Transmission system for storage shelf and intelligent three-dimensional storage system

Abstract

The utility model provides a transmission system and an intelligent three-dimensional warehousing system.The transmission system comprises multiple transmission subsystems located at different heights, the multiple transmission subsystems correspond to multiple storage areas, located at different heights, of a warehousing shelf, and each transmission subsystem comprises a shelf section and a task module, the task modules are arranged on the goods shelf sections and can move in operation planes parallel to the storing and taking faces of the storage goods shelves, the task modules are used for carrying goods in the corresponding storage areas, and at least one task module in each set of adjacent conveying subsystems in the height direction is further used for executing goods handover operation; the cargo handover operation comprises carrying cargos from the storage areas corresponding to the adjacent transmission subsystems. The multiple subsystems with the short strokes are arranged for carrying goods in a relay mode, the design difficulty and production cost of the conveying system can be greatly reduced, reliability is higher, and maintenance and replacement are easier.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, in particular, to a conveying system and an intelligent stereoscopic warehouse system. BACKGROUND

[0002] With the increase of logistics demand, the requirements for warehouse systems are gradually improved. Taking a common shelf warehouse as an example, goods can be placed on multiple layers of shelves, thereby utilizing the storage space in the height direction, which can effectively reduce the floor area of the warehouse system.

[0003] To improve the efficiency of loading and unloading goods of the warehouse system, most of the warehouse systems are equipped with automated robots. These robots can include ground cargo robots, or loading and unloading robots installed on the shelves. The loading and unloading robots can transport goods between different heights of the shelves, and between the cargo robots and the shelves. The loading and unloading robots can travel on the transverse rails fixed to the shelves, thereby achieving more accurate positioning with relatively simple positioning logic.

[0004] Considering the stress condition of the loading and unloading robots and the convenience of installing the transverse guide rails, it is a more reasonable choice to install at least one transverse guide rail on the upper part of the shelf. However, as the height of the shelf increases, the height of such loading and unloading robots also increases significantly, greatly increasing the installation and maintenance costs, and the reliability of the loading and unloading robots is also affected. SUMMARY

[0005] In order to at least partially solve the problems existing in the prior art, some embodiments of the present application provide a conveying system for a warehouse shelf, the conveying system comprising a plurality of conveying subsystems located at different heights, the plurality of conveying subsystems corresponding to a plurality of storage areas of the warehouse shelf located at different heights, each conveying subsystem comprising: a shelf section; and a task module movable on the shelf section in an operation plane parallel to an access surface of the warehouse shelf for transporting goods in the corresponding storage area, wherein: at least one task module in each group of adjacent conveying subsystems in the height direction is further configured to perform a goods handover operation, the goods handover operation comprising transporting goods from the corresponding storage area of the adjacent conveying subsystem.

[0006] Exemplarily, in each group of at least one group of adjacent conveying subsystems, the adjacent task modules are configured to perform the goods handover operation by transferring goods between each other.

[0007] Exemplarily, each of the adjacent task modules comprises: a carrying mechanism; and a carrying mechanism for carrying the articles between the storage area of the rack and the carrying mechanism, wherein: the carrying mechanisms of the adjacent task modules are located at the same height when the adjacent task modules transfer the articles between each other, and the carrying mechanism is further used for transferring the articles between the carrying mechanisms of the adjacent task modules in translation.

[0008] Exemplarily, the carrying mechanism is rotatable in a horizontal plane, so that the carrying mechanism has a loading and unloading position and a transfer position, wherein: the carrying mechanism has a docking end for docking with the storage area on the rack, the docking end faces the storage area on the rack when the carrying mechanism is in the loading and unloading position; and the docking ends of the carrying mechanisms of the adjacent task modules face each other when the carrying mechanisms of the adjacent task modules are respectively in the respective transfer positions.

[0009] Exemplarily, in each of the at least one group of adjacent transport subsystems: at least one task module is configured to perform the article transfer operation by performing the picking operation and the putting operation on the transfer storage site adjacent to the corresponding storage area of the task module in the adjacent storage area of the task module.

[0010] Exemplarily, in each of the at least one group of adjacent transport subsystems: the adjacent task modules are configured to perform the article transfer operation by performing the picking operation and the putting operation on the transfer storage site arranged between the corresponding adjacent storage areas of the group.

[0011] Exemplarily, in the at least one group of adjacent transport subsystems: the adjacent rack sections of the adjacent transport subsystems have an overlapping portion in the height direction; and the adjacent task modules on the adjacent rack sections perform the task transfer operation on the overlapping portion.

[0012] Exemplarily, at least one of the adjacent rack sections is adjustable in size in the height direction to form the overlapping portion.

[0013] Exemplarily, the adjacent rack sections are not adjustable in size in the height direction, and the adjacent rack sections are completely staggered along the direction perpendicular to the access surface.

[0014] Exemplarily, the shelf section comprises: a transverse rail extending along a horizontal direction parallel to an operation plane; and a column connected to the transverse rail and slidable along the transverse rail, the task module being connected to the column and slidable along the column, wherein: a bottom end of the column of the shelf section located above in the adjacent shelf sections comprises a first extension module having a first retracted position and a first extended position, wherein: when the first extension module is in the first retracted position, the first extension module is spaced apart from a top end of the column of the shelf section located below in the adjacent shelf sections in a height direction; and when the first extension module is in the first extended position, the first extension module extends below the top end of the column of the shelf section located below in the adjacent shelf sections to form an overlapping portion.

[0015] Exemplarily, the top end of the column of the shelf section located below in the adjacent shelf sections comprises a second extension module having a second retracted position and a second extended position, wherein: when the second extension module is in the second retracted position, the second extension module is spaced apart from the bottom end of the column of the shelf section located above in the adjacent shelf sections in the height direction; and when the second extension module is in the second extended position, the second extension module extends above the bottom end of the column of the shelf section located above in the adjacent shelf sections to form an overlapping portion.

[0016] Exemplarily, each of the at least one group of adjacent transport subsystems is located on shelves on opposite sides of the same aisle.

[0017] Exemplarily, each of the at least one group of adjacent transport subsystems is located on shelves on the same side of the same aisle.

[0018] Exemplarily, at least one of the task modules of the plurality of transport subsystems is a picking task module.

[0019] Exemplarily, at least one of the task modules of the plurality of transport subsystems is an access transport task module.

[0020] Exemplarily, the task module of a bottom transport subsystem of the plurality of transport subsystems is a picking task module, and the task module of other transport subsystems of the plurality of transport subsystems is an access transport task module.

[0021] Exemplarily, the transport system comprises a first transport subsystem corresponding to a first storage area of a storage shelf, the first transport subsystem comprising: a first shelf section; and a first task module movable on the first shelf section in an operation plane parallel to an access plane of the storage shelf, for carrying an article in the first storage area, wherein: the first task module is further configured to carry the article in the first storage area to a top storage location of a second storage area, and / or hand over the article in the first storage area to a second task module corresponding to the second storage area, the first storage area being higher than the second storage area.

[0022] Exemplarily, the first shelf section comprises: a first transverse rail extending along a horizontal direction parallel to the operation plane; and a first upright column connected to the first transverse rail and slidable along the first transverse rail, the first task module being connected to the first upright column and slidable along the first upright column, wherein: a bottom end of the first upright column comprises a first extension module having a first retracted position and a first extended position, wherein: when the first extension module is in the first retracted position, the first extension module is located above the second storage area; and when the first extension module is in the first extended position, the first extension module extends to a top storage position of the second storage area, so that the first task module is slidable onto the first extension module and the articles are carried to the top storage position.

[0023] The application also provides a conveying system for a stereoscopic warehouse, the stereoscopic warehouse comprising at least a plurality of shelf columns, and each shelf column comprising: a first shelf section and a second shelf section, the shelf being provided with a plurality of storage spaces, and a storage box being placed at a storage position of the storage space; the first shelf section and the second shelf section can be on the same shelf or on the shelves on both sides of the same aisle; the first shelf section and the second shelf section can be provided with a task module, wherein at least one task module is used to access a plurality of box positions of an adjacent shelf section; the task module can be a picking task module or a storage and retrieval conveying task module.

[0024] Exemplarily, the adjacent shelf sections are arranged as: two shelf sections in the z-axis direction of the same shelf, and the height direction of the shelf is denoted as the z-axis.

[0025] Exemplarily, the adjacent shelf sections are arranged as: two shelf sections in the y-axis direction of the shelves on both sides of the aisle, the aisle direction of the plurality of shelf columns is denoted as the x-axis, and the direction perpendicular to the x-axis in the horizontal plane is denoted as the y-axis.

[0026] Exemplarily, the extension module is slidably mounted on the movable part of the task module, so that the task module can be extended in the height direction to access more box positions of the adjacent shelf section.

[0027] Exemplarily, the extension module is one or more stacked sliders, and the extension distance is obtained by the stacked arrangement.

[0028] Exemplarily, the access to the several bins of the adjacent rack section is realized by the track transmission device, and the track transmission device comprises: a transverse track, a column, a movable piece, and a connecting mechanism of the second task module; when the task module is a bin accessing module, the connecting mechanism of the second task module is provided with: a support structure for supporting the bin accessing module; and a conveying assembly for accessing the bin accessing module; the first rack section and the second rack section are provided with the task module, wherein at least one task module can access the several bins of the adjacent rack section, and the specific implementation is that the bin accessing module of the track transmission device installed on the first rack section can access one or more storage positions at the end of the second rack section in the z-axis direction or one or more storage positions of the second rack section in the y-axis direction, and the lane direction of the multi-column rack is denoted as the x-axis, and the direction perpendicular to the x-axis in the horizontal plane is denoted as the y-axis.

