Workbin storage system and workbin carrying system

Abstract

The embodiment of the utility model provides a workbin storage system and a workbin carrying system. The workbin storage system comprises at least one low-position moving goods shelf, a plurality of lower buffering high-position goods shelves and a plurality of lower shuttling high-position goods shelves. The lower cache high-position goods shelf comprises a movable goods shelf cache part and a first material box storage part, the movable goods shelf cache part is located below the first material box storage part, and the size of the movable goods shelf cache part is larger than that of the low-position movable goods shelf; the lower shuttling high-position goods shelf comprises a movable goods shelf shuttling part and a second material box storage part, the movable goods shelf shuttling part is located below the second material box storage part, and the size of the movable goods shelf shuttling part is larger than the sum of the size of the low-position movable goods shelf and the size of the latent goods shelf carrying robot; the lower buffering high-position goods shelves and the lower shuttling high-position goods shelves are arranged into at least one goods shelf row. According to the embodiment of the utility model, the blockage queuing condition of the carrying robot can be reduced, and the carrying efficiency of the material box is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of logistics warehousing, especially to a material box storage system and a material box carrying system. BACKGROUND

[0002] In the current logistics warehousing field, the warehouse is mainly divided into a storage area and a picking area. The storage area is used to store material boxes by shelves, and the picking area is composed of picking workstations, which are used to pick the materials to be put out of the warehouse after the material boxes are carried to the picking workstations. In related technologies, in order to effectively utilize the height of the warehouse and increase the storage density, high fixed shelves are usually placed in the storage area of the warehouse to store material boxes. However, when the carrying robot carries the material boxes, it usually needs enough space to move. Since the storage area in related technologies is high fixed shelves, it is not convenient for the carrying robot to move, which may easily cause congestion and queuing, thus reducing the carrying efficiency of the material boxes. SUMMARY

[0003] The purpose of the utility model embodiment is to provide a material box storage system and a material box carrying system to reduce the congestion and queuing of the carrying robot and improve the carrying efficiency of the material boxes. The specific technical solutions are as follows:

[0004] In the first aspect, the utility model embodiment provides a material box storage system, which comprises:

[0005] at least one low-position mobile shelf, a plurality of lower cache high shelves, and a plurality of lower shuttle high shelves;

[0006] The lower cache high shelf comprises a mobile shelf cache part and a first material box storage part. The mobile shelf cache part is located below the first material box storage part. The first material box storage part is provided with storage shelves for placing material boxes. The mobile shelf cache part is not provided with shelves. The size of the mobile shelf cache part is greater than that of the low-position mobile shelf, which is used to place the low-position mobile shelf.

[0007] The lower shuttle high shelf comprises a mobile shelf shuttle part and a second material box storage part. The mobile shelf shuttle part is located below the second material box storage part. The second material box storage part is provided with storage shelves for placing material boxes. The mobile shelf shuttle part is not provided with shelves. The size of the mobile shelf shuttle part is greater than the sum of the sizes of the low-position mobile shelf and the latent shelf carrying robot, which can provide a shuttle passage for the latent shelf carrying robot carrying the low-position mobile shelf.

[0008] The lower cache high shelf and the lower shuttle high shelf are arranged as at least one shelf row.

[0009] In a possible implementation, the size of the mobile rack buffer is greater than the sum of the size of the low mobile rack and the size of the latent rack handling robot, and can be used for the latent rack handling robot carrying the low mobile rack to pass through.

[0010] In a possible implementation, the bin storage system further comprises: a plurality of high fixed racks; and in at least one of the rack rows, the high fixed racks are arranged on both sides of the rack row.

[0011] In a possible implementation, one of the lower buffer high racks and one of the lower shuttle high racks are arranged in contact as a first bin storage unit, and at least one of the first bin storage units is included in each of the rack rows.

[0012] In a possible implementation, two of the lower buffer high racks and one of the lower shuttle high racks are arranged in contact as a second bin storage unit, and the lower shuttle high rack is located between the two lower buffer high racks, and a plurality of the second bin storage units are included in each of the rack rows.

[0013] In a possible implementation, at least one of the third bin storage units is included in each of the rack rows, and the third bin storage unit includes one of the lower buffer high racks.

[0014] In a possible implementation, a first interval is provided between two adjacent bin storage units in each of the rack rows, and the first interval is not less than the width of the bin handling robot, or the first interval is not less than the width of the bin handling robot and not less than the width of the low mobile rack and the latent rack handling robot.

[0015] In a possible implementation, the bin storage units in each of the rack rows form a plurality of rack columns, the bin storage units in the same rack column are the same, a first interval between two adjacent rack columns forms an aisle, and the width of the aisle meets the driving requirement of the bin handling robot.

[0016] In a possible implementation, the mobile rack shuttles in the same column of the lower shuttle high racks form a first channel, and the first channel meets the driving requirement of the latent rack handling robot.

[0017] In a possible implementation, the mobile rack buffers in the same column of the lower buffer high racks form a second channel, and the second channel meets the driving requirement of the latent rack handling robot.

[0018] In a possible implementation, the low-position mobile rack is a double-sided rack, and the size of the mobile rack buffer part meets the turnover requirement of the low-position mobile rack: when the bin handling robot completes the task of unloading bins from one side of the low-position mobile rack, the latent rack handling robot turns over the low-position mobile rack.

[0019] In a second aspect, the utility model provides a bin handling system, the bin handling system comprises:

[0020] The bin handling robot, the latent rack handling robot and the bin storage system of any of the first aspect.

