Warehousing system

Abstract

The warehousing system comprises a goods shelf body, a material box conveying line is arranged below the projection of the bottommost storage position layer of the goods shelf body, and the material box conveying line extends in the extending direction (namely the length direction of the goods shelf body) of the storage position layer; therefore, for example, for warehousing operation of the material boxes, the material boxes needing to be warehoused can be directly placed on the material box conveying line from one end, in the length direction, of the goods shelf body, then after the material boxes are conveyed through the material box conveying line, the box taking robot can obtain the material boxes from the material box conveying line and lift the material boxes to the designated storage positions, and warehousing of the material boxes is completed; for example, for warehouse-out operation of the workbins, the box taking robot can directly transfer the workbins on the goods shelf body to the workbin conveying line, then the workbins are conveyed to one end of the goods shelf body in the length direction through the workbin conveying line, warehouse-out of the workbins is completed, use of a box carrying robot is omitted, the area of a stock area in an intelligent warehouse is increased, and dispatching is easy.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of warehousing, especially relates to a warehousing system. BACKGROUND

[0002] The warehousing and the delivery of the material box in the intelligent warehouse are usually completed by two kinds of carrying robots, that is, a box taking robot and a box carrying robot. The box taking robot is located at the shelf of the intelligent warehouse and works along the height direction of the shelf. The box carrying robot works outside the shelf of the intelligent warehouse. For example, for the warehousing of the material box, the box carrying robot first obtains the material box from the warehousing workstation or the workbench. Then, the box carrying robot needs to be connected with the box taking robot to transfer the material box to the box taking robot. The box taking robot then transfers the material box to the warehousing storage position of the shelf.

[0003] It can be seen that, in the above scheme, since the mixed operation of the two kinds of carrying robots is involved, on the one hand, a walking area and a walking channel need to be reserved for the box carrying robot outside the shelf area. On the other hand, the two kinds of carrying robots need to be separately dispatched and connected, which will lead to the problems of reduced storage area or complex dispatching. SUMMARY

[0004] In order to solve at least one of the above technical problems, the embodiments of the present application provide a shelf device and a warehousing system comprising the same. The shelf device comprises a shelf body and a material box conveying line. The shelf body comprises multiple storage layers arranged in a height direction. The storage layers extend along a first direction. The storage layers are used to store multiple material boxes along the first direction. The material box conveying line extends along the first direction and is used to convey the material boxes along the first direction. The box taking robot walks along the shelf body and the material box conveying line to realize the warehousing and the delivery of the material box. Since the box carrying robot is not needed, the walking area and the walking channel for the box carrying robot are not needed, the area of the storage area in the intelligent warehouse can be increased, and the two kinds of carrying robots do not need to be separately dispatched and connected, so the above problems are solved.

[0005] In a first aspect, the embodiments of the present application provide a shelf device, which comprises:

[0006] The shelf body comprises multiple storage layers arranged in a height direction. The storage layers extend along a first direction. The storage layers are used to store multiple material boxes along the first direction.

[0007] The material box conveying line extends along the first direction. The material box conveying line is used to convey the material boxes along the first direction.

[0008] At least one of the material box conveying lines is arranged below the projection of the storage layer at the bottom layer of the shelf body in the height direction, so that a box taking robot arranged beside the shelf body and walking in the first direction is used to transfer the material box between the material box conveying line and any of the storage layers.

[0009] In an embodiment, preferably, the height of the material box conveying line is at least higher than the height of the lower limit of the lifting of the box taking mechanism of the box taking robot.

[0010] In an embodiment, preferably, the material box conveying line comprises a roller conveying line, rollers of the roller conveying line being arranged perpendicular to the first direction; or the material box conveying line comprises a conveying belt extending in the first direction.

[0011] In an embodiment, preferably, the material box conveying line comprises a plurality of independently driven conveying sections extending in the first direction, the conveying sections being spliced end to end in the first direction to form the material box conveying line.

[0012] In an embodiment, preferably, the projection of the storage layer at the bottom layer of the shelf body is arranged below the single-layer arranged material box conveying line; or,

[0013] The projection of the storage layer at the bottom layer of the shelf body is arranged below the double-layer arranged material box conveying line in the height direction, wherein the conveying directions of the double-layer arranged material box conveying lines are opposite.

[0014] In a second aspect, the embodiments of the present application further provide a warehouse system, comprising:

[0015] A shelf body comprising storage layers arranged in multiple layers in the height direction, the storage layers extending in a first direction, the storage layers being used to store a plurality of material boxes in the first direction;

[0016] A material box conveying line extending in the first direction, the material box conveying line being used to convey material boxes in the first direction, at least one of the material box conveying lines being arranged below the projection of the storage layer at the bottom layer of the shelf body in the height direction,

[0017] A turnover conveying line in communication with one end of the material box conveying line in the first direction;

[0018] Wherein, a plurality of the shelf bodies are arranged in a second direction perpendicular to the first direction to form a shelf area, a walking channel extending in the first direction and used for a box taking robot to walk is formed between adjacent shelf bodies.

[0019] The turnover conveying line extends along the second direction and is arranged in a ring shape, and is arranged at one end of the shelf area along the first direction, so that the turnover conveying line is used for transferring the bins to the bin conveying line away from the conveying direction, and receiving the bins conveyed from the bin conveying line toward the conveying direction.