[0029] Exemplarily, the goods are put into or taken out from the transfer assembly or the transfer box of the goods transfer robot running at the bottom of the rack by the goods picking device; and the specific implementation of the setting of the goods picking device on the rack is that the transverse track, the column, the movable piece, and the connecting mechanism of the first task module are provided, wherein: the transverse track is on the rack; the column is vertically arranged on the transverse track and can slide transversely; the movable piece is arranged on the column and can slide along the column; and the connecting mechanism of the first task module is arranged on the movable piece.

[0030] The application also provides an intelligent three-dimensional warehouse system, comprising: a warehouse rack; and the above-mentioned transmission system.

[0031] Exemplarily, the top of the warehouse rack is provided with a goods transfer robot and / or a load handling device, the load handling device is arranged in cooperation with a lifting device for grabbing an article, the load handling device is arranged to move on the top of the warehouse rack and is used to lift and move the article in the warehouse rack, and the load handling device comprises: a receiving space assembly for accommodating the article; and a lifting assembly configured to lift and lower the lifting device relative to the receiving space assembly.

[0032] Exemplarily, the top of the warehouse rack is provided with a ground goods transfer robot AGV walking surface, and / or a first group of parallel tracks and a second group of parallel tracks are arranged, the second group of parallel tracks extends transversely to the first group of parallel tracks on a substantially horizontal surface to form a grid structure comprising a plurality of grid spaces

[0033] A series of simplified concepts are introduced in the summary, which will be further described in detail in the specific embodiment part. The summary part does not mean to try to limit the key features and necessary technical features of the claimed technical solution, and even less to determine the protection scope of the claimed technical solution.

[0034] The advantages and features of the present application will be described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0035] The following drawings are included herewith to provide a better understanding of the application and are incorporated in and constitute a part of this application. The drawings

[0036] Figure 1 The schematic diagram of the shelf structure in the embodiment of the present application;

[0037] Figure 2 The schematic diagram of the freight robot structure in the embodiment of the present application;

[0038] Figure 3 The schematic diagram of the transmission system structure in the embodiment of the present application;

[0039] Figure 4 The schematic diagram of the transmission system structure in the embodiment of the present application;

[0040] Figure 5 The schematic diagram of the transmission system structure in the embodiment of the present application;

[0041] Figure 6 The schematic diagram of the transmission system structure in the embodiment of the present application;

[0042] Figure 7 The schematic diagram of the track transmission device structure of the warehouse shelf in the embodiment of the present application;

[0043] Figure 8 The schematic diagram of the track transmission device structure of the warehouse shelf in the embodiment of the present application;

[0044] Figure 9 The schematic diagram of the track transmission device structure of the warehouse shelf in the embodiment of the present application;

[0045] Figure 10 The schematic diagram of the shelf local structure in the transmission system in the embodiment of the present application;

[0046] Figure 11 The schematic diagram of the goods sorting device structure in the embodiment of the present application;

[0047] Figure 12 The schematic diagram of the transmission system structure in the embodiment of the present application;

[0048] Figure 13 The schematic diagram of the transmission system structure in the embodiment of the present application;

[0049] Figure 14 The schematic diagram of the transmission system structure in the embodiment of the present application;

[0050] Figure 15 Fig. 1 is a schematic diagram of a transmission system according to an embodiment of the present application;

[0051] Figure 16 Fig. 2 is a schematic diagram of an intelligent three-dimensional warehouse transmission system according to an embodiment of the present application;

[0052] Figure 17 Fig. 3 is a schematic diagram of an intelligent three-dimensional warehouse transmission system according to another embodiment of the present application. DETAILED DESCRIPTION

[0053] In the following description, numerous specific details are provided for a thorough understanding of the present application. One of ordinary skill in the art will recognize, however, that the application can be practiced without one or more of the specific details or with other methods, components, materials, etc. In other instances, well-known structures, materials, or operations are not shown or described in detail in order to avoid obscuring aspects of the present application.

[0054] For a thorough understanding of the present application, reference is made to the following description taken in conjunction with the accompanying drawings. It is apparent that the application can be practiced without one or more of the specific details set forth herein. Certain terminology may

[0055] The transmission system provided by the embodiments of the present application can improve the utilization rate of warehouse space, the speed of goods in and out, and the sorting efficiency of the existing transmission system, and greatly reduce the investment cost of warehouse deployment.

[0056] First of all, it should be clear that the internal height of the warehouse is usually classified into different levels according to the storage capacity and design. These levels mainly depend on the design of the warehouse, the type of storage system or other handling equipment used, and the type of goods stored. The following are some common warehouse height classifications:

[0057] Low-bay warehouse: generally below 6 meters in height. This type of warehouse is suitable for manual handling or basic forklift operation.

[0058] Medium-bay warehouse: the height is usually between 6 meters and 12 meters. It is suitable for the use of three-dimensional forklifts and some automated storage systems.

[0059] High-bay warehouse: these warehouses have a height of more than 12 meters, sometimes even reaching 20 meters or more. They are usually used with highly automated storage and retrieval systems (AS / RS) to maximize space utilization.

[0060] Ultra-High-Bay: This is a less common type, with heights possibly exceeding 30 meters. These warehouses rely heavily on highly automated and sophisticated logistics management systems.

[0061] Traditional warehouse height is often only 10 meters, when the warehouse height reaches higher meters, that is, the warehouse reaches the high warehouse standard, even the ultra-high warehouse standard, the warehouse transmission and exchange efficiency is limited by the height of the warehouse, and special, customized transmission system or picking system is needed to participate, the deployment complexity is high and the configuration cost is extremely high. In order to solve this problem, the present application discloses a transmission system.

[0062] The warehouse to which the transmission system is applied can include multiple storage racks arranged at intervals, and a passageway can be formed between adjacent storage racks, in which a freight robot, a forklift or personnel can walk. On this basis, the coordinate system in the present application is defined: the direction of the passageway of the multiple columns of racks is denoted as the x-axis, the direction perpendicular to the x-axis in the horizontal plane is denoted as the y-axis, and the height direction of the racks is denoted as the z-axis.

[0063] The transmission system includes multiple transmission subsystems located at different heights, and the multiple transmission subsystems correspond to multiple storage areas of the storage racks located at different heights. Each transmission subsystem can include a rack section and a task module. It should be noted that in some embodiments, the transmission system of the present application can not include the storage racks, but only include multiple transmission subsystems. These transmission subsystems can be applied to existing storage racks. In some embodiments, the transmission system of the present application can also include the storage racks.

[0064] As Figure 1As shown, optionally, one transport subsystem can correspond to a part or all of the storage area of one individual storage rack. Each storage area can include multiple layers of storage spaces 101 arranged along the height direction, and each layer of storage spaces 101 can include multiple items arranged side by side in the horizontal direction. The items described herein can include goods stored in original packaging boxes, individually stored goods, or goods stored in uniform containers, and can also include containers for storing goods, such as the containers described above. In some embodiments, empty containers can be stored on the storage racks. In some embodiments described below with a goods picking device, empty containers can be used to receive the individual goods picked by the goods picking device. Unless otherwise specified, the items described herein can be stored in any form. Optionally, each layer of storage spaces 101 can include multiple items arranged side by side along the x-axis direction, and only one row of items arranged along the y-axis direction. In other words, each layer of storage spaces 101 can include multiple storage locations 103 along the x-axis direction, and only one storage location 103 along the y-axis direction. Optionally, two or more rows of items can also be arranged along the y-axis direction, and the transport subsystem can extend into the rack to pick or place items along the y-axis direction, or the inner layer of items can be replenished to the outer layer after the outer layer of items is removed. The transport system can be arranged substantially in the aisle, and can store or retrieve items from the face of the storage rack in which the aisle is located. The face of the storage rack used to store or retrieve items is the access face, which can be perpendicular to the y-axis direction. Optionally, adjacent storage racks can have opposite access faces. Figure 1 The storage rack is shown from the access face side.

[0065] Figure 1 The structure of the storage rack is shown. As shown, the transport system can include a storage rack 10. The storage rack 10 is provided with multiple layers of storage spaces 101, and items are placed in the storage locations 103 of the storage spaces 101. The shelves can provide support for the items 104.

[0066] It should be noted that a general rack can include uprights, cross beams, and shelves. An individual set of storage racks 10 can include at least four uprights and a plurality of cross beams (shelves), and if several sets of storage racks 10 are assembled into a row, the uprights can be shared between adjacent storage racks 10. This can save space and reduce costs.

[0067] Reference Figure 2The transport system can also include a plurality of freight robots 105 configured to interface with the items. As an example, the freight robots can be AGVs (Automated Guided Vehicles) or AMRs (Autonomous Mobile Robots). The AGVs or AMRs can be configured to move along the AGV travel surface 101 and / or the tracks 102. Figure 2 FIG. 1 illustrates an example transport system 100.

[0068] The top of the warehouse can be configured to house freight robots and / or load handling devices. In some embodiments, the load handling devices are configured to cooperate with lifting devices configured to grasp and lift the items. Optionally, the load handling devices are configured to move on the top of the warehouse and are configured to lift and transport the items in the warehouse. In some embodiments, the load handling devices can also include a receiving space configured to receive the items. The lifting devices are configured to lift and lower the items relative to the receiving space.