[0021] The bin storage system and the bin handling system provided by the utility model, the bin storage system comprises: at least one low-position mobile rack, a plurality of lower buffer high-position racks and a plurality of lower shuttle high-position racks;The lower buffer high-position rack comprises a mobile rack buffer part and a first bin storage part, the mobile rack buffer part is located below the first bin storage part, the first bin storage part is provided with a storage layer plate for placing bins, the mobile rack buffer part is not provided with a layer plate, the size of the mobile rack buffer part is greater than the size of the low-position mobile rack, and the low-position mobile rack is used for placing the low-position mobile rack;The lower shuttle high-position rack comprises a mobile rack shuttle part and a second bin storage part, the mobile rack shuttle part is located below the second bin storage part, the second bin storage part is provided with a storage layer plate for placing bins, the mobile rack shuttle part is not provided with a layer plate, the size of the mobile rack shuttle part is greater than the sum of the size of the low-position mobile rack and the size of the latent rack handling robot, and the latent rack handling robot carrying the low-position mobile rack can shuttle through;The lower buffer high-position rack and the lower shuttle high-position rack are arranged as at least one rack row.The utility model arranges a plurality of lower buffer high-position racks and a plurality of lower shuttle high-position racks in the storage area of the warehouse, on the basis of effectively utilizing the height of the warehouse, the mobile rack buffer part of the lower buffer high-position rack can place the low-position mobile rack to temporarily store bins to be picked, in addition to the conventional passageway between racks, the latent rack handling robot itself or the latent rack handling robot carrying the low-position mobile rack can shuttle through the mobile rack shuttle part of the lower shuttle high-position rack, fully utilize the space in the height direction, increase the moving space of the latent rack handling robot, can reduce the congestion and queuing situation of the handling robot, improve the handling efficiency of the bin.

[0022] Of course, implementing any product of the utility model does not necessarily need to achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0024] Figure 1 A planar structure schematic diagram of a high fixed shelf in the related art;

[0025] Figure 2 A structure schematic diagram of a first material box storage system provided by the embodiment of the present application;

[0026] Figure 3 A planar structure schematic diagram of a lower buffer high shelf provided by the embodiment of the present application;

[0027] Figure 4 A planar structure schematic diagram of a lower shuttle high shelf provided by the embodiment of the present application;

[0028] Figure 5 A structure schematic diagram of a second material box storage system provided by the embodiment of the present application;

[0029] Figure 6 A structure schematic diagram of a first material box storage unit provided by the embodiment of the present application;

[0030] Figure 7 A structure schematic diagram of a second material box storage unit provided by the embodiment of the present application;

[0031] Figure 8 A structure schematic diagram of a third material box storage system provided by the embodiment of the present application;

[0032] Figure 9 A structure schematic diagram of a fourth material box storage system provided by the embodiment of the present application;

[0033] Figure 10 A structure schematic diagram of a fifth material box storage system provided by the embodiment of the present application;

[0034] Figure 11 An application flowchart of a first material box carrying system provided by the embodiment of the present application;

[0035] Figure 12 An application flowchart of a second material box carrying system provided by the embodiment of the present application;

[0036] Figure 13 An application flowchart of a third material box carrying system provided by the embodiment of the present application. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art based on the present application belong to the scope of protection of the present application.

[0038] Currently, in the field of logistics and warehousing, the warehouse is mainly divided into a storage area and a picking area. The storage area stores material boxes by shelves, and the picking area is composed of picking workstations, which are used for picking the materials to be shipped out after the material boxes are transported to the picking workstations. In the related art, in order to effectively utilize the height of the warehouse and increase the storage density, high fixed shelves are generally placed in the storage area of the warehouse to store the material boxes. The high fixed shelf is a fixed shelf with a height of 4 m or more, mainly for storage, as shown in Figure 1 The structure diagram of a high fixed shelf in the related art is shown. The high fixed shelf is provided with multiple storage layer plates b from top to bottom, and the storage layer plates b are used to place the material boxes a. However, when the transport robot transports the material boxes, it usually needs enough space to move. Since the storage area in the related art is a high fixed shelf, it is not convenient for the transport robot to move, because the passageway in which the transport robot can walk is only the passageway between the shelves. When multiple transport robots process tasks at the same time, the situation of blocking and queuing is likely to occur, thereby reducing the transport efficiency of the material boxes.

[0039] In order to reduce the blocking and queuing situation of the transport robot and improve the transport efficiency of the material boxes, the embodiments of the present application first provide a material box storage system. As shown in Figure 2 The structure diagram of the first material box storage system provided by the embodiments of the present application is shown. The material box storage system comprises at least one low mobile shelf 4, multiple lower cache high shelves 1 and multiple lower shuttle high shelves 2, and the lower cache high shelves 1 and the lower shuttle high shelves 2 are arranged as at least one shelf row, Figure 2 As shown in the middle, two shelf rows arranged by the lower cache high shelves 1 and the lower shuttle high shelves 2 and one low mobile shelf 4 are shown, and each shelf row is composed of two lower cache high shelves 1 and one lower shuttle high shelf 2.

[0040] In some embodiments, the number of the lower cache high shelves 1 and the lower shuttle high shelves 2 and the number of the shelf rows can be set according to the actual space size and storage demand of the warehouse storage area, and the embodiments of the present application do not limit this. For example, five shelf rows can be arranged, and each shelf row is composed of five lower cache high shelves 1 and four lower shuttle high shelves 2 arranged alternately.