[0020] In an embodiment, preferably, a projection of the storage layer of the bottommost layer of the shelf body is below a single-layer arrangement of the bin conveying line;

[0021] The turnover conveying line is arranged in a single layer and is arranged at the same height as the bin conveying line, and the conveying directions of the pair of bin conveying lines on both sides of the travel channel are opposite.

[0022] In an embodiment, preferably, the warehouse system further comprises:

[0023] A sorting conveying line extending along the second direction, the sorting conveying line and the shelf area being arranged on both sides of the turnover conveying line;

[0024] An inbound operation area and an outbound operation area arranged beside the sorting conveying line;

[0025] The sorting conveying line is arranged at the same height as the turnover conveying line.

[0026] In an embodiment, preferably, the warehouse system further comprises a transfer device;

[0027] The transfer device is respectively arranged at a position of the turnover conveying line corresponding to an end of the bin conveying line, a position of the turnover conveying line corresponding to an upstream of the outbound operation area, and a position of the sorting conveying line corresponding to a downstream of the inbound operation area;

[0028] So that the transfer device is used for transferring the bins between the sorting conveying line and the turnover conveying line, and between the turnover conveying line and the bin conveying line.

[0029] In an embodiment, preferably, the bin conveying line, the turnover conveying line, and the sorting conveying line comprise roller conveying lines;

[0030] The transfer device comprises a plurality of conveying belts arranged in parallel with the rollers of the roller conveying line, each of the conveying belts is arranged between adjacent rollers, and the conveying belts are configured to be arranged in a lifting manner relative to the rollers.

[0031] In an embodiment, preferably, a projection of the storage layer of the bottommost layer of the shelf body is below a single-layer arrangement of the bin conveying line;

[0021] The turnover conveying line is arranged in a single layer and is arranged at the same height as the bin conveying line, and the conveying directions of the pair of bin conveying lines on both sides of the travel channel are opposite.

[0022] In an embodiment, preferably, the warehouse system further comprises:

[0023] A sorting conveying line extending along the second direction, the sorting conveying line and the shelf area being arranged on both sides of the turnover conveying line;

[0024] An inbound operation area and an outbound operation area arranged beside the sorting conveying line;

[0025] The sorting conveying line is arranged at the same height as the turnover conveying line.

[0026] In an embodiment, preferably, the warehouse system further comprises a transfer device;

[0027] The transfer device is respectively arranged at a position of the turnover conveying line corresponding to an end of the bin conveying line, a position of the turnover conveying line corresponding to an upstream of the outbound operation area, and a position of the sorting conveying line corresponding to a downstream of the inbound operation area;

[0028] So that the transfer device is used for transferring the bins between the sorting conveying line and the turnover conveying line, and between the turnover conveying line and the bin conveying line.

[0029] In an embodiment, preferably, the bin conveying line, the turnover conveying line, and the sorting conveying line comprise roller conveying lines;

[0030] The transfer device comprises a plurality of conveying belts arranged in parallel with the rollers of the roller conveying line, each of the conveying belts is arranged between adjacent rollers, and the conveying belts are configured to be arranged in a lifting manner relative to the rollers.

[0031] In an embodiment, preferably, a projection of the storage layer of the bottommost layer of the shelf body is below a single-layer arrangement of the bin conveying line;

[0032] The turnover conveying line is arranged in two layers and is arranged at the same height as the magazine conveying line arranged in two layers.

[0033] In an embodiment, preferably, among the turnover conveying lines arranged in two layers, one is an in-storage turnover conveying line and the other is an out-of-storage turnover conveying line.

[0034] The warehouse system further comprises:

[0035] The sorting conveying line extends in the second direction and is arranged at the same height as the out-of-storage turnover conveying line. The sorting conveying line and the storage shelf area are arranged on opposite sides of the out-of-storage turnover conveying line.

[0036] The out-of-storage operation area is arranged beside the sorting conveying line.

[0037] The in-storage operation area is arranged beside the in-storage turnover conveying line.

[0038] In an embodiment, preferably, the warehouse system further comprises a transfer device.

[0039] The transfer device is arranged at positions of the in-storage turnover conveying line corresponding to the end portions of the magazine conveying lines, at positions of the out-of-storage turnover conveying line corresponding to the end portions of the magazine conveying lines, and at a position of the out-of-storage turnover conveying line upstream of the out-of-storage operation area.

[0040] The transfer device is used to transfer magazines from the in-storage turnover conveying line to the magazine conveying lines and sequentially from the magazine conveying lines to the out-of-storage turnover conveying line and the sorting conveying line.

[0041] In an embodiment, preferably, the magazine conveying lines, the turnover conveying lines, and the sorting conveying line comprise roller conveying lines.

[0042] The transfer device comprises a plurality of conveying belts arranged in parallel with the rollers of the roller conveying lines. Each conveying belt is arranged between adjacent rollers, and the conveying belts are configured to be arranged in a lifting manner relative to the rollers.

[0043] One or more technical solutions provided in the embodiments have at least the following technical effects or advantages:

[0044] The embodiment of the present application provides a shelf device and a storage system comprising the same, the shelf device comprises a shelf body with multiple layers of storage layers, and a material box conveying line is arranged below the projection of the bottommost layer of the storage layers of the shelf body, wherein the material box conveying line extends along the extension direction of the storage layers (i.e. the length direction of the shelf body). Therefore, for example, for the storage operation of the material box, the material box to be stored can be directly placed on the material box conveying line from one end of the length direction of the shelf body, then the box taking robot can obtain the material box from the material box conveying line and lift the material box to the specified storage layer, thereby completing the storage operation of the material box; for example, for the storage operation of the material box, the box taking robot can directly transfer the material box on the shelf body to the material box conveying line, and then the material box conveying line can transport the material box to one end of the length direction of the shelf body, thereby completing the storage operation of the material box.

