Transmission system and intelligent three-dimensional warehousing system with same

Abstract

The utility model provides a transmission system and an intelligent three-dimensional warehousing system. The transmission system comprises a carrying layer and track transmission equipment. And the carrying layer is used for the storage shelf and is higher than the ground. The track transmission equipment comprises a transverse track, a stand column and a task module. The transverse track horizontally extends along the performance operation surface of the storage shelf; the stand column is vertically arranged on the transverse rail and can slide along the transverse rail. The task module is arranged on the stand column and can slide along the stand column; the task module is used for carrying out article storing and taking operation on the storage shelf and carrying out article handover operation with the load processing equipment of the carrying layer, and articles comprise containers and / or goods. The carrying layer is arranged in the middle and / or at the top of the storage shelf, so that the space in the air can be utilized, and the processing efficiency of the storage system can be improved. As the storage shelf occupies the space of the ground layer, compared with the prior art, the space of the carrying layer can be wider, too many obstacles do not exist, and structures such as rails can be conveniently arranged.

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 having the same. BACKGROUND

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

[0003] In order to improve the efficiency of goods loading and unloading of the warehouse system, most of the warehouse systems are equipped with automated robots. These robots can include freight robots walking on the ground layer, and also can include loading and unloading robots installed to the warehouse shelves.

[0004] Since the warehouse shelves are installed to the ground layer, the ground layer has more obstacles, and the logic is more complex when planning the walking path of the freight robot. Moreover, the obstacles on the ground and the working freight robots will affect the activities of personnel, and vice versa, which will reduce the efficiency of the warehouse system. 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, comprising: a handling layer for the warehouse shelf, and the handling layer is higher than the ground; and a track conveying device, the track conveying device comprises a transverse track, a vertical column and a task module. The transverse track extends horizontally along the fulfillment operation surface of the warehouse shelf; the vertical column is vertically arranged on the transverse track and is slidable along the transverse track; the task module is arranged on the vertical column and is slidable along the vertical column; the task module is used for performing goods storage and retrieval operations on the warehouse shelf, and performs goods handover operations with a load handling device of the handling layer, and the goods include a cargo box and / or goods.

[0006] Exemplarily, the task module is movable to a predetermined position directly below the handling layer, and the load handling device comprises a lifting assembly, the lifting assembly is used for lifting the goods on the task module directly below the predetermined position to the handling layer, or lowering the goods of the handling layer to the task module directly below the predetermined position.

[0007] Exemplarily, the load handling device further comprises a carrying assembly, the carrying assembly is walkable on the handling layer, and the lifting assembly is arranged on the carrying assembly.

[0008] Exemplarily, the load handling device further comprises a receiving space assembly for accommodating the goods, the receiving space assembly is arranged on the carrying assembly, and the lifting assembly is used for lifting the goods into the receiving space assembly.

[0009] Exemplarily, the lifting assembly is arranged around the predetermined position, and the load handling device further comprises a goods delivery robot walkable on the handling layer, and the lifting assembly is further configured to place an item on the goods delivery robot or pick up an item from the goods delivery robot.

[0010] Exemplarily, the task module is slidable along the column to the handling layer.

[0011] Exemplarily, the load handling device further comprises a goods delivery robot, and the goods delivery robot directly performs the item transfer operation with the task module slid to the handling layer.

[0012] Exemplarily, the handling layer is configured to be mounted to a middle portion of an end face of the storage rack, and the end face is perpendicular to the fulfillment operation face.

[0013] Exemplarily, the task module is further configured to perform the item transfer operation with a ground goods delivery robot running on the ground layer.

[0014] Exemplarily, the transfer system comprises a plurality of storage racks arranged in a plurality of columns, the plurality of columns of storage racks are spaced apart to form aisles, the fulfillment operation face is a side face of the storage rack facing the aisle, and a passageway for the ground goods delivery robot to walk is arranged below the plurality of columns of storage racks, and the passageway is in communication with the aisle.

[0015] Exemplarily, the handling layer comprises a plurality of openings arranged in a grid, and the task module is movable to directly below at least one of the plurality of openings to perform the item transfer operation with the load handling device of the handling layer via the opening.

[0016] Exemplarily, the handling layer is provided with a track for the load handling device and / or the goods delivery robot to walk, the track comprises a first group of parallel tracks parallel to the lateral tracks and a second group of parallel tracks perpendicular to the first group of parallel tracks, and the plurality of openings are located at intersections of the first group of parallel tracks and the second group of parallel tracks.

[0017] Exemplarily, the load handling device further comprises a task picking assembly, and the task picking assembly is configured to: pick the item on the task module to complete the item transfer operation; and / or pick the item on the load handling device.

[0018] Exemplarily, the handling layer has one or more of the following structures: the handling layer is formed by a top face of the storage rack; the handling layer is arranged above the storage rack; and the handling layer is arranged in a middle portion of the storage rack.

[0019] The application also provides a warehouse-based transportation system applied to a stereoscopic warehouse, wherein a plurality of rows and layers of warehouse shelves are arranged in the stereoscopic warehouse, the warehouse shelves are provided with a plurality of layers of storage spaces, and a storage position of the storage space is provided with a box, a track transportation device is arranged on the warehouse shelf, and the device comprises: a transverse track, a first vertical column, a first movable part, and a connecting mechanism of a task module, wherein: the transverse track is arranged on the shelf; the first vertical column is vertically arranged on the transverse track and can slide transversely; the first movable part is arranged on the first vertical column and can slide along the first vertical column; the first movable part is provided with the connecting mechanism of the task module; the task module is driven by the first movable part to access the box and / or goods and is put into or taken out of a docking assembly of a box robot running at the bottom and / or top of the warehouse shelf; a space capable of providing the running of a freight robot is arranged below the shelf; and the task module of the track transportation device can extend from the top of the stereoscopic warehouse.