[0041] Referring to Figure 3 , the plane structure schematic diagram of the high-position goods shelf provided by the utility model embodiment, the lower buffer high-position goods shelf includes the mobile goods shelf buffer part 11 and the first material box storage part 12, wherein the mobile goods shelf buffer part 11 is located below the first material box storage part 12, the first material box storage part 12 is provided with the storage layer plate b for placing the material box a, the mobile goods shelf buffer part 11 is not provided with the layer plate, the size of the mobile goods shelf buffer part 11 is greater than the size of the low-position mobile goods shelf 4, and the mobile goods shelf buffer part 11 can be used for placing the low-position mobile goods shelf 4 to temporarily store the material box to be sorted; referring to Figure 4 , the plane structure schematic diagram of the high-position goods shelf provided by the utility model embodiment, the lower buffer high-position goods shelf includes the mobile goods shelf buffer part 11 and the first material box storage part 12, wherein the mobile goods shelf buffer part 11 is located below the first material box storage part 12, the first material box storage part 12 is provided with the storage layer plate b for placing the material box a, the mobile goods shelf buffer part 11 is not provided with the layer plate, the size of the mobile goods shelf buffer part 11 is greater than the size of the low-position mobile goods shelf 4, and the mobile goods shelf buffer part 11 can be used for placing the low-position mobile goods shelf 4 to temporarily store the material box to be sorted; referring to

[0042] It should be noted that in the utility model embodiment, the number of storage layer plates of the first material box storage part 12 and the second material box storage part 22 can be set according to the actual warehouse storage space size and storage requirements, and the utility model embodiment does not limit this, for example, the number of storage layer plates of the first material box storage part 12 can be set to six layers, the number of storage layer plates of the second material box storage part 22 can be set to eight layers, or the number of storage layer plates of the first material box storage part 12 and the number of storage layer plates of the second material box storage part 22 can both be set to eight layers.

[0043] The material box storage system provided by the embodiment of the utility model, through arranging multiple lower buffer high shelves and multiple lower shuttle high shelves in the storage area of the warehouse, the lower buffer high shelf comprises a mobile shelf buffer part and a first material box storage part, the lower shuttle high shelf comprises a mobile shelf shuttle part and a second material box storage part, the first material box storage part and the second material box storage part can store material boxes, on the basis of effectively utilizing the height of the warehouse, since the size of the mobile shelf buffer part is greater than the size of the low mobile shelf, the size of the mobile shelf shuttle part is greater than the sum of the size of the low mobile shelf and the size of the latent shelf carrying robot, the mobile shelf buffer part of the lower buffer high shelf can place the low mobile shelf to temporarily store the material boxes to be sorted, when the carrying robot occupies the walking channel between the shelves, the mobile shelf shuttle part of the lower shuttle high shelf can also be used for the latent shelf carrying robot itself or the latent shelf carrying robot carrying the low mobile shelf to shuttle and pass through, the moving space of the latent shelf carrying robot is not limited to the walking channel between the shelves, the moving space of the latent shelf carrying robot is increased, the blocking and queuing situation of the carrying robot can be reduced, and the carrying efficiency of the material boxes is improved.

[0044] In a possible implementation, the size of the mobile shelf buffer part 11 is greater than the sum of the size of the low mobile shelf 4 and the size of the latent shelf carrying robot, and can be used for the latent shelf carrying robot carrying the low mobile shelf 4 to shuttle and pass through.

[0045] The size of the mobile shelf buffer part of the material box storage system provided by the embodiment of the utility model is greater than the sum of the size of the low mobile shelf and the size of the latent shelf carrying robot, that is, the mobile shelf buffer part can be used not only for placing the low mobile shelf, but also as a walking channel of the latent shelf carrying robot, and can be used for the latent shelf carrying robot itself or the latent shelf carrying robot to shuttle and pass through, further increasing the moving space of the latent shelf carrying robot, reducing the blocking and queuing situation of the carrying robot, and improving the carrying efficiency of the material boxes.

[0046] In a possible implementation, referring to Figure 5 The structure schematic diagram of the second material box storage system provided by the embodiment of the utility model, the material box storage system further comprises multiple high fixed shelves 3; in at least one row of shelves, the high fixed shelves 3 are arranged on both sides of the shelf row. Figure 5 Two rows of shelf rows composed of the lower buffer high shelf 1, the lower shuttle high shelf 2 and the high fixed shelf 3 are shown in the figure, and each shelf row is composed of two lower buffer high shelves 1, one lower shuttle high shelf 2 and two high fixed shelves 3.

[0047] In some embodiments, the number of lower buffer high-rack shelves 1, the number of lower shuttle high-rack shelves 2, the number of high-rack shelves 3 and the number of shelf rows can be set according to the space size and storage requirements of the actual warehouse storage area, and the embodiments of the present application do not limit this, as long as the high-rack shelves 3 are arranged on both sides of at least one shelf row, for example, five shelf rows can be arranged, each shelf row is composed of five lower buffer high-rack shelves 1, four lower shuttle high-rack shelves 2 and two high-rack shelves 3, and the lower buffer high-rack shelves 1 and the lower shuttle high-rack shelves 2 are arranged alternately, and the high-rack shelves 3 are arranged on both sides of the first and fourth shelf rows.

[0048] The material box storage system provided by the embodiments of the present application can further increase the storage density of the warehouse storage area on the basis of reducing the blocking and queuing of the carrying robot, because the high-rack shelves have high storage density and can store more material boxes.