[0045] That is to say, for the storage operation and the storage operation of the material box, unlike the existing scheme, the material box needs to be transferred by the docking of the box taking robot and the box moving robot, the shelf device disclosed by the present application can complete the storage operation and the storage operation of the material box by using only the box taking robot, thereby saving the use of the box moving robot, so that it is not necessary to reserve a walking area and a walking channel for the box moving robot, and it is not necessary to schedule and dock the box moving robot, thereby improving the area of the inventory area in the intelligent warehouse and simplifying the scheduling. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative labor.

[0047] Figure 1 It is a side view structural schematic diagram of the shelf device described in the embodiment of the present application, wherein the shelf body of the shelf device is single deep, a single layer of material box conveying line is arranged below the projection of the bottommost layer of the storage layers of the shelf body, and the first direction is perpendicular to the direction of the paper.

[0048] Figure 2 It is a side view structural schematic diagram of the shelf device described in the embodiment of the present application, wherein the shelf body of the shelf device is single deep, a single layer of material box conveying line is arranged below the projection of the bottommost layer of the storage layers of the shelf body, and the first direction is perpendicular to the direction of the paper. Figure 1 It is a side view structural schematic diagram of the shelf device described in the embodiment of the present application, wherein the shelf body of the shelf device is single deep, a single layer of material box conveying line is arranged below the projection of the bottommost layer of the storage layers of the shelf body, and the first direction is perpendicular to the direction of the paper. Figure 2 It is shown that the single layer of material box conveying line extends along the first direction.

[0049] Figure 3 It is a side view structural schematic diagram of the shelf device described in the embodiment of the present application, wherein the shelf body of the shelf device is single deep, a single layer of material box conveying line is arranged below the projection of the bottommost layer of the storage layers of the shelf body, and the first direction is perpendicular to the direction of the paper. Figure 1 It is a side view structural schematic diagram of the shelf device described in the embodiment of the present application, wherein the shelf body of the shelf device is single deep, a single layer of material box conveying line is arranged below the projection of the bottommost layer of the storage layers of the shelf body, and the first direction is perpendicular to the direction of the paper.

[0050] Figure 4 It is a side view structural schematic diagram of the shelf device described in the embodiment of the present application, wherein the shelf body of the shelf device is single deep, a single layer of material box conveying line is arranged below the projection of the bottommost layer of the storage layers of the shelf body, and the first direction is perpendicular to the direction of the paper. Figure 3A top-view structural diagram, in which, Figure 4 The shelving unit itself has been removed.

[0051] Figure 5 This is a side view of the shelving device in another embodiment of this application. The shelving body of the shelving device is double-deep, and a double-layer 1-material box conveyor line is provided below the projection of the lowest storage layer of the shelving body. The first direction is perpendicular to the paper.

[0052] Figure 6 for Figure 5 A side view of the structure from another angle. Figure 6 The double-layered hopper conveyor line extends along a first direction.

[0053] Figure 7 for Figure 5 A side view of the structure of a shelving area, showing several shelving units arranged in parallel along the second direction.

[0054] Figure 8 for Figure 7 A top-view structural diagram, in which, Figure 8 The shelving unit itself has been removed.

[0055] Figure 9 This is a schematic diagram of the segmented structure of the material box conveyor line described in the embodiments of this application.

[0056] Figure 10 This is a schematic diagram of the structure of the turnover conveyor line in the embodiments of this application when it is arranged in a single layer, wherein, Figure 10 The diagram shows a transfer device and a camera installed on the turnover conveyor line.

[0057] Figure 11 This is a schematic diagram of the structure of the turnover conveyor line in the embodiments of this application when it is arranged in a double layer, wherein, Figure 11 The diagram shows a transfer device and a camera installed on the turnover conveyor line.

[0058] Figure 12 This is a schematic diagram of the box-retrieving robot described in the embodiments of this application.

[0059] In the attached figures, the following labels are used:

[0060] 10-Shelf body, 11-Storage layer,

[0061] 20 - Material bin conveyor line, 21 - Conveying section

[0062] 30 - Conveyor line for inventory turnover, 31 - Inbound conveyor line for inventory turnover, 32 - Outbound conveyor line for inventory turnover.

[0063] 40 - Sorting conveyor line

[0064] 50-Walking passageway

[0065] 60 - picking robot, 61 - power chassis, 62 - lifting mast, 63 - picking mechanism,

[0066] 70 - bin,

[0067] 80 - transfer device, 81 - conveyor belt,

[0068] 90 - camera,

[0069] 100 - shelf area, 200 - infeed operation area, 300 - outfeed operation area,

[0070] X - first direction, Y - second direction. DETAILED DESCRIPTION

[0071] In order to better understand the above technical solutions, the example embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, and not all embodiments of the present application. It should be understood that the present application is not limited to the example embodiments described herein.