[0020] Exemplarily, the warehouse shelves are provided with the track transportation devices on the operation faces.

[0021] Exemplarily, an opening is arranged at the top of the stereoscopic warehouse, and the opening is matched with the task module in shape to provide the task module to extend out to perform the operation docking action.

[0022] Exemplarily, the stereoscopic warehouse can be disassembled or is a mobile stereoscopic warehouse.

[0023] Exemplarily, the opening arranged at the top of the stereoscopic warehouse is specifically implemented as: the task module extends out of the opening arranged at the top of the stereoscopic warehouse, is driven by the first movable part to access the box, and is put into the docking assembly of the freight robot running at the top of the warehouse shelf.

[0024] Exemplarily, the task module comprises a goods sorting device, and the goods sorting device puts the goods into the docking assembly or docking box of the freight robot running at the bottom of the shelf or takes the goods out of the docking assembly or docking box and puts the goods into the box.

[0025] Exemplarily, the track transportation device further comprises: a second vertical column and a second movable part, the second vertical column is vertically arranged on the transverse track and can slide transversely; the second movable part is arranged on the second vertical column and can slide along the second vertical column; and the second movable part is provided with a connecting mechanism of a second task module.

[0026] Exemplarily, a load handling device is arranged at the top of the stereoscopic warehouse, the load handling device is arranged to move at the top of the stereoscopic warehouse and is used to lift and move the box or goods in the stereoscopic warehouse, and the load handling device comprises: a lifting assembly; and a receiving space assembly accommodating the box or goods, the lifting assembly is configured to grasp the box or goods and lift and lower the box or goods relative to the receiving space assembly.

[0027] Exemplarily, the top of the stereoscopic warehouse is provided with an AGV walking surface.

[0028] Exemplarily, the top of the stereoscopic warehouse is provided with a first set of parallel tracks and a second set of parallel tracks, the second set of parallel tracks extending transversely to the first set of parallel tracks to form a grid structure comprising a plurality of grid spaces.

[0029] The application also provides an intelligent stereoscopic warehouse system, comprising: a warehouse shelf; and the transmission system described above.

[0030] The embodiments provided by the application can utilize the space in the air by arranging a handling layer in the middle and / or top of the warehouse shelf, thereby improving the processing efficiency of the warehouse system. For example, the ground layer and the handling layer can both be arranged with freight robots and / or load handling devices. Alternatively, the number of freight robots on the ground layer can be reduced, or the ground layer can not be provided with freight robots, thereby leaving sufficient ground space, which can reduce the difficulty of path planning for the freight robots walking on the ground. Sufficient ground space can also facilitate personnel walking on the ground layer. Since the warehouse shelf occupies the space of the ground layer, the space of the handling layer can be relatively open and free of excessive obstacles, and tracks and other structures can also be arranged conveniently.

[0031] A series of simplified concepts are introduced in the summary, which will be described in detail in the specific embodiments. The summary part does not mean to attempt to limit the key features and necessary technical features of the claimed technical solutions, nor to determine the protection scope of the claimed technical solutions.

[0032] The advantages and features of the application will be described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0033] The following drawings of the application are hereby incorporated into the application as part of the application for understanding the application. The embodiments of the application and the description thereof shown in the drawings are used to explain the principles of the application. In the drawings,

[0034] Figure 1 It is a schematic diagram of the warehouse shelf in the embodiments of the application;

[0035] Figure 2 It is a schematic diagram of the freight robot in the embodiments of the application;

[0036] Figure 3 It is a top view schematic diagram of the warehouse-based transmission system in the embodiments of the application;

[0037] Figure 4 It is a side view schematic diagram of the warehouse-based transmission system in the embodiments of the application;

[0038] Figure 5 Schematic view of a track transport device of a transport system in an embodiment of the application;

[0039] Figure 6 Schematic view of a handling layer of a transport system in an embodiment of the application;

[0040] Figure 7 Schematic view of a transport system based on warehousing in an embodiment of the application;

[0041] Figure 8 Schematic view of a track transport device structure based on warehousing in an embodiment of the application;

[0042] Figure 9 Schematic view of a track transport device structure based on warehousing in an embodiment of the application;

[0043] Figure 10 Schematic view of a track transport device structure based on warehousing in an embodiment of the application;

[0044] Figure 11 Schematic view of a partial view of a warehouse shelf in an embodiment of the application;

[0045] Figure 12 Schematic view of a goods picking device in an embodiment of the application;

[0046] Figure 13 Schematic view of a transport system based on warehousing in an embodiment of the application;

[0047] Figure 14 Schematic view of a transport system based on warehousing in an embodiment of the application;

[0048] Figure 15 Schematic view of a transport system based on warehousing in an embodiment of the application;

[0049] Figure 16 Schematic view of a transport system based on warehousing in an embodiment of the application;

[0050] Figure 17 Schematic view of a smart three-dimensional warehouse transport system in an embodiment of the application. DETAILED DESCRIPTION

[0051] In the following description, numerous specific details are provided in order to provide a thorough understanding of the present application. One of ordinary skill in the art will realize, however, that the application can be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order not to unnecessarily obscure the present application.

[0052] To fully understand the embodiments of the present invention, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below; however, in addition to these detailed descriptions, the present invention may have other embodiments.