[0069] The top of the warehouse can be configured to house an AGV travel surface. Optionally, the top of the warehouse can also be configured to house a first set of parallel tracks and a second set of parallel tracks extending transverse to the first set of parallel tracks on a substantially horizontal surface to form a grid structure including a plurality of grid spaces. The lifting devices can be configured to lift the items through openings in the grid structure. Optionally, the AGV travel surface and the tracks can be configured simultaneously.

[0070] As an example, the freight robots can include a mobile base, a stand vertically disposed on the mobile base, and an access device vertically disposed on the stand and configured to be vertically lifted.

[0071] Optionally, a plurality of transport subsystems can be configured to correspond to a plurality of different storage areas of a warehouse rack. Optionally, a transport subsystem can also correspond to a plurality of warehouse racks. As an example, Figure 3 As shown, the transport system includes at least a first transport subsystem configured to transport items in a first height range H1 and a second transport subsystem configured to transport items in a second height range H2. The first transport subsystem includes a first rack section 1001 and the second transport subsystem includes a second rack section 1002. The highest point of the first height range H1 is higher than the highest point of the second height range H2. Optionally, the transport system can also include other height ranges that are higher than the highest point of the first height range H1 or lower than the lowest point of the second height range H2. Optionally, the transport system can also include transport subsystems configured to transport items in these height ranges. In other words, in an embodiment not shown, a warehouse rack can be configured to include three or more transport subsystems arranged along the z-axis. In this embodiment, the highest point of the first height range H1 is higher than the highest point of the second height range H2, which is higher than the highest point of the third height range H3, and so on. Figure 3The first and second transport subsystems shown in the middle can represent two adjacent transport subsystems. Hereinafter, the principles of the present application will be described mainly with the example of this set of adjacent transport subsystems (i.e. the first and second transport subsystems) for the sake of brevity.

[0072] The task modules 1003 and 1004 are movable on the respective shelf sections 1001 and 1002 in an operation plane parallel to the access face of the storage rack 10 for handling items in the corresponding storage spaces. Via the access face of the storage rack 10, the task modules can access the items. Specifically, the task modules can move in the operation plane at a distance from the access face of the storage rack 10 by means of structures such as guide rails, uprights, etc. Taking the operation of the task module 1003 to pick up an item as an example, when the task module 1003 moves in the operation plane, the task module 1003 does not interfere with the shelves, uprights, etc. of the storage rack 10, and when it reaches the location of the item, the item can be transferred onto a carrying mechanism (to be described later) of the task module 1003 by means of a push-pull mechanism provided on the task module 1003. Alternatively, the push-pull mechanism can also be provided in the storage rack 10 instead of on the task module 1003. Alternatively, the task module 1003 can also be configured to pick up or place items from or on the storage rack 10 by means of a clamping mechanism, vacuum suction cup, electromagnetic suction cup, etc. As shown, the task module 1003 can place the item A from the upper storage location along the path shown by the arrow to the target storage location B. The task module 1004 can place items onto the goods-handling robot 105. For the sake of understanding, the embodiments will be described in detail hereinafter with the example of the push-pull mechanism provided on the task modules 1003 and 1004 and the task modules 1003 and 1004 having a carrying surface for placing items. It should be noted that the carrying surface does not necessarily comprise a complete support surface, and alternatively, the carrying surface can comprise one or more spaced-apart planes as long as it can support the items.

[0073] In the height direction, at least one task module in each group of adjacent transport subsystems is further configured to perform an article handover operation. The article handover operation includes carrying an article from a storage area corresponding to an adjacent transport subsystem. As described above, taking a group of transport subsystems adjacent in the height direction, i.e., the first transport subsystem and the second transport subsystem, as an example, the task module of any one of the two transport subsystems can carry an article from the task module of the other. For example, the task module of the first transport subsystem can transfer an article at any storage location in the first height range H1 to its carrying surface, and the storage location can be higher than the highest point of the second height range H2. Subsequently, the task module of the first transport subsystem can place the article on its carrying surface in a storage location not higher than the highest point of the second height range H2, and the task module of the second transport subsystem can transfer the article in the storage location to its carrying surface and further place it in any storage location in the second height range H2. The storage location can be lower than the lowest point of the first height range H1. In another example embodiment, the task module 1003 of the first transport subsystem can also cooperate with the task module 1004 of the second transport subsystem to directly hand over the article between the task modules of the two transport subsystems.

[0074] In the above technical solution, the articles can be handed over between the transport subsystems adjacent in the height direction. Thus, the transport subsystem capable of carrying articles in a higher height range can transfer an article that cannot be reached by another transport subsystem to a height that can be reached by the transport subsystem capable of carrying articles in a lower height range, and then the article is carried by the transport subsystem to a height that cannot be reached by the transport subsystem capable of carrying articles in a higher height range, thereby relaying the articles between different heights. Compared with setting one transport subsystem capable of carrying articles between sufficient heights, by setting multiple subsystems with shorter strokes to relay the articles, the design difficulty, production cost, and reliability of the transport system can be greatly reduced, and maintenance and replacement are also simpler.

[0075] Optionally, for the warehouse rack 10 that has been built, in the application scenario of heightening and modifying the existing warehouse rack 10, the transport subsystem can be arranged only in the part of the warehouse rack 10 that is heightened, without replacing the transport subsystem of the part of the original warehouse rack 10.

[0076] As mentioned above, exemplary, in each of the at least one group of adjacent transport subsystems, the adjacent task modules are configured to perform the task handover operation by transferring the items between each other. When there are multiple groups of transport subsystems, the way the task modules of different groups hand over the items can be different. For example, one or more of the groups can adopt a "direct transfer" handover mode. Compared to the control task module placing the item on a storage space of a certain layer of the storage rack 10, and then another task module picking up the item from the storage space, by making the task module of one transport subsystem directly transfer the item to the task module of another transport subsystem, the time required for the handover can be shortened. Alternatively, the task modules of the two transport subsystems can both stop at a position that is level with the storage space of a certain layer of the storage rack 10, and the items are handed over at this position. Alternatively, the task modules of the two transport subsystems can also stop at a position that is not level with the storage space of any layer of the storage rack, and only the task modules of the two transport subsystems are aligned with each other and hand over the items. In this way, the flexibility of the system is increased. In some embodiments, the scheduling device controlling the two transport subsystems can calculate the distance between the task modules of the two transport subsystems, and determine the height at which the handover of the items requires the shortest time. Alternatively, sensors for alignment or detectors for collision prevention can also be provided on the task modules of the transport subsystems. For some embodiments of the transport subsystems, the task modules can also be at different heights when transferring the items between each other, for example, the task modules of one transport subsystem can be at a higher position, and the task modules of the other transport subsystem can be at a lower position, and the items are handed over by means of vacuum suction cups, electromagnetic suction cups, etc. Alternatively, the two adjacent transport subsystems can have different task modules, for example, the transport subsystem that carries items in a higher range can have task modules that grab and suck the items from above, and the transport subsystem that carries items in a lower range can have task modules that support the items from below. Alternatively, the task modules can include manipulators with multiple degrees of freedom, and can hand over the items with the manipulators of another task module from any direction. In summary, by controlling the at least one group of adjacent transport subsystems to directly transfer the items between each other, the time for carrying the items can be reduced, and the logistics efficiency can be improved.

[0077] Exemplary, in the at least one group of adjacent transport subsystems, the adjacent rack segments of the adjacent transport subsystems have an overlapping portion in the height direction, and the adjacent task modules on the adjacent rack segments perform the task handover operation on the overlapping portion. In this way, the adjacent task modules can be level with each other, which is a prerequisite for transferring the items by translation.

[0078] Exemplarily, each of the adjacent task modules comprises a carrying mechanism and a handling mechanism. The aforementioned carrying surface can be located on the carrying mechanism. The handling mechanism is used to handle the items between the storage area of the rack and the carrying mechanism. When the adjacent task modules transfer the items between each other, the carrying mechanisms of the adjacent task modules are located at the same height, and the handling mechanism is also used to transfer the items between the carrying mechanisms of the adjacent task modules in a translational manner. Compared with the above-mentioned embodiments in which the handling mechanism is not used to handle the items, the task module using the carrying mechanism can be suitable for a wider range of item types. It is easy to understand that the items that can be stored in the storage area of the rack can be stably placed with the support at the bottom. For the task module provided with the carrying mechanism, it can be suitable for almost all items that can be stored by using the warehouse rack. In contrast, the task module using, for example, a vacuum suction cup and an electromagnetic suction cup can only be suitable for goods with smooth surfaces or goods with ferromagnetic properties, or goods provided with smooth boxes, ferromagnetic boxes, etc. In summary, the task module using the carrying mechanism has a wide range of applications and reduces the logistics cost. By transferring the items at the same height, the items will not be at risk of falling, tilting or even falling from a high place during the translation. And compared with one task module grabbing or sucking the items from above and another task module receiving the items from below, the translation of the items can not need to consider the height of the items, simplifying the process of handover.

[0079] Exemplarily, the carrying mechanism is rotatable in the horizontal plane, so that the carrying mechanism has a loading and unloading position and a handover position. For example, the carrying mechanism can be rotated by 90 degrees. The carrying mechanism has a docking end for docking with the storage area on the rack. Via the docking end, the handling mechanism can transfer the items between the carrying mechanism and the rack. When the carrying mechanism is in the loading and unloading position, the docking end faces the storage area on the warehouse rack 10. When the carrying mechanisms of the adjacent task modules are respectively in the respective handover positions, the docking ends of the carrying mechanisms of the adjacent task modules face each other.