[0072] Please refer to Figures 1-8 A shelf device, comprising a shelf body 10 and a bin conveying line 20; the shelf body 10 comprises storage layers 11 arranged in multiple layers along a height direction, the storage layers 11 extend along a first direction X, and the storage layers 11 are used to store a plurality of bins 70 along the first direction X; the bin conveying line 20 extends along the first direction X, and the bin conveying line 20 is used to transport the bins 70 along the first direction X; wherein, along the height direction, at least one bin conveying line 20 is arranged below the projection of the storage layer 11 of the bottom layer of the shelf body 10, so that the picking robot 60 arranged beside the shelf body 10 and walking along the first direction X is used to transfer the bins 70 between the bin conveying line 20 and any storage layer 11.

[0073] Overall, along the first direction, that is, the length direction of the shelf body, the shelf device of the present embodiment can use the bin conveying line below the projection of the bottom layer storage layer to transfer the bins from the outside of the shelf body and transfer the bins from the area of the shelf body, and then, in cooperation with the picking robot, the infeed and outfeed operations of the bins can be completed.

[0074] It should be noted that the structure of the picking robot can refer to Figure 12The box taking robot 60 generally comprises a powered chassis 61, a lifting mast 62 fixedly installed on the powered chassis 61 in the height direction, and a box taking mechanism 63 installed on the lifting mast 62 and capable of lifting and lowering, the box taking mechanism 63 being, for example, horizontally telescopic forks or suction cups, etc. Thus, after the box taking robot 60 acquires a bin 70 at a certain height by means of the box taking mechanism 63, the box taking mechanism 63 can be lifted to another height along the lifting mast 62, and then the bin 70 can be released.

[0075] Generally speaking, specific reference can be made to Figure 3 、 Figure 4 and Figure 7 、 Figure 8 When a plurality of shelf bodies 10 are arranged in parallel to form a shelf area 100 or a shelf array, the box taking robot 60 generally travels in the travel channel 50 between adjacent shelf bodies 10.

[0076] The existing solution is to additionally provide a bin carrying robot outside the shelf area 100 or the shelf array, the bin carrying robot carries the bin to the side of the shelf area after acquiring the bin at the sorting workstation, then the bin carrying robot docks with the box taking robot and transfers the bin to the box taking robot, and the box taking robot transfers the bin to the designated storage location to complete the bin storage operation. For the bin out-of-warehouse, on the contrary, the box taking robot first acquires the bin from the storage location of the shelf body, then the box taking robot travels to the side of the shelf area and docks with the bin carrying robot, the bin carrying robot acquires the bin and then carries the bin to the sorting workstation to complete the bin out-of-warehouse operation.

[0077] It can be seen that, in addition to the box taking robot, the bin carrying robot is also involved, which requires reserving a travel area and a travel channel for the bin carrying robot outside the shelf area, thereby reducing the area of the inventory area in the intelligent warehouse. On the other hand, it is also necessary to build the running environment of the bin carrying robot, i.e., it is necessary to manually assist in laying out the peripheral devices, software environment, etc. required for the running of the bin carrying robot, such as pasting auxiliary two-dimensional codes on the ground, creating a running virtual map on the software side, etc. In addition, it involves mixed operation, separate scheduling and docking of the two types of carrying robots, etc., resulting in problems such as complex scheduling.

[0078] Based on the above situation, at least one bin conveying line 20 is arranged below the projection of the bottommost storage layer 11 of the shelf body 10, the bin conveying line 20 extending along the length direction (i.e., the first direction X) of the shelf body 10.

[0079] In this way, the sorting station (including the storage operation area 200 and the delivery operation area 300 described below) can be arranged beside the shelf area 100, or at one end of the length direction of the shelf body 10, so that the to-be-stored bins can be placed on the bin conveying line by the sorting station, and then the bin taking robot can take the bins from the bin conveying line and store them.

[0080] It can be seen that, after using the shelf device provided in the embodiment, the bin moving robot can be omitted, and the running area, the running software and hardware environment of the bin moving robot can be omitted, so that the area of the storage area in the intelligent warehouse can be increased, and the dispatching system can be simplified.

[0081] The embodiment of the present application provides a shelf device and a storage system comprising the same. The shelf device comprises a shelf body with multiple storage layers, and a bin conveying line is arranged below the projection of the bottommost storage layer of the shelf body, wherein the bin conveying line extends along the extension direction of the storage layer (i.e. the length direction of the shelf body). In this way, it can be understood that, for example, for the storage operation of the bins, the to-be-stored bins can be directly placed on the bin conveying line from one end of the length direction of the shelf body, and then the bin taking robot can take the bins from the bin conveying line and lift them to the specified storage layer to complete the storage of the bins. For example, for the delivery operation of the bins, the bin taking robot can directly transfer the bins on the shelf body to the bin conveying line, and then the bin conveying line can deliver the bins to one end of the length direction of the shelf body to complete the delivery of the bins.

[0082] That is, for the storage operation and the delivery operation of the bins, unlike the existing scheme which needs to transfer the bins by the docking of the bin taking robot and the bin moving robot, the shelf device disclosed in the present application can complete the storage operation and the delivery operation of the bins by using only the bin taking robot, thereby omitting the use of the bin moving robot, so that it is not necessary to reserve a running area and a running channel for the bin moving robot, and it is not necessary to dispatch and dock the bin moving robot, thereby increasing the area of the storage area in the intelligent warehouse and simplifying the dispatching.