[0053] This application provides a transmission system for warehouse racking, which can greatly improve the utilization rate of existing warehouse racking and the speed of goods entering and leaving the warehouse, and effectively reduce deployment costs. Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0054] In some embodiments, the transmission system provided in this application can be used for a single automated storage and retrieval system (AS / RS). In other embodiments, the transmission system can be used for multiple storage racks spaced apart. Aisles are formed between adjacent storage racks, allowing freight robots, forklifts, or personnel to move within them. Based on this, the coordinate system in this invention is defined as follows: the aisle direction of multiple rows 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.

[0055] The items described herein may include goods stored in their original packaging boxes, goods stored individually, or goods placed in uniform bins, and may also include containers for holding goods, such as the bins mentioned above. In some embodiments, empty bins may be stored on warehouse racks. In some embodiments with goods picking equipment mentioned below, empty bins may be used to hold loose goods picked by the goods picking equipment. Figure 1 As shown, optionally, each storage space 101 can place items side-by-side along the x-axis, while each storage space 101 in the y-direction can place only one row of items. In other words, each storage space 101 can include multiple storage positions 103 in the x-direction, while only one storage position 103 in the y-direction. Optionally, two or more rows of items can also be placed along the y-direction. The track conveyor can extend into the shelf along the y-direction to retrieve or place items, or after removing the outermost item, the inner items can be added to the outermost layer. The track conveyor can be generally arranged in the aisle and can store or retrieve items from the storage rack facing the aisle. The surface of the storage rack used for storing and retrieving items is the fulfillment operation surface, which can be perpendicular to the y-direction. Optionally, adjacent storage racks can have opposing fulfillment operation surfaces. Figure 1 The storage racks are displayed from the side of the fulfillment operation area.

[0056] Figure 1A structural diagram of the storage rack is shown. As shown, the conveying system can include a storage rack 10. The storage rack 10 is provided with multiple layers of storage spaces 101, and the items are placed at the storage sites 103 of the storage spaces 101. The rack can be provided with partitions 102 to support the items 104.

[0057] It should be noted that a general rack can include uprights, cross beams and shelves. An independent set of storage racks 10 can include at least four uprights and a plurality of cross beams (shelves). If several sets of storage racks 10 are assembled into a row, the uprights can be shared between adjacent storage racks 10. In this way, space can be saved and cost can be reduced.

[0058] Referring to Figure 2 , the conveying system can further include a plurality of freight robots 105 that can be connected to the items. As an implementable embodiment, the freight robots can be AGVs (Automated Guided Vehicles), which are also commonly referred to as AGV trolleys; or AMRs (Autonomous Mobile Robots), the specific form of which is not limited and can be referred to Figure 2 The conveying system provided in the present application can be used in various types of storage racks in a stereoscopic warehouse, including but not limited to standard warehouses, intensive stereoscopic warehouses, high-metre stereoscopic warehouses, customized stereoscopic warehouses, or container units.

[0059] The conveying system for the storage rack provided in the present application can include a handling layer 18 that is used for the storage rack 10 and is higher than the ground. In Figure 3 and Figure 4In the embodiment shown, the handling layer 18 can be provided above the storage racks 10. The handling layer 18 can be provided with load handling devices for handling items on the handling layer 18. Specifically, the handling layer 18 can be formed by a structure installed above the storage racks 10, and optionally, the handling layer 18 can be formed by a floor for the load handling devices to travel on. Alternatively, the handling layer 18 can be constructed as a framework structure with tracks for the load handling devices to travel on, or the framework structure itself can be constructed as the tracks for the load handling devices to travel on. Exemplarily, the handling layer 18 can be formed by the top surface of the storage racks 10. Exemplarily, the handling layer 18 can also be provided at any height above the storage racks 10. Exemplarily, the handling layer 18 can also be provided in the middle of the storage racks 10. The middle of the storage racks 10 does not only refer to the middle of the storage racks, but can refer to any suitable height above the ground of the storage racks 10. The suitable height refers to a height at which the handling layer 18 is provided such that a sufficient height is formed between the handling layer 18 and the ground for the goods handling robots and the staff to travel and work. For the handling layer 18 provided in the middle of the storage racks 10, the handling layer 18 can be provided around the storage racks 10, or only on one side or multiple sides of the storage racks 10. Alternatively, in the embodiment in which the handling layer 18 is provided in the middle of the storage racks 10, the handling layer 18 can also extend into the aisles between adjacent storage racks 10. In some embodiments, one or more levels in the middle of the storage racks 10 can also be provided without storage spaces 101 or with fewer storage spaces 101 for arranging the handling layer 18. In some embodiments, the handling layer 18 can also be provided in the middle and above the storage racks 10. For a high-height conveying system of the storage racks 10, the handling layer 18 provided in the middle of the storage racks 10 can also be more than one level.

[0060] As shown in Figure 5 , the conveying system can also include a rail conveying device. The rail conveying device can include lateral rails 11, vertical columns 12, and a task module 14, wherein: the lateral rails 11 extend horizontally along the fulfillment operation face of the storage racks 10; the vertical columns 12 are vertically provided on the lateral rails 11 and are slidable along the lateral rails 11. The task module 14 is provided on the vertical columns 12 and is slidable along the vertical columns 12; the task module 14 is used for performing item access operations on the storage racks 10 and performing item handover operations with the load handling devices of the handling layer 18.

