box storage position (1111), or to move a material box (400) on a material box storage position (1111) on an adjacent shelf (100) to a target material box storage position (1111).

12. A shelf, characterized in that: include: A material box storage space (110) and a robot docking space (120) arranged from top to bottom; The material box storage space (110) is provided with multiple material box storage layers (111); a material box docking layer (112) is provided at the bottom of the material box storage space (110); the material box docking layer (112) is at a preset height from the ground to form the robot docking space (120) for the transport robot (300) to move and dock with the material box (400); A lane (130) extending along the length direction of the shelves is formed between adjacent shelves (100); a tallying robot (200) is arranged in the lane (130); The height of the robot docking space (120) is greater than the lowest height of the carrying box (400) of the transport robot (300), so that the transport robot (300) can move arbitrarily in the robot docking space (120) and the lane (130) when the carrying box (400) moves.

13. The shelf according to claim 12, characterized in that: In the robot docking space (120) of the first shelf (100A) among the adjacent shelves (100), a first channel (121) and a second channel (122) are sequentially arranged along a direction close to the lane (130); in the robot docking space (120) of the second shelf (100B) among the adjacent shelves (100), a third channel (123) and a fourth channel (124) are sequentially arranged along a direction close to the lane (130); The first channel (121), the second channel (122), the third channel (123), and the fourth channel (124) are all parallel to the lane (130) and extend to the outside of the shelf (100).

14. The shelf according to claim 13, characterized in that The material box docking layer (112) includes a plurality of docking storage locations (1121); the plurality of docking storage locations (1121) are sequentially arranged along the length direction of the lane (130) and are used to dock with the tallying robot (200) or the transporting robot (300) to temporarily store the material boxes (400) to be picked up and placed; a through slot (1123) is provided at the bottom of each of the docking storage locations (1121), the through slot (1123) being perpendicular to the lane (130) so as to allow the transporting robot (300) to pass through the through slot (1123) and lift or place the material box (400).

15. The shelf according to claim 14, characterized in that The material box docking layer (112) of the first shelf (100A) and the second shelf (100B) is a single-depth layer plate, both of which are arranged from the side of the shelf (100) located in the lane (130) toward the inside of the shelf (100) and are respectively located above the second channel (122) and the fourth channel (124).

16. The shelf according to claim 14, characterized in that The first shelf (100A) and the second shelf (100B) are both double-deep shelves; The material box docking layer (112) of the first shelf (100A) and the second shelf (100B) is a double-deep layer; The plurality of docking storage positions (1121) are sequentially arranged in two rows along the length direction of the lane (130); in the two rows of docking storage positions (1121), the through grooves (1123) of two adjacent docking storage positions (1121) along the width direction of the lane (130) are connected.

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