[0083] In one possible implementation, the height of the bin conveying line 20 is at least higher than the height of the lower limit of the lifting of the bin taking mechanism 63 of the bin taking robot 60, so that the bin taking robot can be docked with the bin conveying line through the bin taking mechanism, thereby smoothly completing the transfer of the bins.

[0084] In a possible implementation, the bin conveying line 20 comprises roller conveying lines, rollers of the roller conveying lines are arranged perpendicularly to the first direction X; or the bin conveying line 20 comprises a conveying belt, the conveying belt extends along the first direction X.

[0085] That is, the structure of the bin conveying line mentioned above can be specifically a roller conveying line, rollers of the roller conveying line should be arranged perpendicularly to the first direction; or the structure of the bin conveying line mentioned above can be specifically a conveying belt, the conveying belt extends along the first direction; it can be understood that whether it is a roller conveying line or a conveying belt, it can realize the transmission of the bin along the first direction.

[0086] In a possible implementation, the bin conveying line 20 comprises a plurality of independently driven conveying sections 21, the conveying sections 21 extend along the first direction X, and the plurality of conveying sections 21 are spliced end to end along the first direction X to form the bin conveying line 20.

[0087] That is, the bin conveying line mentioned above can be in an integrated form; of course, it can also be understood with reference to Figure 9 The bin conveying line 20 can also be spliced end to end by a plurality of independently driven conveying sections 21; wherein the conveying section 21 is, for example, a roller conveying section, and each conveying section 21 is independently driven by an independent power roller.

[0088] The purpose of splicing the bin conveying line end to end by a plurality of conveying sections is to realize segmented control according to actual needs; for example, for the bin storage operation, when the bin conveying line transmits the bin to a certain conveying section below the storage position, the conveying section can be independently controlled to stop running, at this time, the bin is in a stationary state, and then the bin robot can conveniently obtain the bin from above the conveying section; similarly, for the bin retrieval operation, the conveying section below the retrieval storage position can be stopped first, and then the bin robot can accurately transfer the bin to the stopped conveying section, that is, to the bin conveying line, and then drive the conveying section to run.

[0089] In a possible implementation, a projection of the storage layer 11 of the bottom layer of the shelf body 10 is provided with a bin conveying line 20 arranged in a single layer; or a projection of the storage layer 11 of the bottom layer of the shelf body 10 is provided with a bin conveying line 20 arranged in double layers along the height direction, wherein the transmission directions of the bin conveying lines 20 arranged in double layers are opposite.

[0090] It can be understood that for the use of the bin conveying line 20 mentioned above:

[0091] In one aspect, if a layer of the bin conveying line 20 is arranged below the projection of the bottommost storage layer 11 of the shelf body 10, the bin conveying line 20 can be reversely transmitted at different time periods to complete the storage and retrieval of the bin. Of course, please refer to Figure 3 and Figure 4 When the shelf bodies 10 are arranged in an array, a pair of bin conveying lines 20 on both sides of the walking channel 50 can be arranged to have opposite transmission directions, thereby completing the storage and retrieval of the bin.

[0092] In another aspect, please refer to Figure 7 and Figure 8 If two layers of the bin conveying line 20 are arranged above and below the projection of the bottommost storage layer 11 of the shelf body 10, the two layers of the bin conveying line 20 can be arranged to have opposite transmission directions, thereby completing the storage and retrieval of the bin. For example, the upper layer of the bin conveying line is used for the retrieval of the bin, and the lower layer of the bin conveying line is used for the storage of the bin.

[0093] Based on the shelf device disclosed in the above embodiments, the application further discloses a warehouse system, which comprises the turnover conveying line 30 and the shelf body 10 and the bin conveying line 20.

[0094] The shelf body 10 comprises storage layers 11 arranged in multiple layers along the height direction, the storage layers 11 extend along the first direction X, and the storage layers 11 are used for storing a plurality of bins 70 along the first direction X; the bin conveying line 20 extends along the first direction X, and the bin conveying line 20 is used for transmitting the bin 70 along the first direction X; along the height direction, at least one layer of the bin conveying line 20 is arranged below the projection of the bottommost storage layer 11 of the shelf body 10, and the turnover conveying line 30 is in communication with one end of the bin conveying line 20 along the first direction X.

[0095] The plurality of shelf bodies 10 are arranged along the second direction Y perpendicular to the first direction X to form a shelf area 100, and the walking channel 50 extending along the first direction X is formed between adjacent shelf bodies 10 and is used for the walking of the bin taking robot 60; the turnover conveying line 30 extends along the second direction Y and is arranged in a ring shape, and the turnover conveying line 30 is arranged at one end of the shelf area 100 along the first direction X, so that the turnover conveying line 30 is used for transferring the bin 70 to the bin conveying line 20 away from the transmission direction and receiving the bin 70 transmitted from the bin conveying line 20 towards the transmission direction.

[0096] Overall, please refer to Figure 4 After the plurality of shelf devices in the above embodiments are arranged in parallel to form a shelf area, a turnover conveying line in communication with the bin conveying line is arranged at one end of the shelf area along the first direction, thereby forming the warehouse system in the embodiment.

[0097] It can be understood that the turnover conveying line 30 is arranged in a ring shape, and the turnover conveying line 30 is in communication with each of the bin conveying lines 20, so that, on the one hand, for the storage operation of the bin, the bin on the turnover conveying line 30 can be transferred to the bin conveying line 20 below the storage location of the shelf body 10; on the other hand, for the retrieval operation of the bin, the bin at the retrieval location can be transferred to the turnover conveying line 30 through the bin conveying line 20.