[0080] As described above, for the common transport subsystem, the handling mechanism is only used to handle the items between the storage area of the rack and the carrying mechanism, and the direction of its action is limited. In some embodiments, the length and width of the carrying mechanism can also be different, so as to carry standard containers of different lengths and widths, such as totes. By rotating the carrying mechanism in the horizontal plane, the handling mechanism thereon can change the direction of motion, thereby allowing the task module to transfer the items thereon to another task module. For items of different lengths and widths, the rotated carrying mechanism can allow the items to be more stably transferred to the carrying mechanism of another task module along the length direction of the items. For embodiments of the carrying mechanism in which the carrying surface is not a complete plane but is formed by one or more planes spaced from each other, the rotation of the carrying mechanism can allow the items to be smoothly transferred without being stuck at the spacing between the multiple planes.

[0081] Exemplarily, in each of the at least one set of adjacent transport subsystems: the corresponding adjacent storage areas of the set have an overlapping area in the height direction, the overlapping area has a transfer storage position, and the adjacent task modules are each configured to perform the article handover operation by performing the picking operation and the placing operation on the transfer storage position. Taking the above-mentioned adjacent set of transport subsystems, i.e., the first transport subsystem and the second transport subsystem, as an example, the task modules of the first transport subsystem can place articles in the storage space capable of being picked and placed by the task modules of the second transport subsystem, thereby realizing the handover of the articles. This mode can be referred to as "indirect handover". Whether it is the aforementioned "direct handover" or the "indirect handover" here, at least one task module in each set of adjacent transport subsystems is allowed to carry articles from the corresponding storage area of the adjacent transport subsystem. It can be understood that when there are multiple sets of adjacent transport subsystems, some sets can adopt "direct handover", and the other sets can adopt "indirect handover". Of course, all sets can adopt "direct handover", or all sets can adopt "indirect handover". It is easy to understand that the more the overlapping parts of the storage areas of the two transport subsystems, the smaller the total storage area range of the storage space 101 that can be covered by the two transport subsystems. For the overlapping area of the storage space 101, a part of the storage positions in the overlapping area can be used as transfer storage positions. For ease of understanding, the following will be described in detail by taking an example in which all storage positions in one or more layers of storage space are used as transfer storage positions, but the present application also does not exclude embodiments in which only a part of the storage positions in one or more layers of storage space 101 are used as transfer storage positions.

[0082] For example, two layers of storage space 101 in the storage space 101 capable of being reached by the first transport subsystem can also be reached by the second transport subsystem. In other words, the corresponding storage area of the first transport subsystem and the corresponding storage area of the second transport subsystem form an overlapping area including the two layers of storage space 101. In this case, the storage positions in the lowermost layer of storage space 101 of the first transport subsystem can be used as transfer storage positions. For the first transport subsystem, the task modules of the first transport subsystem will only reach the storage space 101 in which the transfer storage positions are located when the articles need to be transferred from the storage positions in the other layers of storage space 101 to the transfer storage positions, or the articles in the transfer storage positions need to be transferred to the storage positions in the other layers of storage space 101. In this case, the second transport subsystem only reaches the storage space 101 in which the transfer storage positions are located when picking articles from the transfer storage positions or placing articles into the transfer storage positions, and walks below the layer of storage space 101 during other time periods. In this way, the two transport subsystems can work without interfering with each other at ordinary times, and can relay each other to transport articles.

[0083] For another embodiment in which the storage area corresponding to the first transport subsystem and the storage area corresponding to the second transport subsystem form an overlapping area including two layers of storage spaces 101, the uppermost layer of the second transport subsystem can also be used as the storage space 101 in which the transfer storage locations are located, i.e., the storage locations in the second-to-last layer of storage spaces 101 below the first transport subsystem are set as the transfer storage locations. In this case, the task modules of the first transport subsystem only travel in the storage spaces 101 above the transfer storage locations except for the transfer of the articles; the task modules of the second transport subsystem only travel in the storage spaces 101 below the transfer storage locations except for the transfer of the articles. For embodiments in which there are more layers of storage spaces 101 in the overlapping area, one or more layers of storage spaces 101 can also be used as the transfer storage locations in the above-described manner, i.e., the task modules of the transport subsystem located relatively higher only travel in the storage spaces 101 above the transfer storage locations except for the transfer of the articles, and the task modules of the transport subsystem located relatively lower only travel in the storage spaces 101 below the transfer storage locations except for the transfer of the articles.

[0084] Exemplarily, the task modules can be telescopic, so as to deliver the articles to the adjacent transport subsystems. Thus, the adjacent transport subsystems can not need to have overlapping shelf sections, and the transfer of the articles can also be achieved.

[0085] Since the first and second conveying subsystems can overlap in height, if both are installed to the same operation surface, collision interference can occur when the distance in the horizontal direction is too small. In an exemplary embodiment, the first shelf section 1001 of the first conveying subsystem and the second shelf section 1002 of the second conveying subsystem can have a minimum distance in the horizontal direction. Alternatively, when the first shelf section 1001 of the first conveying subsystem travels in the direction of the second shelf section 1002 of the second conveying subsystem, the second shelf section 1002 of the second conveying subsystem travels synchronously with the first shelf section 1001 of the first conveying subsystem when the distance between them is less than or equal to a preset distance threshold, so that the distance between them is not less than the distance threshold. The distance threshold can be the minimum value at which the two do not collide, or a certain safety margin can be added on this basis. Alternatively, the dispatching device can determine whether the distance between the first shelf section 1001 of the first conveying subsystem and the second shelf section 1002 of the second conveying subsystem will be less than the distance threshold when the first shelf section 1001 travels in the direction of the second shelf section 1002. And, the second shelf section 1002 of the second conveying subsystem can be controlled to travel until the distance between the first shelf section 1001 of the first conveying subsystem and the second shelf section 1002 of the second conveying subsystem is not less than the distance threshold when the first shelf section 1001 reaches the end point. Conversely, when the second shelf section 1002 of the second conveying subsystem travels in the direction of the first shelf section 1001 of the first conveying subsystem, the first shelf section 1001 of the first conveying subsystem can also be controlled to travel in the same way. In this way, the first shelf section 1001 of the first conveying subsystem and the second shelf section 1002 of the second conveying subsystem do not cross each other, and the distance between them is always not less than the distance threshold, thereby preventing collision interference.

[0086] As described above, to avoid collision between adjacent conveying subsystems, the shelf sections of adjacent conveying subsystems can always be kept at a distance not less than the distance threshold. However, this can limit the movement range of each of the adjacent conveying subsystems. Exemplarily, the size of at least one of the adjacent shelf sections in the height direction can be adjusted to form an overlapping portion. In other words, when the conveying subsystem does not take or place articles in the transfer storage location, the storage space 101 that the shelf section of the conveying subsystem can reach is less, and all are above the storage space 101 where the transfer storage location is located, and there is no possibility of collision with the adjacent conveying subsystem. When and only when the conveying subsystem needs to place articles in the transfer storage location or take them out, the conveying subsystem will be elongated to increase the size of the corresponding shelf section. As Figure 5As shown, taking the first and second conveying subsystems as examples, the first shelf section 1001 of the first conveying subsystem can be elongated, and the second shelf section 1002 of the second conveying subsystem can not be elongated. The first conveying subsystem can take or place the goods in the transfer storage positions in the storage space 101 corresponding to the second shelf section 1002 of the second conveying subsystem in the elongated state, and the movement of the two conveying subsystems does not interfere with each other in the non-elongated state. For example, Figure 5 The original position of the goods A is within the storage area of the first conveying subsystem, and the target storage position B is located in a position that can be reached only after the shelf section of the first conveying subsystem is elongated. Thus, each storage position in the storage space 101 of the layer where the storage position is located can be used as a transfer storage position. The second shelf section 1002 of the second conveying subsystem can take or place the goods in the storage position B without elongation. Alternatively, the second shelf section 1002 of the second conveying subsystem can be elongated, and the first conveying subsystem can not be elongated, in which case the transfer storage position can be set in the storage space 101 corresponding to the first shelf section 1001 of the first conveying subsystem. Alternatively, the first shelf section 1001 of the first conveying subsystem and the second shelf section 1002 of the second conveying subsystem can both be elongated, and the transfer storage position can be set in the storage space 101 between the two shelf sections in the non-elongated state, and both of them can access the goods in the transfer storage space 101 after elongation. By using the transfer storage position to access the goods, the conveying subsystem does not need to directly exchange the goods, the risk of collision is smaller, the control logic is simple, and the precision requirement is also lower. However, the time consumed for exchanging the goods can be longer than that of directly exchanging the goods by the adjacent conveying subsystems.

[0087] It should be noted that the above-mentioned adjacent conveying subsystems still refer to a group of conveying subsystems adjacent in the height direction, and not to two conveying subsystems adjacent in the horizontal direction and moving at substantially the same height.