[0061] Alternatively, the lateral rails can be one or more. When there are multiple lateral rails, the multiple lateral rails can be provided at intervals, as shown in Figure 9 and Figure 10 , which show the case of providing two lateral rails 11 and 31. The vertical columns can also be one or more. When there are multiple vertical columns, the multiple vertical columns can be provided at intervals, as shown inFigures 8 to 10 Optionally, one transverse track can be fitted with one or more uprights; optionally, multiple transverse tracks can also be fitted with one upright. Or multiple transverse tracks are fitted with multiple uprights. Optionally, a transmission mechanism, including for example a synchronous belt, a chain, a motor, etc., can be provided on the transverse track and the uprights, so as to drive the uprights to slide on the transverse track 11, and drive the task module 14 to slide on the uprights. Optionally, the task module 14 can be configured to take out or place an article from or on the storage shelf 10 by means of a push-pull mechanism, a clamping mechanism, a vacuum suction cup, an electromagnetic suction cup, etc.

[0062] The embodiments provided in the present application can utilize the space in the air by providing a handling layer 18 in the middle and / or top of the storage shelf, thereby improving the processing efficiency of the storage system. For example, the ground layer and the handling layer 18 can both be arranged with a freight robot and / or a load processing device. Alternatively, the number of freight robots on the ground layer can be reduced, or the ground layer can not need to be provided with a freight robot, thereby leaving sufficient ground space, which can reduce the difficulty of path planning for the freight robot walking on the ground. Sufficient ground space can also facilitate personnel walking on the ground layer. Since the storage shelf 10 occupies the space of the ground layer, in comparison, the space of the handling layer 18 can be relatively open and free of excessive obstacles, and can also facilitate the arrangement of tracks and other structures.

[0063] Exemplarily, referring to Figure 3 and Figure 4 , the task module 14 can be moved to a predetermined position directly below the handling layer 18. The load processing device can include a lifting assembly for lifting an article on the task module 14 directly below the predetermined position to the handling layer 18, or lowering an article of the handling layer 18 to the task module 14 directly below the predetermined position. In the embodiment in which the handling layer 18 is above the storage shelf 10, the lifting assembly can be fixed on the handling layer 18, optionally. Exemplarily, the lifting assembly can be arranged around the predetermined position. In this case, the load processing device can further include a freight robot 1053 walkable on the handling layer 18. The lifting assembly is further used to place an article thereon on the freight robot 1053, or pick up an article from the freight robot 1053.

[0064] For distinction, this type of load processing device can be referred to as a first type of load processing device. The task module can take down an article from the storage shelf 10 and place it on the lifting assembly or pick up the article from the task module 14 by the lifting assembly. Subsequently, the lifting assembly can lift the article to the height of the handling layer 18 and hand it over to the freight robot. The article is handled by the freight robot on the handling layer 18. Optionally, the lifting assembly can include one or more of a lifting platform, a crane, an electric hoist, etc.

[0065] Exemplarily, the load handling device can further comprise a carrying assembly which is walkable on the carrying layer 18, and the lifting assembly can be provided on the carrying assembly. For example, Figure 3 and Figure 4 For the embodiment shown in FIG. 10, the load handling device can receive the item of the task module with the lifting assembly thereon, and carry the item lifted to the carrying layer 18 to the target position. The load handling device 1051 can have a lifting assembly and a carrying assembly. Thus, the load handling device 1051 can lift the item from the task module 14 to the carrying layer 18 with the lifting assembly such as a hook, and make the bottom surface of the item higher than the ground of the carrying layer 18. Subsequently, the load handling device 1051 can walk on the ground of the carrying layer 18 with the item hoisted. In this way, it is not necessary to provide a fixed lifting assembly for each storage rack 10, but only when the item of a certain storage rack 10 needs to be carried to the carrying layer 18, the load handling device provided with the lifting assembly can walk to the corresponding position to receive the item. The load handling device 1051 can be referred to as a second type of load handling device.

[0066] Exemplarily, the load handling device can further comprise a receiving space assembly 1052a for accommodating the item, for example, a third type of load handling device 1052 as shown in FIG. 11. Figure 6 The receiving space assembly 1052a can be provided on the carrying assembly, and the lifting assembly is used to lift the item into the receiving space assembly 1052a. As shown in the figure, the upper part of the receiving space assembly 1052a can be provided with a lifting assembly such as a hook, and the item can be lifted from the task module 14 to the inside of the receiving space assembly 1052a. When the item is accommodated in the receiving space assembly 1052a, the bottom surface of the item can be higher than the ground of the carrying layer 18, and the lifting assembly of the load handling device 1052 can carry the item hoisted in the receiving space assembly 1052a inside.

[0067] In addition to handling items directly on the handling level 18 or handing items directly to the delivery robot 1053, the load handling device can indirectly hand items to the delivery robot 1053. For indirect handing, specifically, a support plane can be provided on the handling level 18. The lifting assembly of the load handling device can lift and place items on the support plane, from which the delivery robot 1053 can subsequently pick up the items. Alternatively, the load handling device 1051 can lift and place items on the support plane, from which the delivery robot 1053 can pick up the items after the load handling device 1051 has left. In this case, the support plane can be provided with a mechanism, such as a push-pull mechanism, that can transfer the items to the delivery robot 1053, or with a drive-in space, to which the delivery robot 1053 can drive and lift the delivery. Alternatively, the delivery robot can be provided with any form of transfer mechanism that can transfer the items from the support plane to the delivery robot.