[0098] In a possible implementation, the projection of the storage location layer 11 of the bottom layer of the shelf body 10 is provided with a bin conveying line 20 arranged in a single layer; wherein the turnover conveying line 30 is arranged in a single layer and is arranged at the same height as the bin conveying line 20, and the transmission directions of the pair of bin conveying lines 20 on both sides of the walking channel 50 are opposite.

[0099] In the embodiment, continuing to refer to Figure 4 When the bin conveying line is arranged in a single layer, in order to improve the storage and retrieval efficiency, the transmission directions of the pair of bin conveying lines 20 on both sides of the walking channel 50 can be set to be opposite (the hollow arrows in Figure 4 indicate the transmission directions of the bin conveying lines), so that, for a walking channel 50, one bin conveying line 20 on one side (the transmission direction is away from the turnover conveying line 30) can be used for bin storage, and one bin conveying line 20 on the other side (the transmission direction is towards the turnover conveying line 30) can be used for bin retrieval.

[0100] In a specific implementation, the warehouse system further includes a sorting conveying line 40 extending along the second direction Y, and an in-storage operation area 200 and a retrieval operation area 300 respectively arranged beside the sorting conveying line 40; the sorting conveying line 40 and the shelf area 100 are arranged on both sides of the turnover conveying line 30; wherein the sorting conveying line 40 is arranged at the same height as the turnover conveying line 30.

[0101] That is to say, on the basis of the above-mentioned arrangement of the turnover conveying line, the embodiment can specifically arrange the sorting conveying line 40 beside the turnover conveying line 40, continuing to refer to Figure 4 , the sorting conveying line 40 is, for example, in a straight line type, and the sorting conveying line and the shelf area are arranged on both sides of the turnover conveying line.

[0102] Further, the in-storage operation area 200 and the retrieval operation area 300 can be arranged along the sorting conveying line 40, and the number of the in-storage operation area 200 and the retrieval operation area 300 is not limited in the embodiment, and generally, the retrieval operation area 300 can be arranged in multiple, and the in-storage operation area 200 can be arranged in one or more.

[0103] It can be understood that in this way, the sorting personnel can place the to-be-warehoused bin on the sorting conveying line 40 in the warehousing operation area 200, and then the bin will be transferred to the turnover conveying line 30 and warehoused through the corresponding bin conveying line 20; the to-be-warehoused bin is first transferred to the turnover conveying line 30 through the bin conveying line 20, and then transferred to the sorting conveying line 40 and transmitted to the warehousing operation area 300.

[0104] In a specific embodiment, the warehousing system further comprises a transfer device 80; wherein the transfer device 80 is respectively installed at the position of the turnover conveying line 30 at the end of the corresponding bin conveying line 20, the position of the turnover conveying line 30 upstream of the corresponding warehousing operation area 300, and the position of the sorting conveying line 40 downstream of the corresponding warehousing operation area 200; so that the transfer device 80 is used to transfer the bin 70 between the sorting conveying line 40 and the turnover conveying line 30, and between the turnover conveying line 30 and the bin conveying line 20.

[0105] That is, the transfer of the bin between the above-mentioned conveying lines can be realized by the transfer device.

[0106] Specifically, please refer to Figure 4 and Figure 10 A transfer device 80 can be respectively arranged at the position of the turnover conveying line 30 at the end of each bin conveying line 20, so that the transfer device 80 can be used to transfer the bin 70 between the turnover conveying line 30 and each bin conveying line 20.

[0107] Similarly, a transfer device 80 can be arranged at the position of the sorting conveying line 40 downstream of the warehousing operation area 200, so that after the sorting personnel places the to-be-warehoused bin on the sorting conveying line 40 in the warehousing operation area 200, the bin can be transferred by the transfer device 80 from the sorting conveying line 40 to the turnover conveying line 30 at the position downstream of the warehousing operation area 200.

[0108] Of course, a transfer device 80 can also be arranged at the position of the turnover conveying line 30 upstream of the warehousing operation area 300, so that after the to-be-warehoused bin is first transferred to the turnover conveying line 30 through the bin conveying line 20, the bin can be transferred by the transfer device 80 from the turnover conveying line 30 to the sorting conveying line 40 at the position upstream of the warehousing operation area 300, and then the bin can be transmitted to the warehousing operation area 300 through the sorting conveying line 40.

[0109] In a specific embodiment, the above-mentioned bin conveying line 20, turnover conveying line 30 and sorting conveying line 40 comprise a roller conveying line; wherein the transfer device 80 comprises a plurality of conveying belts 81 arranged in parallel with the rollers of the roller conveying line, each conveying belt 81 is arranged between adjacent rollers, and the conveying belt 81 is configured to be arranged in a lifting manner relative to the rollers.

[0110] With reference to the above-described transfer device, see Figure 10 When the above-described each conveying line is a roller conveying line, the transfer device 80 can be specifically implemented by a plurality of conveying belts 81; it can be understood that each conveying belt 81 can be arranged between adjacent rollers and is arranged in a lifting manner relative to the rollers; in this way, when the bin is conveyed by the rollers to above the transfer device, the conveying belt 81 can be lifted and run relative to the rollers, so that the transfer device can divert the bin (i.e. Figure 10 is diverted from the left-right direction to the direction perpendicular to the paper surface in the middle) to achieve the purpose of transfer between adjacent conveying lines.