[0088] In some other exemplary embodiments, the size of the adjacent shelf segments in the height direction is not adjustable, and the adjacent shelf segments can be completely staggered along the direction perpendicular to the access surface. Specifically, two adjacent transport subsystems can be arranged on the same shelf, and during walking, the task modules of the two transport subsystems need to avoid collision with the shelf segments of the adjacent transport subsystem. For example, the first shelf segment 1001 of the first transport subsystem is arranged on the outer side, and the second shelf segment 1002 of the second transport subsystem can be arranged on the inner side, and the overlapping area of the two is one storage space 101 height. The task module 1003 of the first transport subsystem and the task module 1004 of the second transport subsystem can only extend to the access surface direction, and will not intersect with the plane of the shelf segment of the first transport subsystem in the direction away from the access surface. In this case, the task module 1004 of the second transport subsystem can arbitrarily walk. When the task module 1003 of the first transport subsystem reaches the height of the lowermost storage space 101, the distance between the second shelf segment 1002 of the second transport subsystem and the first shelf segment 1001 of the first transport subsystem cannot be too small, otherwise the task module 1003 of the first transport subsystem extending to the access surface may collide with the second shelf segment 1002 of the second transport subsystem. When the task module 1003 of the first transport subsystem is at other heights, the first transport subsystem and the second transport subsystem can be of any shape and allow them to cross each other. When the task module 1004 of the first transport subsystem and the second transport subsystem extends to the access surface direction and the direction away from the access surface, the task module 1004 of the second transport subsystem may collide with the shelf segment of the first transport subsystem located on the outer side, so when the task module 1004 of the second transport subsystem is at the highest storage space 101, the distance between the first transport subsystem and the second transport subsystem also needs to be controlled. Of course, the present application also does not exclude embodiments in which the task module does not interfere with the walking of the two transport subsystems at any time.

[0089] For the transport system of the above several embodiments, each of at least one group of adjacent transport subsystems can be located on the storage shelves on the same side of the same aisle, for example. Alternatively, as shown in Figure 4 each of at least one group of adjacent transport subsystems is located on the storage shelves on both sides of the same aisle. In this case, any one of the two transport subsystems can take and place articles in the storage positions of the storage shelves on which it is located and the storage positions of the adjacent storage shelves within its corresponding height range.

[0090] As shown in Figure 6 , for example, the shelf segment can include a transverse track 11 extending in the horizontal direction parallel to the operation plane. Alternatively, the transverse track can be one or more. When the transverse track is multiple, the multiple transverse tracks can be arranged at intervals, as shown in Figure 9 and Figure 10, shows the case of setting two horizontal rails 11 and 31. The uprights can also be one or more. When the uprights are more, the uprights can be spaced, see Figure 8 to Figure 10 , shows the case of setting two uprights 12 and 21. Alternatively, one horizontal rail can be matched with one or more uprights; alternatively, multiple horizontal rails can also be matched with one upright. Or multiple horizontal rails are matched with multiple uprights. The uprights are connected to the horizontal rails and are slidable along the horizontal rails, and the task modules 14 are connected to the uprights and are slidable along the uprights. Among them, the bottom end of the upright of the upper shelf section in the adjacent shelf section includes a first extension module C (as shown in Figure 5 ), which has a first retracted position and a first extended position, wherein: when the first extension module C is in the first retracted position, the first extension module C is spaced apart from the top end of the upright of the lower shelf section in the adjacent shelf section in the height direction; and when the first extension module C is in the first extended position, the first extension module C extends below the top end of the upright of the lower shelf section in the adjacent shelf section to form an overlapping portion. Alternatively, a transmission mechanism including, for example, a synchronous belt, a chain, a motor, etc. can be provided on the horizontal rails and the uprights, so as to drive the uprights to walk on the horizontal rails and the task modules 14 to walk on the uprights. The first extension module C includes but is not limited to structures such as slide rails, optical shafts, etc. for limiting, and is driven by structures such as linear motors, lead screws, air cylinders, hydraulic cylinders, electric cylinders, etc. and can move in a straight line between the first extended position and the first retracted position. The present application also does not exclude embodiments in which the first extension module C moves in a curve. When the first extension module C is in the first extended position, the task module 14 can reach the upright section formed by the first extension module C, thereby increasing the travel of the task module 14. When the task module 14 is in the upright section formed by the first extension module C, it can collide with the upright of the adjacent shelf section. Therefore, it is necessary to limit the position of the adjacent shelf section in this case to prevent the adjacent shelf section from colliding with the task module 14. In addition, it can also be necessary to avoid the horizontal rails from affecting the walking of the task module 14 on the uprights when designing. Figure 17 shows a schematic diagram of a transport system of another exemplary embodiment.

[0091] Exemplarily, the top end of the upright of the lower shelf section in the adjacent shelf section includes a second extension module, which has a second retracted position and a second extended position, wherein: when the second extension module is in the second retracted position, the second extension module is spaced apart from the bottom end of the upright of the upper shelf section in the adjacent shelf section in the height direction; and when the second extension module is in the second extended position, the second extension module extends above the bottom end of the upright of the upper shelf section in the adjacent shelf section to form an overlapping portion. The structure of the second extension module can be the same as that of the first extension module C, which will not be described here again.

[0092] As shown in Figure 11 illustratively, at least one of the task modules of the plurality of transport subsystems is a picking task module 2. The picking task module 2 can pick specific types of items in the goods. For example, the goods are a large number of small items stored in a bin, the picking task module 2 can identify one or several items and pick them up. Illustratively, at least one of the task modules of the plurality of transport subsystems is an access transport task module. The access transport task module is capable of transporting the items as a whole, such as transporting the bin of goods between different levels of storage spaces 101, or placing the bin of goods on the goods transport robot 105, or transporting the empty bin between the above-mentioned locations. Figure 3

[0093] Illustratively, the task modules of the other transport subsystems of the plurality of transport subsystems are access transport task modules. Thus, the less frequently used items can be stored in the high storage spaces 101 in a bin. The task modules of the underlying transport subsystems of the plurality of transport subsystems are picking task modules, thereby picking the items among the frequently used items. When the less frequently used items need to be used, they can be transported to the underlying storage spaces 101 by the higher transport subsystems and the adjacent transport subsystems, and then picked by the underlying transport subsystems with picking task modules.

[0094] The present application also provides a transport system for a warehouse rack, the transport system comprising a first transport subsystem corresponding to a first storage area of the warehouse rack. The first transport subsystem comprises a first rack section and a first task module movable on the first rack section in an operation plane parallel to an access plane of the warehouse rack for transporting items in the first storage area. The first task module is further configured to transport the items in the first storage area to a top storage location of a second storage area, and / or to hand over the items in the first storage area to a second task module corresponding to the second storage area, the first storage area being higher than the second storage area. Thus, the first transport subsystem can transfer the items in the first storage area at a higher position of the warehouse rack to the second storage area at a lower height, and the items in the second storage area can be transported by other transport subsystems, such as a second transport subsystem, or directly by manual transport, forklift transport, goods transport robot transport, etc.

[0095] ​Exemplarily, the first shelf section comprises a first transverse rail extending along a horizontal direction parallel to the operation plane, and a first upright column connected to the first transverse rail and slidable along the first transverse rail, and the first task module is connected to the first upright column and slidable along the first upright column, wherein: a bottom end of the first upright column comprises a first extension module having a first retracted position and a first extended position, wherein: when the first extension module is in the first retracted position, the first extension module is located above the second storage area; and when the first extension module is in the first extended position, the first extension module extends to the top storage position of the second storage area, so that the first task module can be slid onto the first extension module and the article is carried to the top storage position of the second storage area.

[0096] Reference Figure 3 The shelf 10 comprises a first shelf section 1001 and a second shelf section 1002. The first shelf section 1001 and the second shelf section 1002 can be on the same shelf, or can be on the shelves 10 on both sides of the aisle. The first shelf section 1001 and the second shelf section 1002 can be equipped with task modules 1003, 1004, wherein at least one of the task modules can access a plurality of box positions of an adjacent shelf section. The task module can be a picking task module or an access and transfer task module.

[0097] It should be noted that the adjacent shelf section is specifically implemented as: two shelf sections in the z-axis direction of the same shelf; or two shelf sections in the y-axis direction on both sides of the aisle.

[0098] Reference Figure 3 The positions of the first shelf section 1001 and the second shelf section 1002 are on the same side of the same shelf, and after the first shelf section 1001 is equipped with the task module 1003, one or more box positions at the upper end of the second shelf section can be reached.

[0099] When the task module transfers the target box A, when the target box is located at a higher shelf layer of a high-meter shelf, the task module 1003 on the first shelf section 1001 extracts the target box A and lowers to the lower end of the first shelf section 1001, at this time, the z-axis height of the target box A corresponds to the upper end of the second shelf section 1002, then the task module 1003 of the first shelf section can actually place the target box A at the target box position B at the upper end of the second shelf section 1002, and when the target box A participates in the fulfillment of the outbound, the target box A can be directly extracted from the target box position by the task module 1004 of the second shelf section 1002.

[0100] Reference Figure 4, the positions of the first shelf section 1001 and the second shelf section 1002 are the two sides of the aisle, the first shelf section 1001 can reach one or more bin positions at the upper end of the second shelf after the task module 1003 is installed; when the target bin is located at a higher shelf layer of the high-meter shelf, the task module 1003 on the first shelf section 1001 extracts the target bin A and lowers to the lower end of the first shelf section 1001, at this time, the z-axis height of the target bin A corresponds to the upper end of the second shelf section 1002, so the task module 1003 of the first shelf section can actually place the target bin A at the target bin position B at the upper end of the second shelf section 1002, and when the target bin A participates in the fulfillment outbound, the target bin A can be directly extracted from the target bin position by the task module 1004 of the second shelf section 1002.