[0049] In a possible implementation, referring to Figure 6 The first material box storage unit provided by the embodiments of the present application is shown in the structure diagram, one lower buffer high-rack shelf 1 and one lower shuttle high-rack shelf 2 are arranged in contact to form a first material box storage unit A, and at least one first material box storage unit A is included in at least one shelf row. It should be noted that the relative positions of the lower buffer high-rack shelf 1 and the lower shuttle high-rack shelf 2 in the first material box storage unit A are not limited in the embodiments, that is, in the (shelf) row direction, the lower buffer high-rack shelf 1 can be located on the left side of the lower shuttle high-rack shelf 2, or on the right side of the lower shuttle high-rack shelf 2.

[0050] The material box storage system provided by the embodiments of the present application can further improve the carrying efficiency of the material box, because the moving shelf buffer part of the lower buffer high-rack shelf can be used to buffer the low-position moving shelf, and the moving shelf shuttle part of the lower shuttle high-rack shelf can be used for the shuttle passing of the hidden shelf carrying robot, and the two do not affect each other, that is, for the first material box storage unit, the low-position moving shelf is taken and placed while the hidden shelf carrying robot is not affected by the shuttle driving, and the carrying efficiency of the material box can be further improved.

[0051] In a possible implementation, referring to Figure 7 The second material box storage unit provided by the embodiments of the present application is shown in the structure diagram, two lower buffer high-rack shelves 1 and one lower shuttle high-rack shelf 2 are arranged in contact to form a second material box storage unit B, the lower shuttle high-rack shelf 2 is located between the two lower buffer high-rack shelves 1, and each shelf row includes a plurality of second material box storage units B, for example, each shelf row can include five second material box storage units B.

[0052] The material box storage system provided by the embodiment of the utility model, through contact arrangement of two lower buffer high shelves and a lower shuttle high shelf as a second material box storage unit, and the lower shuttle high shelf is located between the two lower buffer high shelves, the lurk type shelf carrying robot can shuttle in the lower shuttle high shelf in the middle, the low-position mobile shelf can be buffered in the lower buffer high shelves on both sides, the lurk type shelf carrying robot carries the low-position mobile shelf, and the moving path is short, and the material box carrying efficiency is high.

[0053] In a possible implementation, at least one row of shelves further includes a third material box storage unit C, and the third material box storage unit C includes one lower buffer high shelf 1, that is, one lower buffer high shelf 1 is one third material box storage unit C.

[0054] Since the lower buffer high shelf includes a mobile shelf buffer part and can buffer a low-position mobile shelf, the third material box storage unit including one lower buffer high shelf is provided, both sides of the third material box storage unit are conventional channels, the operation of the material box carrying robot is allowed, the carrying of the material box by the material box carrying robot in the third material box storage unit is facilitated, and therefore the material box carrying efficiency is improved.

[0055] In a possible implementation, referring to Figure 8 The structure diagram of the third material box storage system provided by the embodiment of the utility model is shown, first intervals d are provided between adjacent two material box storage units in each row of shelves, and the first intervals d are not less than the width of the material box carrying robot, or the first intervals d are not less than the width of the material box carrying robot and the width of the low-position mobile shelf and the lurk type shelf carrying robot. It should be noted that the two adjacent material box storage units in the embodiment are at least one of the first material box storage unit A, the second material box storage unit B and the third material box storage unit C, and in the embodiment, the first interval d can be only not less than the width of the material box carrying robot in the first case, and the first interval d can also be not less than the width of the material box carrying robot and the width of the low-position mobile shelf and the lurk type shelf carrying robot in the second case. For example, assuming that the width of the material box carrying robot is 50 cm, the width of the lurk type shelf carrying robot is 60 cm, and the width of the low-position mobile shelf is 40 cm, in the first case, the first interval in the embodiment is greater than or equal to 50 cm, and in the second case, the first interval in the embodiment is greater than or equal to 60 cm.

[0056] In an example, referring to Figure 9The structure schematic diagram of the fourth material box storage system provided by the embodiment of the utility model is shown in the figure, each row of the shelf row includes two first material box storage units A and two high fixed shelves 3, wherein, the two high fixed shelves 3 are arranged on both sides of the row of the shelf row, the two first material box storage units A are arranged in the middle of the row of the shelf row, and the first interval d is arranged between the two high fixed shelves 3 and the first material box storage unit A adjacent to the high fixed shelf 3 and between the two first material box storage units A, and the first interval d is not less than the width of the material box carrying robot, or the first interval d is not less than the width of the material box carrying robot and not less than the width of the low mobile shelf and the latent shelf carrying robot.

[0057] In other embodiments, the first interval d can also be arranged between the second material box storage unit B and the third material box storage unit C adjacent to each other in each row of the shelf row, and the first interval d is not less than the width of the material box carrying robot, or the first interval d is not less than the width of the material box carrying robot and not less than the width of the low mobile shelf and the latent shelf carrying robot. In addition, the high fixed shelf 3 can be arranged on both sides of at least one row of the shelf row according to actual needs, and the first interval d can also be arranged between the high fixed shelf 3 and the material box storage unit according to needs, and the embodiment needs to ensure that the two material box storage units separated by the first interval d are at least one of the first material box storage unit A, the second material box storage unit B and the third material box storage unit C.

[0058] Figure 8 and Figure 9 The shelf row in each of the figures shows one row of the shelf row, Figure 8 The shelf row in each of the figures shows one row of the shelf row, Figure 9 The shelf row in each of the figures shows one row of the shelf row,

[0059] The material box storage system provided by the embodiment of the utility model, first interval is arranged between two adjacent material box storage units in each row of shelves, and the first interval is not less than the width of the material box carrying robot, or the first interval is not less than the width of the material box carrying robot and is not less than the width of the low-position moving shelf and the latent shelf carrying robot, that is to say, the first interval can be used only for the material box carrying robot to pass, or can be used for the material box carrying robot to pass and also for the latent shelf carrying robot to pass, further increases the moving space of the carrying robot, thereby reducing the blocking and queuing of the carrying robot and improving the carrying efficiency of the material box.