[0111] Of course, for the identification of the bin, a camera 90 can be arranged beside the transfer device, and the camera 90 can achieve the identification of the bin 70 by scanning the identification code of the bin 70.

[0112] In a possible implementation manner, a projection of the storage layer 11 of the bottom layer of the shelf body 10 is provided with a pair of bins conveying lines 20 arranged in a double-layer manner in the height direction, and the conveying directions of the pair of bins conveying lines 20 arranged in the double-layer manner are opposite; wherein the turnover conveying lines 30 are arranged in a double-layer manner and are arranged at the same height as the pair of bins conveying lines 20 arranged in the double-layer manner.

[0113] In the embodiment, when the bins conveying lines are arranged in a double-layer manner, the conveying directions of the pair of bins conveying lines arranged in an upper-lower manner can be set to be opposite, at this time, the pair of turnover conveying lines are also arranged in an upper-lower double-layer manner, and the pair of turnover conveying lines are arranged at the same height as the pair of bins conveying lines, respectively.

[0114] In this way, for example, the bins conveying line of the lower layer (the conveying direction is away from the turnover conveying line) and the turnover conveying line at the same height thereof can be used for bin storage, and the bins conveying line of the upper layer (the conveying direction is toward the turnover conveying line) and the turnover conveying line at the same height thereof can be used for bin withdrawal.

[0115] In a specific implementation manner, see Figure 11 , the pair of turnover conveying lines 30 arranged in a double-layer manner, one of which is a storage turnover conveying line 31, and the other of which is a withdrawal turnover conveying line 32;

[0116] Wherein, the warehouse system further comprises a sorting conveying line 40 extending along the second direction Y, the sorting conveying line 40 is arranged at the same height as the withdrawal turnover conveying line 32, and the sorting conveying line 40 and the shelf area 100 are arranged on the two sides of the withdrawal turnover conveying line 32; the warehouse system further comprises a withdrawal operation area 300 arranged beside the sorting conveying line 40 and a storage operation area 200 arranged beside the storage turnover conveying line 31.

[0117] That is, when the turnover conveying lines and the bin conveying lines are both arranged in double layers, for example, the upper layer is used for bin delivery, and the lower layer is used for bin storage, at this time, the sorting conveying line can be specifically arranged beside the delivery turnover conveying line in the upper layer, and then one or more delivery operation areas are arranged along the sorting conveying line; as for the storage operation area, it is arranged beside the storage turnover conveying line in the lower layer, and the operator can directly place the bin on the storage turnover conveying line in the storage operation area.

[0118] In an embodiment, the warehouse system further comprises transfer devices 80; wherein the transfer devices 80 are respectively arranged at positions of the storage turnover conveying lines 31 at the ends of the corresponding bin conveying lines 20, at positions of the delivery turnover conveying lines 32 at the ends of the corresponding bin conveying lines 20, and at positions of the delivery turnover conveying lines 32 upstream of the corresponding delivery operation areas 300; so that the transfer devices 80 are used to transfer the bins 70 from the storage turnover conveying lines 31 to the bin conveying lines 20, and sequentially transfer the bins 70 from the bin conveying lines 20 to the delivery turnover conveying lines 32 and the sorting conveying line 40.

[0119] Similar to the single-layer arrangement described above, the bins can be transferred between adjacent conveying lines by the transfer devices.

[0120] Specifically, one transfer device can be arranged at a position of each bin conveying line in the lower layer corresponding to the end of the bin conveying line, so that the bins on the storage turnover conveying line can be transferred to each bin conveying line in the lower layer by the transfer device.

[0121] One transfer device can be arranged at a position of each bin conveying line in the upper layer corresponding to the end of the bin conveying line, so that the bins on each bin conveying line in the upper layer can be transferred to the delivery turnover conveying line by the transfer device.

[0122] Similarly, a transfer device can also be arranged at a position upstream of the delivery operation area corresponding to the delivery turnover conveying line, so that the bin to be delivered can be transferred from the delivery turnover conveying line to the sorting conveying line by the transfer device at the position upstream of the delivery operation area after being first transferred to the delivery turnover conveying line by the bin conveying line in the upper layer, and then the bin can be transmitted to the delivery operation area through the sorting conveying line.

[0123] In an embodiment, the bin conveying lines 20, the turnover conveying lines 30 and the sorting conveying line 40 comprise roller conveying lines; wherein the transfer devices 80 comprise a plurality of conveying belts 81 arranged in parallel with the rollers of the roller conveying lines, each conveying belt 81 is arranged between adjacent rollers, and the conveying belt 81 is configured to be arranged in elevation relative to the rollers.

[0124] The transfer device of the present embodiment can be the same as the transfer device in the single-layer arrangement, and will not be described again.

[0125] The above describes the basic principles of the present application in combination with specific embodiments, but it should be noted that the advantages, benefits, effects and the like mentioned in the present application are only examples and are not limiting, and these advantages, benefits, effects and the like cannot be considered as necessary for each embodiment of the present application. In addition, the above specific details disclosed are only for the purpose of example and understanding, and are not limiting, and the above details do not limit the present application to be necessarily implemented with the above specific details.

[0126] The block diagrams of the devices, apparatuses, equipment, systems involved in the present application are only illustrative examples and are not intended to require or imply the connection, arrangement, configuration as shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have" and the like are open-ended words, meaning "including but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably.