[0101] In the picking scenario, the task module 1003 on the first shelf section 1001 extracts the target bin A and lowers to the lower end of the first shelf section 1001, at this time, the position of the target bin A is the upper end of the second shelf section 1002, and when the target bin A participates in the fulfillment picking outbound, the target item D of the target bin A can be directly extracted from the target bin position by the task module 1004 of the second shelf section 1002 that can complete picking.

[0102] Reference Figure 5 , it is shown that the task module 1003 of the first shelf section 1001 extracts the target bin A, and if it needs to be lowered to more bin positions (z-axis direction) at the upper end of the second shelf section 1002, an extension module C can be used, which can be in the form of a superimposed slider, or a telescopic column, or a telescopic section inside the column, etc. Here, the superimposed slider is used as an example, and under the assistance of the length of the superimposed slider, the task module 1003 of the first shelf section 1001 can move to more bin positions at the upper end of the second shelf section 1002 in the z-axis direction, thereby obtaining the convenient use of the high-meter shelf from the high layer to take bins and slow-selling bin allocation.

[0103] It should be emphasized here that the extension module C can be stacked in multiple layers, connected in multiple sections, released in multiple sections, etc. to obtain a longer travel distance and access more bin positions in the z-axis direction according to actual needs. It is applied to the embodiments of Figure 3 and Figure 4 .

[0104] It should be further explained that the first shelf segment 1001, the second shelf end 1002, and the extension module C are all set according to actual application requirements. The examples listed in the embodiments of the present invention are only used to illustrate the full disclosure and working principle, and do not mean that the position or number of the first shelf segment 1001, the second shelf end 1002, and the extension module C are limited by the examples.

[0105] For clarity and full disclosure, references are made to the present invention. Figure 6 This section describes the structure of track transmission equipment in a transmission system. However, it should be noted that different transmission equipment can be adapted to different transmission systems to complete the task. Figure 3 to Figure 5 The technical solution described herein is such that the transmission device disclosed in this invention does not limit the scope of the invention. As an example, see reference [link to reference]. Figure 6 The track transmission device disclosed in this invention includes: a connection mechanism for a transverse track 11, a first column 12, a first movable component 13 and a task module 14, wherein: the transverse track 11 can be installed on the shelf 10.

[0106] It should be noted that the transverse track 11 is on the beam or upright of the rack 10. When the length of the rack beam is long, the transverse track needs to be supported by the beam and upright of the individual rack and extends to the beam of the adjacent rack.

[0107] The first upright 12 is vertically mounted on the transverse track 11 and can slide laterally. The lateral sliding of the upright 12 on the transverse track enables the first movable part 13 to be positioned in each column of the storage rack.

[0108] The first movable component 13 is mounted on the first upright 12 and can slide along the first upright 12. With the above configuration, the first movable component 13 can move laterally and longitudinally, enabling the first movable component 13 to be positioned at each tier of the shelf.

[0109] The first movable component 13 is provided with a connection mechanism 15 for the task module 14.

[0110] Driven by the first movable component 13, the task module 14 retrieves and stores boxes and / or goods, and places them into the docking assembly of the freight robot 105 operating at the bottom 16 of the warehouse rack.

[0111] This setup enables the task module to transfer, sort, and deliver the stored and retrieved boxes and / or goods to the destination location or sorting location, or even the sorted transport location, by connecting with the freight robot 105 when it completes a sorting and / or storage / retrieval operation.

[0112] The task module 14 can be a component with one or more tasks of identification, extraction, playback, capture, handling, etc. The task module 14 is positioned to the storage slot of the shelf under the driving of the first movable member 13, and the connecting mechanism of the task module is a basic structure that can be connected with different task modules.

[0113] When the task module is a storage box module, a support structure such as a loading and unloading shelf supports the storage box module. A conveying component such as a conveying belt of the storage box module is driven by a conveying motor.

[0114] However, if it is other task modules, the connecting piece is set according to the specific function of the task module, and is not limited thereto.

[0115] Through the above embodiment, the transverse track is arranged on the storage shelf for the column to move, and the movable member arranged on the column drives the task module to complete the identification and storage of the storage box and the like. The device fundamentally solves the problem of waste of storage space in the existing storage system, and avoids the need for the freight robot or sorting robot to maintain an ultra-high weight or an excessively high requirement on the storage ground, to complete the actions of storage transfer or storage sorting.

[0116] Reference Figure 7 , a track conveying device of a storage shelf is shown. In Figure 6 On the basis of the drawings and descriptions, the conveying device further comprises a second column 21 and a second movable member 22. The second column 21 is vertically arranged on the transverse track 11 and can slide transversely. The second movable member 22 is arranged on the second column 21 and can slide along the second column. The second movable member 22 is provided with a connecting mechanism 23 of a task module 14. The task module 14 is arranged between the first column 12 and the second column 21 through the connecting mechanism 23. The first movable member 13 and the second movable member 22 drive the task module 14 to be positioned to the storage position 24 on the storage shelf 10 or the docking position 25. The docking position 25 is a position where the task module 14 completes the transfer of goods from the task module 14 to the freight robot after accessing the storage box and / or goods from the storage position of the shelf.

[0117] Optionally, the bottom layer of the storage shelf is high enough from the ground to provide a matching height to support the ground freight robot to run on the ground and complete the docking action. Optionally, at least one bottom layer between adjacent columns of the storage shelf is high enough from the ground to form the docking position 25 of the ground freight robot.

[0118] Reference Figure 8 , a track conveying device of a storage shelf is shown. In Figure 1 and Figure 2The above-mentioned and other objects, features and advantages of the present application will become apparent from the following description of the preferred embodiments, taken in conjunction with the accompanying drawings, which together illustrate the principles of the present application. Figure 8 In the embodiment, the large-scale storage system requires a stable track transmission device. Therefore, two horizontal tracks are arranged on the track assembly to sufficiently accommodate the first column 12 and the second column 21, so that the tasks of taking out and returning the container and goods, transferring and sorting can be reliably performed.

[0119] It should be noted that the rollers are a preferred solution, and in fact, the movement of the column on the beam is achieved by using gears or a combination of gears and rollers. When using gears as the transmission mode, the movement is completed by cooperating with a gear chain. The specific mode can be referred to the prior art, and in the case of combination of gears and rollers, the movement of the rollers is driven by the engagement of the gears and the gear chain. Further, the mode of operation of the motor-driven rollers can be achieved by using a wired (cable, flexible conductive material, anti-wear wire) or a wireless mode such as a lithium battery after charging to support operation. The specific mode is not limited.

[0120] In the embodiment, the large-scale storage system requires a stable track transmission device. Therefore, two horizontal tracks are arranged on the track assembly to sufficiently accommodate the first column 12 and the second column 21, so that the tasks of taking out and returning the container and goods, transferring and sorting can be reliably performed.

[0121] Preferably, the ground freight robot performs path planning under the control of a server or performs autonomous path planning. The ground freight robot is provided with a planar moving assembly and a transfer assembly supporting the access and placement of the container. In order to improve the transportation efficiency, the ground freight robot can directly operate on the ground where the storage rack is located, and can cooperate with the storage rack to remove the bottom partition. The container is driven by the movable member to access the container and / or goods, and is placed on the transfer assembly of the ground freight robot. The ground freight robot can be a freight robot or a sorting robot. The above cooperation makes it possible to complete the storage, transfer and sorting of goods in the storage space.

[0122] As an implementable mode, the movable member operating on the slide rail of the column can be implemented by the following figure and more specific electric control method, which is not limited and not specifically illustrated.

[0123] Reference is made to Figure 9 The synchronous pulley driven by the motor 41 and controlled by the speed reducer drives the synchronous belt 42 to support the first movable member to move on the slide rail of the first column. The synchronous pulley driven by the motor and controlled by the speed reducer drives the synchronous belt to support the second movable member to move on the slide rail of the second column.

[0124] The above arrangement can not only accurately position the task module and the box, but also greatly improve the utilization rate of the storage space, the speed of goods in and out, and the sorting efficiency of the existing warehouse system.

[0125] Referring to Figure 10 , a partial view of a storage rack track conveying device is shown. In the present embodiment, Figure 5 The connection structure of the transverse track 11 and the first upright 12 and the second upright 21 is shown. Referring to Figure 10 The first upright 12 and the second upright 21 are sleeved on the sliding block 52, and the roller 51 is in contact with the transverse track 31 to achieve smooth movement.

[0126] The above arrangement can be one implementation, and is not limited thereto.

[0127] Referring to Figure 11 , the goods sorting device 1 is installed on the rack, and the first task module 2 is driven to put the goods 3 into the docking assembly or docking box 4 of the freight robot 105 running at the bottom of the rack 10, or take out the goods 3 from the docking assembly or docking box 4 and put them into the box 104. The first task module 2 at least includes a first movable part 13 and a sorting mechanism 20.

[0128] The goods sorting device 1 can include a transverse track 11, a first upright 12, a first movable part 13, and a connection mechanism of the first task module 2. The transverse track 11 is on the rack 10. It should be noted that the transverse track 11 is on the beam or upright of the rack, and when the rack is transversely long, the transverse track needs to be extended to the beam and upright of the adjacent rack by means of the beam and upright of the single rack.

[0129] The first upright 12 is vertically arranged on the transverse track 11 and can slide transversely. The upright 12 slides along the transverse track 11 to enable the first movable part 13 to be positioned at each column of the rack.