[0068] For example, referring to Figure 4 , the task module 14 can be slid along the upright to the handling level 18. In this way, items can be transferred to the handling level 18 without the need for a lifting assembly. In embodiments in which the load handling device comprises a delivery robot, the delivery robot can directly perform the handing operation with the task module 14 that is slid to the handling level 18. This can significantly reduce the time required for the handing. This solution is particularly suitable for embodiments in which the handling level 18 is located in the middle of the storage rack 10.

[0069] In some embodiments, the task module 14 is configured to interface with a ground level goods handling robot. For example, the task module 14 can be configured to transfer items to and from the ground level goods handling robot. In some embodiments, the task module 14 can be configured to transfer items to and from the ground level goods handling robot in a direct interface. In other embodiments, the task module 14 can be configured to transfer items to the goods handling layer 18, and the goods handling robot and / or load handling device can transfer the items to the target location.

[0070] In some embodiments, the task module 14 is configured to interface with a ground level goods handling robot. For example, the task module 14 can be configured to transfer items to and from the ground level goods handling robot. In some embodiments, the task module 14 can be configured to transfer items to and from the ground level goods handling robot in a direct interface. In other embodiments, the task module 14 can be configured to transfer items to the goods handling layer 18, and the goods handling robot and / or load handling device can transfer the items to the target location.

[0071] Figure 7 In some embodiments, the task module 14 is configured to interface with a ground level goods handling robot. For example, the task module 14 can be configured to transfer items to and from the ground level goods handling robot. In some embodiments, the task module 14 can be configured to transfer items to and from the ground level goods handling robot in a direct interface. In other embodiments, the task module 14 can be configured to transfer items to the goods handling layer 18, and the goods handling robot and / or load handling device can transfer the items to the target location. Figure 7As shown, when the delivery robot 1053 is at the handling layer 18, in some embodiments of the conveying system, the task module 14 can directly transfer the items to or from the delivery robot 1053. In some other embodiments of the conveying system, the task module 14 can rotate to 90 degrees to interface with the delivery robot 1053, and then transfer the items to or from the delivery robot 1053. In general, this makes the handling layer 18 lower relative to the handling layer 18 disposed on the top of the storage rack 10, and makes the cooperation with the task module 14 simpler, without the need for a lifting mechanism.

[0072] Optionally, the handling layer 18 in the middle can be provided with a platform extending into the aisle. The delivery robot can walk onto the platform, and the task module 14 can directly hand over the items to the delivery robot. The task module 14 can move along the fulfillment operation surface without encountering the platform, and when handing over the items to the delivery robot on the platform, the task module 14 can directly transfer the items to the delivery robot through, for example, a push-pull mechanism, or extend horizontally above the platform to hand over the items to the delivery robot.

[0073] As described above, the multiple columns of storage racks 10 can be spaced apart to form aisles. The fulfillment operation surface is the side of the storage rack 10 facing the aisle. Exemplarily, the multiple columns of storage racks 10 can be provided below with a passageway for the ground delivery robot to walk, and the passageway is in communication with the aisle. Thus, the delivery robot has more routes to walk on the ground, and in embodiments where the task module 14 can only take or place items facing the direction of the storage rack 10, the delivery robot can walk to the bottom of the storage rack 10, and the task module 14 can place the items on the delivery robot. In addition, the delivery robot will not block the aisle when taking the items.

[0074] Exemplarily, the handling layer 18 can include multiple openings arranged in a grid, and the task module 14 can move to directly below at least one of the multiple openings to perform the item handover operation with the load handling device above the opening via the opening. In this case, each task module 14 can go to directly below one of the multiple openings. Thus, in the case where the items need to be handed over to the handling layer 18, multiple task modules 14 can simultaneously hand over the items to the load handling device above the openings via the multiple openings. Each task module 14 can also not need to walk a long path to reach below the opening, thereby reducing the requirements for the track conveying device and shortening the time for handing over the items.

[0075] In an example, the transport layer 18 can be provided with tracks for the load handling device to travel on, the tracks including a first set of parallel tracks parallel to the lateral tracks 11 and a second set of parallel tracks perpendicular to the first set of parallel tracks. A plurality of openings are located at intersections of the first set of parallel tracks and the second set of parallel tracks. Each intersection can be provided with an opening. The opening can be located between both the first set of parallel tracks and the second set of parallel tracks. The tracks can guide the travel of the load handling device such that the load handling device only needs to be accurately positioned in one direction when traveling, thereby reducing the cost of the load handling device. Furthermore, the load handling device can be more easily positioned relative to the openings. Alternatively, the tracks can be provided across the openings such that the load handling device can travel over the openings without falling through the openings. Alternatively, the tracks provided by the transport layer 18 can be for the travel of a delivery robot. Or the tracks of the transport layer 18 can be for the travel of both the load handling device and the delivery robot.

[0076] In an example, the load handling device can further include a task picking assembly for picking items on the task module 14 to complete an item transfer operation. In some embodiments, the task picking assembly can directly pick items on the task module 14, the picked items can be temporarily stored in the load handling device and transported by the load handling device to a target area. Alternatively, the load handling device can transport an empty bin and place the picked items from the task module 14 into the transported empty bin; or the load handling device can transport the items and pick the items, and place the picked items into an empty bin transported by the task module 14. In some embodiments, the load handling device can travel on the transport surface when picking items thereon.

[0077] As described above, the top of the warehouse can be provided with a delivery robot and / or a load handling device, in some embodiments, the load handling device is provided with a lifting assembly for grabbing and lifting the items. Alternatively, the load handling device is provided to be movable on the top of the warehouse and is used to lift and transport the items in the warehouse. In some embodiments, the load handling device can further include a receiving space assembly for containing the items. The lifting assembly is configured to lift and lower the items relative to the receiving space assembly.