[0060] In a possible implementation, the material box storage units in each shelf row form a plurality of shelf columns, and each material box storage unit in the same shelf column is the same; the first interval between two adjacent shelf columns forms a lane, and the width of the lane meets the driving requirement of the material box carrying robot;

[0061] The moving shelf shuttling parts in the same column of the lower-shuttling high-position shelves form a first channel, and the first channel meets the driving requirement of the latent shelf carrying robot.

[0062] In a possible implementation, the width of the lane meets the driving requirement of the material box carrying robot and the driving requirement of the latent shelf carrying robot, that is, the latent shelf carrying robot and the material box carrying robot can share the lane without complete isolation, and the driving space of the latent shelf carrying robot can be increased.

[0063] In one example, referring to Figure 10 The fifth material box storage system provided by the embodiment of the utility model includes three rows and four columns of shelves, two first material box storage units A and two third material box storage units C are staggered in each row of shelves, one column of shelves includes three first material box storage units A or three third material box storage units C, the first interval d between two adjacent columns of shelves forms a lane D, and the width of the lane D meets the driving requirement of the material box carrying robot. Since the first material box storage unit A is arranged by contacting one lower-buffer high-position shelf 1 with one lower-shuttling high-position shelf 2, and the third material box storage unit C is formed by one lower-buffer high-position shelf 1, in each column of shelves, Figure 10 each column of shelves includes the lower-shuttling high-position shelf 2, and the moving shelf shuttling parts 21 in the lower-shuttling high-position shelf 2 form a first channel (not shown in the figure), and the first channel meets the driving requirement of the latent shelf carrying robot.

[0064] In some embodiments, the number of rows and columns of the shelving, the type and quantity of storage bins included in any row of shelving, can be set according to the actual warehouse storage area size and storage requirements. This utility model embodiment does not limit this, as long as the storage bins in each row of shelving form multiple rows of shelving, and the storage bins in the same row of shelving are the same; the first interval between two adjacent rows of shelving forms an aisle, and the width of the aisle meets the travel requirements of the storage bin handling robot; the shuttle parts of each mobile shelving in the same row of shelving form a first channel, and the first channel meets the travel requirements of the lurking shelving handling robot.

[0065] In one possible implementation, each mobile shelf buffer section in the same column of the lower buffer high-level rack forms a second channel, which meets the driving requirements of the lurking rack handling robot.

[0066] by Figure 10 For example, the first bin storage unit A is formed by the contact arrangement of a lower buffer high-level shelf 1 and a lower shuttle high-level shelf 2, and the third bin storage unit C is formed by a lower buffer high-level shelf 1. The first and third columns from left to right constitute the first bin storage unit A; that is, the first and third columns include not only the lower shuttle high-level shelf 2 but also the lower buffer high-level shelf 1. Figure 10 In the first and third columns, the mobile rack buffer sections 11 of the lower buffer high-level racks 1 form a second channel (not shown in the figure), which meets the travel requirements of the lurking rack handling robot. When the mobile rack buffer section of the same column of lower buffer high-level racks is idle and no low-level mobile racks are placed, the lurking rack handling robot can travel in the second channel, and is not limited to the first channel formed by the mobile rack shuttle sections of the same column of lower shuttle high-level racks.

[0067] In one possible implementation, the low-position mobile shelf is a double-sided shelf, and the size of the buffer section of the mobile shelf meets the flipping requirements of the low-position mobile shelf: when the bin handling robot completes the task of turning one side of the low-position mobile shelf, the lurking shelf handling robot moves the low-position mobile shelf to flip it.

[0068] The bin storage system provided in this embodiment of the utility model has a low-position mobile shelf that is a double-sided shelf. The size of the buffer section of the mobile shelf meets the requirements for flipping the low-position mobile shelf. That is, the size of the buffer section of the mobile shelf must be able to enable the hidden shelf handling robot to flip the low-position mobile shelf from one side to the other. In this way, when the bin handling robot completes the bin-turning task on one side of the low-position mobile shelf, after the hidden shelf handling robot flips the low-position mobile shelf, the bin handling robot can still continue to perform the outbound bin-turning task on the other side of the low-position mobile shelf, which can improve the efficiency of bin outbound.

[0069] Corresponding to the aforementioned bin storage system, the utility model embodiment further provides a bin conveying system, the bin conveying system includes:

[0070] The lower buffer high-position shelf, the lower shuttle high-position shelf, the low-position mobile shelf, the bin conveying robot, the lurking shelf conveying robot;

[0071] The lower buffer high-position shelf includes a mobile shelf buffer part and a first bin storage part, the mobile shelf buffer part is located below the first bin storage part, the first bin storage part is provided with a storage layer plate for placing bins, the mobile shelf buffer part is not provided with a layer plate, the size of the mobile shelf buffer part is greater than the size of the low-position mobile shelf, and the mobile shelf buffer part is used for placing the low-position mobile shelf;

[0072] The lower shuttle high-position shelf includes a mobile shelf shuttle part and a second bin storage part, the mobile shelf shuttle part is located below the second bin storage part, the second bin storage part is provided with a storage layer plate for placing bins, the mobile shelf shuttle part is not provided with a layer plate, and the size of the mobile shelf shuttle part is greater than the sum of the size of the low-position mobile shelf and the size of the lurking shelf conveying robot, so that the lurking shelf conveying robot conveying the low-position mobile shelf can shuttle and pass through;

[0073] The lower buffer high-position shelf and the lower shuttle high-position shelf are arranged as at least one shelf row;

[0074] The bin conveying robot is used for conveying bins, and the lurking shelf conveying robot is used for conveying the low-position mobile shelf.