[0130] The first movable part 13 is arranged on the first upright 12 and can slide along the first upright 12. The above arrangement enables the first movable part 13 to move transversely and longitudinally, and to be positioned at each tier of the rack.

[0131] The first movable part 13 is provided with a connection mechanism 15 of the first task module 2. The first task module 2 is driven by the first movable part 13 to store and take out the goods 3 by using the sorting mechanism, and put them into the docking assembly or docking box of the freight robot 105 running at the bottom of the rack.

[0132] It should be noted that in the present application, the partition of the storage rack represents a component that provides support for the storage positions of different types of storage racks, and provides a component that stabilizes the periphery of the beams. For a storage rack that has already been built, the partition can be removed to provide a matching height that actually requires the surrounding component to block the ground operation of the freight robot. The partition is not limited to the material and style of the partition in the storage rack, and supports the ground operation of the freight robot and completes the docking action. The bottom partition between the adjacent uprights of the storage rack is removed to form the docking position 25 of the freight robot. It should be noted that the bottom partition of the rack includes the partition itself and the beam, thereby providing a moving space for the freight robot.

[0133] More specifically, the picking mechanism has a suction mechanism 201 and / or a picking mechanism, which (not shown) can be connected to the first task module 15 through the connecting mechanism of the first task module 15, i.e. the extension member of the suction mechanism 201 and / or the picking mechanism, which can be a multi-section mechanical arm with degrees of freedom, connected to the first movable part 13. The suction structure 201 can form contact with the goods through the generated suction force and maintain contact until the goods 3 are placed into the docking assembly or docking box of the freight robot operating at the bottom of the rack, or taken out of the docking assembly and placed into the goods box.

[0134] Referring to Figure 12 , in this embodiment, the implementation enables the access of goods to be transferred, sorted, and delivered to the destination storage position or sorting position or transport position after sorting is completed through the docking of the freight robot 105.

[0135] In Figure 12 , the ground travel lane of the freight robot 105 between two racks is also shown.

[0136] Referring to Figure 13 , when the first task module 2 and / or the second task module 14 are both installed on the first transverse rail, the first upright, and the first movable part, the connecting mechanism of the first task module and the connecting mechanism of the second task module can be integrally arranged to drive the first task module to sort goods and drive the second task module to store the goods box.

[0137] Referring to Figure 14 , in another case, when the first task module and / or the second task module are both installed on the first transverse rail, the first upright, and the first movable part, the connecting mechanism of the first task module and the connecting mechanism of the second task module are separately arranged and cooperated according to the current task.

[0138] When the task module is the access case module, it at least includes: a support structure of the access case module, such as a loading and unloading rack; and a conveying assembly of the access case module, such as a conveying belt, of course, the conveying belt needs to be driven by a conveying motor.

[0139] The rail conveying device pulls out the target case at the target storage position of the target shelf by using the access case module, and the picking mechanism of the goods picking device system picks the target goods in the target case to realize that the goods picking device drives the first task module to put the goods into the docking assembly or docking box of the goods conveying robot running at the bottom of the shelf;

[0140] Or, the picking mechanism of the goods picking device system takes out the target goods from the docking assembly or docking box of the goods conveying robot, the rail conveying device pulls out the target case at the target storage position of the target shelf by using the access case module, and the picking mechanism puts the target goods into the target case;

[0141] The access case module pushes the target case back.

[0142] It should be particularly pointed out here that the access module of the access case task module 14 can realize the operation of accessing the cases adjacent to each other or having hooking relationship in the densely arranged positions in the three-dimensional warehouse, such as in the longitudinal direction (y-axis), the access arm of the access case task module is used to realize the access to a certain case in a plurality of cases.

[0143] In actual application, however, as described above, the connecting mechanism of the task module is the basic structure that can be connected with different task modules, if it is other task modules, the connecting piece is set according to the specific function of the task module, and is not limited to this.

[0144] It should be particularly pointed out that in the embodiment, by reforming the configuration of the bottom shelf layer of the shelf, and cooperating with the goods picking device 1, the goods conveying robot 105, or the sorting robot (not shown), the problem of low efficiency of existing shelf warehouse goods transfer and sorting is fundamentally solved, and the application scene of the shelf is expanded, so that the goods storage, goods transfer and goods sorting are completed in the warehouse space, thereby realizing the great improvement of the utilization rate of the warehouse space of the existing shelf conveying system, the goods in and out speed and the sorting efficiency.

[0145] For the purpose of full disclosure, the freight robot can be selected from the freight robots or sorting robots disclosed in the published documents: the freight robots plan the path under the control of the server, or the freight robots plan the path autonomously and are provided with a flat moving assembly and a transfer assembly for supporting the access and placement of the freight box. In order to improve the transportation efficiency, the freight robot can directly run on the ground directly below the shelf, and can cooperate with the storage shelf to take off the bottom partition, the freight is placed on the transfer assembly of the freight robot under the driving of the moving part of the task module, and the freight robot can be a ground freight robot, a freight robot with a support or a telescopic support, or a sorting robot. The above cooperation enables the freight storage, freight transfer and freight sorting to be completed in the storage space.

[0146] The above settings can not only accurately position the position between the task module and the freight box, but also greatly improve the utilization rate of the storage space of the existing transmission system, the speed of freight in and out, and the sorting efficiency.

[0147] Reference Figure 15 , shows a transmission system, and the arrangement of the track transmission device on the shelf further comprises: a third column 33, and the second task module 14 is arranged between the second column 21 and the third column 33 through a connecting mechanism; and the second task module 14 is driven to be positioned to a storage position or a transfer position on the shelf 10.

[0148] In this embodiment, the track transmission device and the freight sorting device are respectively arranged on different columns, and in a large dense storage scene, such as storing more than 100,000 freight boxes, and a warehouse with a flow of 5000 boxes / hour, the track transmission device and the freight sorting device can be respectively installed on the same shelf in multiple sets to meet the demand of large flow orders. When the track transmission device and the freight sorting device system work together, taking the order out of the warehouse as an example, X freight or a certain SKU (Stock Keeping Unit, i.e. basic unit of inventory in and out measurement) of order A needs to be shipped out, the track transmission device uses the second task module, i.e. the freight box access module, to pull out the target freight box at the target storage position of the target shelf so that the X freight can be sucked by the suction mechanism 201 and / or the picking mechanism of the freight sorting device system. Before suction, the identification module needs to identify the X freight or the certain SKU, and the identification module can be arranged on the freight sorting device and / or the track transmission device. The identification module can be arranged on the freight sorting device and / or the track transmission device. The identification module can be a monocular camera, a laser camera or a depth-of-field camera.

[0149] After the above picking process is completed, the identification module is used to accurately locate, and the goods picking equipment is used to put the X goods or certain SKU indicated by the order into the docking position of the freight robot. The freight robot will drive to the next docking position or workstation.

[0150] In another embodiment, one or more shelves are included, and the structure and working principle of the shelves are described with reference to Figure 11 to Figure 15 The shelves can be configured in the warehouse picking equipment and / or the track transmission equipment. When running, the one or more shelves are each equipped with a control chip and software instructions that can support independent running or coordinated running in the server-side built-in warehouse management software. Meanwhile, the one or more shelves can be ordinary shelves or precision shelves, and are not limited to shelf height and ground flatness. In addition, the application also discloses a transmission system configured as Figure 16 the transmission system and the plurality of freight robots 105, and on this basis, the efficiency of goods storage, transportation, and sorting can be further improved to adapt to the rapid transfer and transmission technical requirements in various warehouse scenarios.

[0151] In summary, the transmission system provided by the embodiments of the present application is used in a high-meter high-rise warehouse. In the shelves in the high-rise warehouse, a task module is installed on a shelf section, and the task module accesses a plurality of box positions of an adjacent shelf section. The task module can be a picking task module or a storage and transmission task module. The task module can be extended by the cooperation of the horizontal track, the sliding on the column, and the extension module, so that the task module in the high-meter high-rise warehouse can reach the storage positions outside the shelf section, thereby supporting the fulfillment business of the high-meter high-rise warehouse. Furthermore, the track transmission equipment accesses the goods box under the driving of the movable part and puts it into or takes it out of the docking assembly or the docking box of the freight robot running at the bottom of the shelf, so that the goods and the goods box in the warehouse can be matched with the freight robot or the sorting robot, and the goods storage, the goods and the goods box transfer, and the goods and the goods box sorting can be smoothly completed in the warehouse space. Thus, the utilization rate of the storage space of the existing shelf transmission system is improved, the complexity of the deployment and maintenance of the high-meter high-rise warehouse is reduced, and the deployment and investment cost is greatly reduced.

[0152] In the description of the application, it should be understood that the orientation words such as "front", "back", "up", "down", "left", "right", "transverse", "vertical", "vertical", "horizontal" and "top", "bottom" and the like indicated orientation or positional relationship are generally based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the application and simplifying the description, without the opposite description, these orientation words do not indicate and imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the scope of protection of the application; The orientation words "in", "out" refer to the inside and outside relative to the contour of each component.

[0153] For the convenience of description, the area relative terms such as "on", "above", "upper surface", "upper" and the like can be used herein to describe the area position relationship of one or more components or features shown in the figure with other components or features. It should be understood that the area relative terms not only include the position of the components described in the figure, but also include different positions in use or operation. For example, if the components in the figure are inverted as a whole, the components "above" or "above" other components or features will include the components "below" or "below" other components or structures. Therefore, the exemplary term "above" can include both "above" and "below". In addition, these components or features can also be positioned at other different angles (for example, rotated by 90 degrees or other angles), and this document is intended to include all these cases.