[0127] It should also be noted that in the devices, apparatuses and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application.

[0128] The above description of the disclosed aspects is provided so that any person skilled in the art can make or use the present application. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0129] The above description has been given for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations of the aspects and embodiments discussed above can be made without departing from the scope of the present application.

Claims

1. A warehousing system characterized by, The warehouse system comprises: a rack body (10) comprising storage layers (11) arranged in multiple layers along a height direction, the storage layers (11) extending along a first direction (X), the storage layers (11) being used for storing a plurality of bins (70) along the first direction (X); a bin conveying line (20) extending along the first direction (X), the bin conveying line (20) being used for conveying bins (70) along the first direction (X), and at least one layer of the bin conveying line (20) being arranged below the projection of the storage layer (11) at the bottom layer of the rack body (10) along the height direction, a turnover conveying line (30) communicating with one end of the bin conveying line (20) along the first direction (X); wherein a plurality of the rack bodies (10) are arranged along a second direction (Y) perpendicular to the first direction (X) to form a rack area (100), and a walking channel (50) extending along the first direction (X) and used for a bin taking robot (60) to walk is formed between adjacent rack bodies (10); the turnover conveying line (30) extends along the second direction (Y) and is arranged in a ring shape, and the turnover conveying line (30) is arranged at one end of the rack area (100) along the first direction (X), so that the turnover conveying line (30) is used for transferring bins (70) to the bin conveying line (20) away from the conveying direction thereof and receiving bins (70) conveyed from the bin conveying line (20) toward the conveying direction thereof.

2. The warehousing system according to claim 1, characterized in that, The projection of the storage layer (11) at the bottom layer of the rack body (10) is below the bin conveying line (20) arranged in a single layer. Wherein the turnover conveying line (30) is arranged in a single layer and at the same height as the bin conveying line (20), and the conveying directions of a pair of bin conveying lines (20) on both sides of the walking channel (50) are opposite.

3. The warehousing system according to claim 2, characterized in that, The warehouse system further comprises: a sorting conveying line (40) extending along the second direction (Y), the sorting conveying line (40) and the rack area (100) being arranged on opposite sides of the turnover conveying line (30); an in-warehouse operation area (200) and an out-warehouse operation area (300) arranged beside the sorting conveying line (40); wherein the sorting conveying line (40) is arranged at the same height as the turnover conveying line (30).

4. The warehousing system according to claim 3, characterized in that, The warehouse system further comprises a transfer device (80). Wherein the transfer device (80) is respectively installed at a position of the turnover conveying line (30) corresponding to an end of the bin conveying line (20), a position of the turnover conveying line (30) corresponding to an upstream of the out-warehouse operation area (300), and a position of the sorting conveying line (40) corresponding to a downstream of the in-warehouse operation area (200); so that the transfer device (80) is used for transferring bins (70) between the sorting conveying line (40) and the turnover conveying line (30), and between the turnover conveying line (30) and the bin conveying line (20).

5. The warehousing system according to claim 4, characterized in that, The material box conveying line (20), the turnover conveying line (30) and the sorting conveying line (40) comprise roller conveying lines; The transfer device (80) comprises a plurality of conveying belts (81) arranged in parallel with the rollers of the roller conveying line, each conveying belt (81) is arranged between adjacent rollers, and the conveying belt (81) is arranged to be lifted relative to the rollers.

6. The warehousing system according to claim 1, characterized in that, A pair of the material box conveying lines (20) arranged in double layers are arranged below the projection of the storage layer (11) of the bottom layer of the shelf body (10) and have opposite conveying directions. The turnover conveying line (30) is arranged in double layers and is arranged at the same height as the material box conveying line (20) arranged in double layers.

7. The warehousing system according to claim 6, characterized in that, Among a pair of the turnover conveying lines (30) arranged in double layers, one is an in-storage turnover conveying line (31) and the other is an out-of-storage turnover conveying line (32). The warehouse system further comprises: A sorting conveying line (40) extending along the second direction (Y) is arranged at the same height as the out-of-storage turnover conveying line (32), and the sorting conveying line (40) and the shelf area (100) are arranged on both sides of the out-of-storage turnover conveying line (32). An out-of-storage operation area (300) is arranged beside the sorting conveying line (40). An in-storage operation area (200) is arranged beside the in-storage turnover conveying line (31).

8. The warehousing system according to claim 7, characterized in that, The warehouse system further comprises a transfer device (80). The transfer device (80) is arranged at positions corresponding to the end of the material box conveying line (20) of the in-storage turnover conveying line (31), the end of the material box conveying line (20) of the out-of-storage turnover conveying line (32), and the upstream of the out-of-storage operation area (300) of the out-of-storage turnover conveying line (32). The transfer device (80) is used for transferring material boxes (70) from the in-storage turnover conveying line (31) to the material box conveying line (20), and sequentially transferring material boxes (70) from the material box conveying line (20) to the out-of-storage turnover conveying line (32) and the sorting conveying line (40).

9. The warehousing system according to claim 8, characterized in that, The material box conveying line (20), the turnover conveying line (30) and the sorting conveying line (40) comprise roller conveying lines; The transfer device (80) comprises a plurality of conveying belts (81) arranged in parallel with the rollers of the roller conveying line, each conveying belt (81) is arranged between adjacent rollers, and the conveying belt (81) is arranged to be lifted relative to the rollers.

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