[0078] The top of the warehouse can be provided with a delivery robot AGV travel surface, and / or, arranged based on a first set of parallel tracks and a second set of parallel tracks, the second set of parallel tracks extending transversely to the first set on a substantially horizontal surface, forming a grid structure including a plurality of grid spaces.

[0079] In addition, the freight robot is a warehouse robot, comprising a moving base, a stand vertically arranged on the moving base, and an access device vertically arranged on the stand and vertically liftable, i.e. a high stand movable freight robot.

[0080] Reference Figures 3-4 The top of the stereoscopic warehouse can be configured as a handling layer 18, and the opening 5 can be arranged on the handling layer 18. Optionally, the handling layer 18 can be arranged as a walking surface of the freight robot 105, and the handling layer 18 can further be arranged with a first set of parallel rails and a second set of parallel rails transversely arranged on a substantially horizontal surface relative to the first set of parallel rails to form a grid structure comprising a plurality of grid spaces, and the opening 5 arranged on the top of the stereoscopic warehouse can be a grid unit in the grid structure. The walking surface can be referred to as a warehouse upper platform, and the specific form of the walking surface is not limited by the embodiments.

[0081] Reference Figure 4 The handling layer 18 is arranged with the opening 5, and the shape of the opening 5 can be matched with the task module 14.

[0082] Reference Figure 5 For the sake of clarity and full disclosure, the present application refers to Figure 5 to illustrate the structure of the track transmission device in the transmission system. However, it should be noted that different transmission devices can be adapted to complete the technical solutions Figures 3-4 in different transmission systems, and thus the transmission device disclosed in the present application cannot limit the scope of the invention. As an example, the track transmission device disclosed in the present application comprises a transverse rail 11, a first stand 12, a first movable part 13, and a connecting mechanism of the task module 14, wherein:

[0083] It should be noted that the transverse rail 11 can be arranged on the crossbeam or the stand of the warehouse shelf 10, and in some embodiments, the transverse rail 11 can be formed by the crossbeam itself of the warehouse shelf 10. In other embodiments, the transverse rail 11 can be arranged independently of the crossbeam of the warehouse shelf 10. Optionally, the transverse rail 11 can be arranged on only one warehouse shelf. Optionally, the transverse rail 11 can be arranged across multiple warehouse shelves 10.

[0084] The first stand 12 is vertically arranged on the transverse rail 11 and is transversely slidable.

[0085] The transverse sliding of the stand on the transverse rail enables the first movable part 13 to be positioned in each column of the warehouse shelf.

[0086] The first movable part 13 is arranged on the first stand 12 and is slidable along the first stand 12.

[0087] The first movable member 13 is provided with a lateral and longitudinal movement, and the first movable member 13 can be positioned at each tier of the shelf.

[0088] The first movable member 13 is provided with a connection mechanism 15 of the task module 14.

[0089] The task module 14 is driven by the first movable member 13 to access the box and / or goods, and is put into or taken out of the docking assembly of the freight robot 105 running at the bottom 16 and / or top of the warehouse shelf.

[0090] The task module 14 can be a component with one or more tasks of identification, extraction, playback, grabbing, 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 connection mechanism of the task module is a basic structure that can be connected with different task modules.

[0091] When the task module is a box accessing module, the box accessing module has a support structure, such as a loading and unloading shelf;

[0092] And the box accessing module has a conveying assembly, such as a conveying belt, of course, the conveying belt needs to be driven by a conveying motor.

[0093] However, if it is other task modules, the connection member is set according to the specific function of the task module, and is not limited thereto. This setting enables the task module to complete a sorting and / or accessing action, and enables the accessed box and / or goods to be transferred, sorted, and delivered to the destination storage slot or sorting slot, or even the completed transport slot, through the docking of the freight robot 105.

[0094] The shelf is provided below with a space capable of providing the freight robot to travel;

[0095] The bottom layer partition plate of the warehouse shelf is removed to provide a matching height to support the ground freight robot to run on the ground and complete the docking action, and the bottom layer partition plate between the adjacent columns of the warehouse shelf is removed to form the docking position 25 of the ground freight robot.

[0096] The task module of the track transmission device can be extended from the top of the three-dimensional warehouse.

[0097] Reference Figure 6 The handling layer 18 is provided with an opening 5 matched with the task module to provide the task module to extend to perform the docking action, and the task module is driven by the first movable member 13 to access the goods and put into the docking assembly of the freight robot 105 running at the handling layer 18 of the shelf 10 through the opening.

[0098] The warehouse shelf, shelf track machine and ground freight robot form a flying box system. In a three-dimensional warehouse environment, for large batch transmission requirements, the track machine is mounted on the existing warehouse shelf system, cooperates with the ground or top walking freight robot, has precise positioning of the shelf and the box, and completes the pulling, returning, accurate identification and precise sorting of the box with the help of different task modules. Under the control of the execution logic of the server and the goods access and sorting, the traditional warehouse goods circulation and sorting status is overturned, and excellent fluency and high efficiency are brought.

[0099] Thus, in the present embodiment, the transmission system provides track transmission equipment, sets up a lateral track for the column to move, and provides a running channel for the freight robot or sorting robot through the configuration of the warehouse shelf and the transformation of the shelf layers at the top and bottom of the three-dimensional warehouse, fundamentally solves the waste problem of the existing warehouse system three-dimensional warehouse, cooperates the goods / boxes with the freight robot or sorting robot, and makes it possible to complete the goods storage, goods / box transfer and goods / box sorting in the three-dimensional warehouse. The utilization rate of the existing intelligent three-dimensional warehouse, the speed of goods in and out, and the sorting efficiency are greatly improved.