[0154] It should be noted that the terms used herein are only for the purpose of describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, it means that the features, steps, operations, components, assemblies and / or combinations thereof are present.

[0155] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein.

[0156] The present application has been described by way of the above examples, but it should be understood that the above examples are for illustrative and explanatory purposes only, and are not intended to limit the present application to the scope of the described examples. Furthermore, those skilled in the art can understand that the present application is not limited to the above examples, and that various modifications and changes can be made to the present application according to the teachings of the present application, and that these modifications and changes all fall within the scope of the present application claimed. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A conveying system for warehouse racking, characterized in that, The transmission system includes multiple transmission subsystems located at different heights, each corresponding to a storage area at a different height on the storage rack. Each transmission subsystem includes: Shelf section; and The task module, movable on the shelf section and within an operating plane parallel to the access surface of the storage shelf, is used to move items within a corresponding storage area. The items include cartons and / or goods. At least one task module in each group of adjacent transport subsystems in the vertical direction is also used to perform an item handover operation, which includes moving items from the storage area corresponding to the adjacent transport subsystem.

2. The transmission system according to claim 1, characterized in that, In each of at least one set of adjacent transport subsystems, adjacent task modules are configured to perform the item handover operation by passing items between each other.

3. The transmission system according to claim 2, characterized in that, Each of the adjacent task modules includes: Bearing mechanism; and A handling mechanism for moving items between the storage area of ​​the shelf and the carrying mechanism, wherein: When adjacent task modules transfer items between each other, the carrying mechanisms of the adjacent task modules are at the same height, and the conveying mechanism is also used to transfer items horizontally between the carrying mechanisms of the adjacent task modules.

4. The transmission system according to claim 3, characterized in that, The bearing mechanism is rotatable in the horizontal plane, allowing it to have loading / unloading positions and handover positions, wherein: The carrying mechanism has a docking end for engaging with a storage area on the shelf, and when the carrying mechanism is in the loading / unloading position, the docking end faces the storage area on the shelf; and When the supporting mechanisms of the adjacent task modules are in their respective handover positions, the docking ends of the supporting mechanisms of the adjacent task modules are opposite to each other.

5. The transmission system according to claim 1, characterized in that, In each of at least one set of adjacent transmission subsystems: The adjacent storage areas in this group have an overlapping region in the height direction, and the overlapping region contains a transfer storage bit. The adjacent task modules are all configured to perform the item handover operation by performing retrieval and release operations on the transit storage location.

6. The transmission system according to any one of claims 2-5, characterized in that, In the at least one set of adjacent transmission subsystems: Adjacent shelving sections of adjacent transport subsystems overlap along the height direction; The adjacent task modules on the adjacent shelf segments perform the task handover operation on the overlapping portion.

7. The transmission system according to claim 6, characterized in that, At least one of the adjacent shelf segments is adjustable in the height direction to form the overlapping portion; and / or The dimensions of the adjacent shelf segments in the height direction are not adjustable, and the adjacent shelf segments are completely offset along a direction perpendicular to the access surface.

8. The transmission system according to claim 7, characterized in that, The shelf segment includes: A transverse track extending in a horizontal direction parallel to the operating plane; and A column, which is connected to and slidable along the horizontal track, and a task module, which is connected to and slidable along the column, wherein: The bottom end of the upright of the upper shelf segment in the adjacent shelf segment includes a first extension module. The first extension module has a first retracted position and a first extended position, wherein: in the first retracted position, the first extension module is spaced apart from the top of the upright of the lower shelf segment in the adjacent shelf segment in the height direction; and in the first extended position, the first extension module extends below the top of the upright of the lower shelf segment in the adjacent shelf segment to form the overlapping portion; and / or The top of the upright of the lower shelf segment in the adjacent shelf segment includes a second extension module. The second extension module has a second retracted position and a second extended position, wherein: in the second retracted position, the second extension module is spaced apart from the bottom end of the upright of the upper shelf segment in the adjacent shelf segment in the height direction; and in the second extended position, the second extension module extends above the bottom end of the upright of the upper shelf segment in the adjacent shelf segment to form the overlapping portion.

9. The transmission system according to any one of claims 1-5, characterized in that, Each of at least one set of adjacent transmission subsystems is located on shelves on opposite sides of the same aisle; and / or Each of at least one set of adjacent transmission subsystems is located on the same shelf on the same side of the same aisle.

10. The transmission system according to any one of claims 1-5, characterized in that, At least one of the task modules of the plurality of transmission subsystems is a picking task module; and / or At least one of the task modules of the plurality of transmission subsystems is an access transmission task module.

11. The transmission system according to claim 10, characterized in that, The task module of the underlying transmission subsystem in the multiple transmission subsystems is a picking task module. The task modules of other transmission subsystems in the multiple transmission subsystems are access transmission task modules.

12. A transmission system for warehouse racking, characterized in that, The transmission system includes a first transmission subsystem, which corresponds to a first storage area of ​​the storage rack. The first transmission subsystem includes: First shelf section; and A first task module, movable on the first shelf section within an operating plane parallel to the access surface of the storage shelf, is used to transport items within the first storage area, wherein: The first task module is also used to move items in the first storage area to the top storage position of the second storage area, and / or to transfer items in the first storage area to the second task module corresponding to the second storage area, wherein the first storage area is higher than the second storage area.

13. The transmission system according to claim 12, characterized in that, The first shelf segment includes: A first transverse track extends along a horizontal direction parallel to the operating plane; and A first upright column is connected to and slidable along the first transverse track. A first task module is connected to and slidable along the first upright column, wherein: The bottom end of the first column includes a first extension module, which has a first retracted position and a first extended position, wherein: the first extension module is in the first retracted position and is located above the second storage area; and the first extension module is in the first extended position and extends to the top storage position of the second storage area, so that the first task module can slide onto the first extension module and transport items to the top storage position.

14. A transmission system, characterized in that, For use in automated warehouses, the automated warehouse includes at least multiple rows of racks, the racks include: a first rack section and a second rack section, the racks are provided with multiple layers of storage space, and the storage positions in the storage space are used to place boxes; The first and second shelving sections may be on the same shelf or on opposite sides of the same aisle. The first and second shelf sections may be equipped with task modules, wherein at least one of the task modules is used to access several box positions in adjacent shelf sections; The task module can be a picking task module or a storage and transfer task module.

15. The transmission system according to claim 14, characterized in that, The specific implementation of the adjacent shelf segments is as follows: For two shelf segments along the same z-axis, the height direction of the shelf is denoted as the z-axis. or, The two rack sections on both sides of the aisle along the y-axis are denoted as the x-axis, and the direction perpendicular to the x-axis in the horizontal plane is denoted as the y-axis.

16. The transmission system according to claim 14, characterized in that, Also includes: An extension module is slidably mounted on the movable part of the task module so that the task module can extend in the vertical direction to access more boxes in adjacent shelf segments.

17. The transmission system according to claim 16, characterized in that, The extension module is one or more stacked sliders, and the extension distance is obtained through stacking.

18. The transmission system according to any one of claims 14-17, characterized in that, Access to several container locations in adjacent shelving sections can be achieved through a rail-mounted transport system. The track transmission equipment includes: a transverse track, a column, a movable component, and a connection mechanism for the second task module; When the task module is a cargo box storage and retrieval module, the connection mechanism of the second task module is configured as follows: Support structure for the cargo box module; and The conveying component of the storage and retrieval module; The first and second shelf sections can be equipped with task modules, wherein at least one of the task modules can access several storage locations in adjacent shelf sections. Specifically, the storage and retrieval module of the track conveying equipment installed in the first shelf section can access one or more storage locations at the end of the second shelf section located in the z-axis direction, or can access one or more storage locations in the second shelf section located in the y-axis direction. The aisle direction of the multi-row shelf is denoted as the x-axis, and the direction perpendicular to the x-axis in the horizontal plane is denoted as the y-axis.

19. The transmission system according to any one of claims 14-17, characterized in that, Goods are placed into the docking assembly or docking box of a freight robot operating at the bottom of the shelf by a goods picking device, or taken out from the docking assembly or docking box and placed into the cargo box; the goods picking device is specifically implemented on the shelf as follows: The connecting mechanism for the transverse track, column, movable parts, and first task module, wherein: The transverse track is on the shelf; The column is vertically mounted on the horizontal track and can slide horizontally; The movable component is mounted on the column and can slide along the column. The connection mechanism of the first task module is disposed on the movable part.

20. An intelligent automated storage and retrieval system, characterized in that, include: Warehouse racking; as well as One or more transmission systems according to any one of claims 1-19.

21. The intelligent automated storage and retrieval system according to claim 20, characterized in that, A freight robot and / or load handling equipment is installed on the top of the storage rack. The load handling equipment is configured in conjunction with a lifting device for grabbing items. The load handling equipment is configured to move on top of the storage rack and for lifting and moving items within the storage rack. The load handling equipment includes: A receiving space component for accommodating the article; and A lifting component, the lifting component being configured to raise and lower the lifting device relative to the receiving space component.

22. The intelligent automated storage and retrieval system according to claim 20, characterized in that, The top of the storage rack can be deployed with a ground freight robot AGV walking surface, and / or, a first set of parallel tracks and a second set of parallel tracks can be arranged, the second set of parallel tracks extending laterally to the first set of parallel tracks on a basically horizontal plane to form a grid structure containing multiple grid spaces.

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