[0075] It should be noted that the bin conveying robot in the embodiment can convey bins between the low-position mobile shelf and the bin storage part, wherein the bin storage part includes the first bin storage part of the lower buffer high-position shelf and the second bin storage part of the lower shuttle high-position shelf, and can also convey bins between bin storage parts, wherein the bin storage part includes the first bin storage part of the lower buffer high-position shelf and the second bin storage part of the lower shuttle high-position shelf. That is, the bin conveying robot in the embodiment can not only convey bins between the low-position mobile shelf and the bin storage part, but also convey bins between bin storage parts in the same row or different rows.

[0076] The material box carrying system provided by the embodiment of the utility model, through arranging multiple lower buffer high shelves and multiple lower shuttle high shelves in the storage area of the warehouse, the lower buffer high shelf comprises a mobile shelf buffer part and a first material box storage part, the lower shuttle high shelf comprises a mobile shelf shuttle part and a second material box storage part, the first material box storage part and the second material box storage part can store material boxes, on the basis of effectively utilizing the height of the warehouse, since the size of the mobile shelf buffer part is greater than the size of the low mobile shelf, the size of the mobile shelf shuttle part is greater than the sum of the size of the low mobile shelf and the size of the latent shelf carrying robot, the mobile shelf buffer part of the lower buffer high shelf can place the low mobile shelf to temporarily store the material boxes to be sorted, when the carrying robot occupies the walking channel between the shelves, the mobile shelf shuttle part of the lower shuttle high shelf can also be used for the latent shelf carrying robot itself or the latent shelf carrying robot carrying the low mobile shelf to shuttle and pass through, the moving space of the latent shelf carrying robot is not limited to the walking channel between the shelves, the moving space of the latent shelf carrying robot is increased, the blocking and queuing situation of the carrying robot can be reduced, and the carrying efficiency of the material boxes is improved.

[0077] In a possible implementation, the size of the mobile shelf buffer part is greater than the sum of the size of the low mobile shelf and the size of the latent shelf carrying robot, and the latent shelf carrying robot carrying the low mobile shelf can shuttle and pass through.

[0078] The size of the mobile shelf buffer part of the material box carrying system provided by the embodiment of the utility model is greater than the sum of the size of the low mobile shelf and the size of the latent shelf carrying robot, that is, the mobile shelf buffer part can be used not only to place the low mobile shelf, but also as a walking channel of the latent shelf carrying robot, and the latent shelf carrying robot itself or the latent shelf carrying robot can shuttle and pass through, the moving space of the latent shelf carrying robot is further increased, the blocking and queuing situation of the carrying robot can be reduced, and the carrying efficiency of the material boxes is improved.

[0079] In a possible implementation, the material box carrying system further comprises multiple high fixed shelves, and the high fixed shelves are arranged on both sides of at least one shelf row.

[0080] The material box carrying system provided by the embodiment of the utility model is arranged with high fixed shelves on both sides of at least one shelf row, since the high fixed shelves have high storage density and can store more material boxes, the storage density of the storage area of the warehouse can be further increased on the basis of reducing the blocking and queuing situation of the carrying robot.

[0081] In a possible implementation, one of the lower buffer high-bay racks and one of the lower shuttle high-bay racks are arranged in contact as a first bin storage unit, and at least one row of rack rows includes at least one first bin storage unit.

[0082] The bin conveying system provided in the embodiment of the utility model, by one lower buffer high-bay rack and one lower shuttle high-bay rack are arranged in contact as a first bin storage unit, the mobile rack buffer part of the lower buffer high-bay rack can be used to buffer the low mobile rack, the mobile rack shuttle part of the lower shuttle high-bay rack can be used for the shuttle passing of the lurk type rack conveying robot, both do not affect each other, that is, for the first bin storage unit, while taking and placing the bin by using the buffer low mobile rack, the shuttle driving of the lurk type rack conveying robot is not affected, and the conveying efficiency of the bin can be further improved.

[0083] In a possible implementation, two of the lower buffer high-bay racks and one of the lower shuttle high-bay racks are arranged in contact as a second bin storage unit, and the lower shuttle high-bay rack is located between the two lower buffer high-bay racks, and each row of rack rows includes a plurality of second bin storage units.

[0084] The bin conveying system provided in the embodiment of the utility model, by two lower buffer high-bay racks and one lower shuttle high-bay rack are arranged in contact as a second bin storage unit, and the lower shuttle high-bay rack is located between the two lower buffer high-bay racks, and the lurk type rack conveying robot can shuttle in the lower shuttle high-bay rack in the middle, the low mobile rack can be buffered in the lower buffer high-bay rack on both sides, the lurk type rack conveying robot has a shorter moving path for conveying the low mobile rack on both sides, and the bin conveying efficiency is high, and the second bin storage unit has two lower buffer high-bay racks, and the utilization rate of the space in the horizontal direction can be further increased.

[0085] In a possible implementation, at least one row of rack rows further includes a third bin storage unit, and the third bin storage unit includes one lower buffer high-bay rack.

[0086] The bin conveying system provided in the embodiment of the utility model, since the lower buffer high-bay rack includes the mobile rack buffer part and can buffer the low mobile rack, the third bin storage unit including one lower buffer high-bay rack is arranged, both sides of the third bin storage unit are the conventional passageways and allow the operation of the bin conveying robot, the bin conveying robot can conveniently convey the bin in the third bin storage unit, and the bin conveying efficiency is improved.