[0100] Reference Figure 8 , shows a warehouse shelf track transmission equipment, comprising:

[0101] In Figure 6 Based on the illustration and description, the transmission equipment further comprises a second column 21 and a second movable part 22. The second column 21 is vertically arranged on the lateral track 11 and can slide laterally. The second movable part 22 is arranged on the second column 21 and can slide along the second column. The second movable part 22 is provided with a connecting mechanism 23 of the 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 part 13 and the second movable part 22 drive the task module 14 to be positioned to the storage location 24 on the warehouse shelf 10 or the docking position 25.

[0102] The docking position 25 is the position where the task module 14 completes the transfer of goods from the task module 14 after accessing the box and / or goods from the storage location of the shelf.

[0103] The bottom layer partition of the warehouse shelf is removed to provide a matching height to support the ground freight robot to run on the ground and complete the docking action, and the bottom layer partition between the adjacent columns of the warehouse shelf is removed to form the docking position 25 of the ground freight robot.

[0104] Reference Figure 9 , shows a warehouse shelf track transmission equipment, in Figure 1 andFigure 2 Based on the diagrams and their corresponding explanations, Figure 9 In the middle, another horizontal track 31 is located at the lower part of the storage rack 10. Both the horizontal track 11 and the other horizontal track 31 can be connected to the first upright 12 and the second upright 21 via sliders. The sliders move on the horizontal tracks under the drive of rollers, which are driven by motors.

[0105] It should be noted that the roller is a preferred solution. In practice, gears, or a combination of gears and rollers, are used to move the column on the crossbeam. When using gears as the transmission method, a toothed chain is required to complete the movement. The specific method can be found in existing technologies. In the combination of gears and rollers, the gears and toothed chain mesh to transmit power, driving the rollers to move, thereby achieving the movement of the column on the crossbeam. Furthermore, the motor-driven roller operation can be achieved using either wired (cable, flexible conductive material, loss-resistant wire) or wireless methods, such as charging via lithium batteries. The specific method is not limited.

[0106] In this embodiment, large-scale shelving systems require more stable track transport equipment. Therefore, two horizontal tracks are provided on the track assembly to fully support the first upright 12 and the second upright 21, so that tasks such as taking out and putting back boxes / goods, connecting and sorting can be carried out reliably.

[0107] Preferably, the ground freight robot performs path planning under server control, or autonomous path planning, and is equipped with planar movement components and docking components to support the storage and placement of cargo boxes. To improve transportation efficiency, the ground freight robot can operate directly on the ground beneath the storage racks. The storage racks have aisles at their bottom. The cargo boxes, driven by movable components, are moved to the docking components of the freight robot, which can be either a freight robot or a sorting robot. This combination makes it possible to complete cargo storage, cargo box / goods transfer, and cargo box / goods sorting within the warehouse space.

[0108] As an achievable method, based on a similar principle, the moving parts can run on the slide rails of the column as shown in the following diagram. More specific electronic control methods are not limited and are not illustrated in detail.

[0109] refer to Figure 10 A synchronous pulley driven by a motor 41 and controllable by a reducer drives a synchronous belt 42 to support the first movable part on the slide rail of the first column.

[0110] A synchronous pulley driven by a motor and controllable by a speed reducer drives a synchronous belt to support the second movable member to move on the slide rail of the second upright column.

[0111] The above arrangement not only accurately positions the task module relative to the container, but also greatly improves the utilization rate of the storage space, the speed of goods in and out, and the sorting efficiency of the existing warehouse system.

[0112] Referring to Figure 11 , a partial view of a warehouse rack track transmission device is shown.

[0113] In the present embodiment, Figure 10 The connection structure of the transverse track 11 and the first upright column 12 and the second upright column 21 is shown, referring to Figure 11 The first upright column 12 and the second upright column 21 can be driven by the roller 51 to slide the slide block 52 on the transverse track 31, the first upright column 12 and the second upright column 21 are sleeved with the slide block 52, and the roller 51 is in contact with the transverse track 31 to realize smooth movement.

[0114] The above arrangement can be one implementation and is not limited thereto.

[0115] Referring to Figure 12 , the goods sorting device 1 is installed on the rack, the first task module 2 driven by the goods sorting device 1 puts the goods 3 into the docking assembly or docking box 4 of the freight robot 105 running at the bottom of the warehouse rack 10, or takes out the goods 3 from the docking assembly or docking box 4 and puts them into the container 104; the first task module 2 at least includes a first movable member 13 and a sorting mechanism 20.

[0116] The goods sorting device 1 includes a transverse track 11, a first upright column 12, a first movable member 13, and a connection mechanism of a first task module 2. The transverse track 11 is on the warehouse rack 10.

[0117] It should be noted that the transverse track 11 is on the beam or upright column of the warehouse rack 10, when the rack is transversely long, the transverse track needs to be extended to the beam and upright column of the adjacent rack by means of the beam and upright column of the single rack.

[0118] The first upright column 12 is vertically arranged on the transverse track 11 and can slide transversely.

[0119] The upright column 12 slides along the transverse track 11 to enable the first movable member 13 to be positioned in each column of the rack.

[0120] The first movable member 13 is arranged on the first upright column 12 and can slide along the first upright column 12.

[0121] The first movable member 13 is provided with the ability to move laterally and longitudinally, enabling the first movable member 13 to be positioned at each tier of the rack.