[0087] In a possible implementation, each of the two adjacent bin storage units in each row of the rack row has a first interval, and the first interval is not less than the width of the bin handling robot, or the first interval is not less than the width of the bin handling robot and is not less than the width of the low-position mobile rack and the latent rack handling robot.

[0088] The bin handling system provided in the embodiment of the utility model sets a first interval between each of the two adjacent bin storage units in each row of the rack row, and the first interval is not less than the width of the bin handling robot, or the first interval is not less than the width of the bin handling robot and is not less than the width of the low-position mobile rack and the latent rack handling robot, that is, the first interval can be used only for the bin handling robot to pass, or can be used for the bin handling robot to pass and also for the latent rack handling robot itself or the latent rack handling robot to pass the low-position mobile rack, further increasing the moving space of the handling robot, thereby reducing the blocking and queuing of the handling robot and improving the handling efficiency of the bin.

[0089] In a possible implementation, the bin storage units in each of the rack rows form a plurality of rack columns, and each of the bin storage units in the same rack column is the same; the first interval between the adjacent two rack columns forms a lane, and the width of the lane meets the driving requirement of the bin handling robot.

[0090] Each of the mobile rack shuttling parts in the same column of the lower-shuttling high-position rack forms a first channel, and the first channel meets the driving requirement of the latent rack handling robot.

[0091] In a possible implementation, each of the mobile rack caching parts in the same column of the lower-caching high-position rack forms a second channel, and the second channel meets the driving requirement of the latent rack handling robot.

[0092] The bin handling system provided in the embodiment of the utility model can be used for the latent rack handling robot to drive in the second channel when the mobile rack caching part in the same column of the lower-caching high-position rack is idle without placing the low-position mobile rack, and is not limited to the first channel formed by each of the mobile rack shuttling parts in the same column of the lower-shuttling high-position rack.

[0093] In a possible implementation, the low-position mobile rack is a double-faced rack, and the size of the mobile rack caching part meets the turnover requirement of the low-position mobile rack: when the bin handling robot completes the task of unloading the bins in one side of the low-position mobile rack, the latent rack handling robot turns over the low-position mobile rack.

[0094] The material box carrying system provided by the embodiment of the utility model, the low-position mobile shelf is a double-sided shelf, and the size of the mobile shelf buffer part meets the turning requirement of the low-position mobile shelf, that is, the size of the mobile shelf buffer part must enable the low-position mobile shelf to be carried by the lurking shelf carrying robot and turned from one side to the other side, so that when the material box carrying robot completes the task of turning over the material box on one side of the low-position mobile shelf, the lurking shelf carrying robot can still continue to carry out the task of taking out and turning over the material box on the other side of the low-position mobile shelf after turning over the low-position mobile shelf, and the efficiency of taking out the material box can be improved.

[0095] More details of the material box carrying system can refer to the foregoing embodiment of the material box storage system, and will not be described here.

[0096] Referring to Figure 11 The application flowchart of the first material box carrying system provided by the embodiment of the utility model comprises the following steps S101-S107.

[0097] Step S101: according to the inventory allocation of the taking-out order, the inventory level of the low-position mobile shelf and other factors, determine the material box that needs to be carried from the high-position fixed shelf to the low-position mobile shelf.

[0098] Step S102: the material box carrying robot carries the material box from the storage position of the high-position shelf to the storage position of the low-position mobile shelf with the empty storage position on the buffer position.

[0099] Step S103: judge whether there is a taking-out and turning over task with the current storage position of the low-position mobile shelf as the target. (In particular, when the shelf has front and back sides and the material box carrying robot needs to perform the turning over task from the front and back sides respectively, if the turning over task on the current side has been completed, the lurking shelf carrying robot is automatically triggered to perform the turning task.)

[0100] If yes, return to step S101; if no, execute step S104.

[0101] S104: the lurking shelf carrying robot carries the low-position mobile shelf to the workstation for picking according to whether the low-position mobile shelf is hit by the order and other factors.

[0102] S105: the workstation performs picking, and returns to the low-position mobile shelf after the picking is completed.

[0103] S106: the lurking shelf carrying robot carries the low-position mobile shelf from the workstation to the buffer position.

[0104] S107: the material box carrying robot carries the material box from the storage position on the low-position mobile shelf to the storage position on the high-position shelf.

[0105] In particular, when a batch of totes that need to be destacked onto a rack are stored in storage locations of high racks in different aisles, a latent rack handling robot can be selected to move a low mobile rack to a high fixed rack that needs to perform a destacking task, perform the destacking, and then move to the next high fixed rack that needs to perform a destacking task, and repeat this process until all the destacking tasks targeting the storage locations of the low mobile rack are completed.

[0106] Referring to Figure 12 The application flowchart of the second tote handling system provided in the embodiment of the present application comprises the following steps S201-S205.

[0107] S201: The latent rack handling robot moves a low mobile rack to a high rack that needs to be destacked.

[0108] S202: The tote handling robot moves a tote from the high rack to a storage location of the low mobile rack.

[0109] S203: Determine whether there is a tote that needs to be destacked in the aisle.

[0110] If yes, return to step S202; if no, perform step S204.

[0111] S204: Determine whether there is a tote destacking task targeting a storage location on the low mobile rack.

[0112] If yes, return to step S201; if no, perform step S205.

[0113] S205: The destacking targeting the storage location on the low mobile rack is completed.

[0114] Referring to Figure 13 The application flowchart of the third tote handling system provided in the embodiment of the present application comprises the following steps S301-S303.

[0115] S301: The tote handling robot moves a tote from a high rack to a storage location of a low mobile rack across aisles.

[0116] S302: Determine whether there is a tote destacking task targeting a storage location on the low mobile rack.

[0117] If yes, return to step S301; if no, perform step S303.

[0118] S303: The destacking targeting the storage location on the low mobile rack is completed.

[0119] It should be noted that in the application process of all the material box carrying systems provided in the embodiments of the present application, the high-level shelf can represent at least one of the aforementioned system embodiments, including the lower buffer high-level shelf, the lower shuttle high-level shelf, and the high-level fixed shelf. In addition, the task of the material box carrying robot and the low-level moving shelf carrying task of the stealthy shelf carrying robot are divided, allowing them to be executed at different time periods. The embodiments of the present application are commonly used in scenarios where outbound orders can be pushed in advance, and the task of the material box carrying robot is completed before the workstation starts. Since the material box carrying robot carries the material box of the low-level moving shelf of the stealthy shelf carrying robot, the material box is a to-be-picked material box, so the hit rate of the shelf is very high. The walking route of the stealthy shelf carrying robot is not limited to the shuttle channel and the buffer position under the high-level fixed shelf, and can also share the channel with the material box carrying robot without complete isolation. At the same time, in order to meet different efficiency requirements, the walking route of the stealthy shelf carrying robot under the high-level shelf can be single or bidirectional. In the application scenario of replenishing goods from the high-level fixed shelf to the low-level moving shelf, according to the order and the inventory level of the low-level moving shelf, the replenishment material box carrying task is initiated, and the material box on the storage position of the high-level fixed shelf is hit by the order or according to the inventory level of the low-level moving shelf, the replenishment material box is inverted to the storage position of the low-level moving shelf. In the application scenario of arranging goods between high-level fixed shelves, based on factors such as the popularity of goods and the business attributes of the owner, the goods are arranged, and the arrangement can be carried out according to the AGV(Automated Guided Vehicle, automated guided vehicle) path requirements, path distance, and other factors to carry the material box or the low-level moving shelf.

[0120] The above only describes preferred embodiments of the present application, and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application is included in the protection scope of the present application.

Claims

1. A magazine storage system, characterized by, The bin storage system comprises: at least one low-position mobile rack, a plurality of lower buffer high-position racks, and a plurality of lower shuttle high-position racks; The lower buffer high-position rack comprises a mobile rack buffer part and a first bin storage part, the mobile rack buffer part is located below the first bin storage part, the first bin storage part is provided with a storage layer plate for placing bins, the mobile rack buffer part is not provided with a layer plate, the size of the mobile rack buffer part is greater than the size of the low-position mobile rack, and the mobile rack buffer part is used for placing the low-position mobile rack; The lower shuttle high-position rack comprises a mobile rack shuttle part and a second bin storage part, the mobile rack shuttle part is located below the second bin storage part, the second bin storage part is provided with a storage layer plate for placing bins, the mobile rack shuttle part is not provided with a layer plate, and the size of the mobile rack shuttle part is greater than the sum of the size of the low-position mobile rack and the size of the latent rack handling robot, so that the latent rack handling robot carrying the low-position mobile rack can pass through. The lower buffer high-position rack and the lower shuttle high-position rack are arranged as at least one rack row.

2. The bin storage system of claim 1, wherein, The size of the mobile rack buffer part is greater than the sum of the size of the low-position mobile rack and the size of the latent rack handling robot, so that the latent rack handling robot carrying the low-position mobile rack can pass through.

3. The bin storage system of claim 1, wherein, The bin storage system further comprises a plurality of high-position fixed racks, and in at least one of the rack rows, the high-position fixed racks are arranged on both sides of the rack row.

4. The bin storage system of claim 1, wherein, One lower buffer high-position rack and one lower shuttle high-position rack are arranged in contact as a first bin storage unit, and at least one first bin storage unit is included in at least one rack row.

5. The bin storage system of claim 1, wherein, At least one third bin storage unit is included in at least one rack row, and the third bin storage unit comprises one lower buffer high-position rack.

6. A magazine storage system according to claim 4 or 5, wherein, There is a first interval between adjacent two bin storage units in each rack row, and the first interval is not less than the width of the bin handling robot, or the first interval is not less than the width of the bin handling robot and not less than the width of the low-position mobile rack and the latent rack handling robot.

7. The bin storage system of claim 6, wherein, The bin storage units in each rack row form a plurality of rack columns, and the bin storage units in the same rack column are the same; a first interval between adjacent two rack columns forms an aisle, and the width of the aisle meets the driving requirement of the bin handling robot; The mobile rack shuttle parts in the same column of lower shuttle high-position racks form a first channel, and the first channel meets the driving requirement of the latent rack handling robot.

8. The bin storage system of claim 7, wherein, The mobile rack buffer parts in the same column of lower buffer high-position racks form a second channel, and the second channel meets the driving requirement of the latent rack handling robot.

9. The bin storage system of claim 1, wherein, The low-position mobile rack is a double-sided rack, and the size of the mobile rack buffer part meets the turnover requirement of the low-position mobile rack: when the bin handling robot completes the unloading task of one side of the low-position mobile rack, the latent rack handling robot carries out the turnover of the low-position mobile rack.

10. A magazine handling system characterized by, The bin handling system comprises a bin handling robot, a latent goods shelf handling robot and the bin storage system according to any one of claims 1-9.

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