[0122] The first movable member 13 is provided with the connection mechanism 15 of the first task module 2.

[0123] The first task module 2 is driven by the first movable member 13 to access the goods 3 using the picking mechanism and place them in the docking assembly or docking box of the ground running freight robot 105 at the bottom of the rack.

[0124] It should be particularly noted that in the present application, the bottom layer of the storage rack is removed, and here, the partition represents a component that provides storage support for different types of storage racks, as well as a component that provides stability around the beams. Removing the partition to provide a matching height actually requires removing the components that block the ground running of the freight robot, and the partition is not limited to the material and style of the storage rack. Supporting the ground running of the freight robot and completing the docking action, removing the bottom layer of the partition between the adjacent uprights of the storage rack forms the docking position 25 of the freight robot. It should be noted that the bottom layer of the rack includes the partition itself and the beams, thereby providing the freight robot with a moving space.

[0125] More specifically, the picking mechanism has a suction mechanism 201 and / or a picking mechanism, which (not shown) can be connected to the first movable member 13 through the connection mechanism 15 of the first task module, i.e., the extension member of the suction mechanism 201 and / or the picking mechanism. The extension member can be a multi-segment mechanical arm with degrees of freedom, wherein the suction mechanism 201 can form contact with the goods through the generated suction force and maintain contact until the goods 3 are placed in the docking assembly or docking box of the ground running freight robot at the bottom of the rack, or the goods are taken out of the docking assembly and placed in the box.

[0126] Reference Figure 13 In this embodiment, the implementation enables the accessed goods to be transferred, sorted, and delivered to the destination storage location or sorting location or transportation location after sorting and / or accessing the goods.

[0127] The bottom layer of the rack is provided with a freight robot 105 as a passageway. Exemplarily, the rack removes one or more rack layers 106 to provide a matching height to support the ground running of the freight robot 105. In Figure 13 In the above, the ground running of the freight robot 105 between two racks is also shown.

[0128] Reference Figure 14 In the case that the first task module 2 and / or the second task module 14 are installed on the first transverse rail, the first upright column and the first movable member, 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 the goods and drive the second task module to store the goods box.

[0129] Reference Figure 15 In another case, when the first task module and / or the second task module are installed on the first transverse rail, the first upright column and the first movable member, 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.

[0130] When the task module is a goods box accessing module, it at least includes:

[0131] The support structure of the goods box accessing module, such as the loading and unloading rack;

[0132] And the conveying assembly of the goods box accessing module, such as the conveying belt, of course, the conveying belt needs to be driven by the conveying motor;

[0133] The rail transmission device pulls out the target goods box at the target storage position of the target shelf by using the goods box accessing module, and the sorting mechanism of the goods sorting device system sorts the target goods in the target goods box to realize that the goods sorting device drives the first task module to put the goods into the docking assembly or the docking box of the goods transportation robot running at the bottom of the shelf;

[0134] Or, the sorting mechanism of the goods sorting device system takes out the target goods from the docking assembly or the docking box of the goods transportation robot, and the rail transmission device pulls out the target goods box at the target storage position of the target shelf by using the goods box accessing module, and the sorting mechanism puts the target goods into the target goods box;

[0135] The goods box accessing module pushes the target goods box back.

[0136] It needs to be specially pointed out here that the accessing module of the goods box accessing task module 14 can realize the operation of accessing the goods boxes 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 accessing arm of the goods box accessing task module is used to realize the accessing of a certain goods box in a plurality of goods boxes.

[0137] In actual application, however, as mentioned 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 member is arranged according to the specific function of the task module, and it is not limited to this.

[0138] It needs to be particularly pointed out that in the embodiment, by modifying the configuration of the bottom shelf layer of the shelf, and cooperating the goods picking device 1 with the freight robot 105 or the sorting robot (not shown), the problem of low efficiency of existing shelf warehouse goods / case transfer and sorting is fundamentally solved, and the application scenario of the shelf is expanded, so that the goods storage, goods / case transfer and goods / case sorting are completed in the warehouse space, thereby greatly improving the utilization rate of the warehouse space of the existing shelf transmission system, the goods in / out speed and the sorting efficiency.

[0139] In order to fully disclose, the freight robot can be selected from the freight robots or sorting robots in the published documents: the freight robot plans a path under the control of a server, or autonomously plans a path by the freight robot, and is provided with a planar moving component and a connection component supporting case access and placement. 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 remove the bottom partition, the goods are placed on the connection component of the freight robot under the driving of the movable 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 makes the goods storage, goods / case transfer and goods / case sorting completed in the warehouse space.

[0140] The above settings can be used to not only accurately position the position between the task module and the case, but also greatly improve the utilization rate of the warehouse space of the existing transmission system, the goods in / out speed and the sorting efficiency.

[0141] Reference Figure 16 , a transmission system is shown, and the setting of the track transmission device on the shelf further includes: 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 shelf 10 or a connection position.

[0142] In the embodiment, the track transmission device and the goods sorting device are respectively arranged on different columns. In a large dense storage scene, such as storage of more than 100,000 boxes and a warehouse with a flow of 5000 boxes per hour, the track transmission device and the goods sorting device can be respectively installed on the same rack in multiple sets to meet the demand of large flow orders. When the track transmission device and the goods sorting device system work together, taking the order delivery as an example, X goods of an A order or a certain SKU (Stock Keeping Unit, i.e., the basic unit of inventory in and out measurement) need to be delivered. The track transmission device uses a second task module, i.e., a box storage and retrieval module, to pull out the target box so that the X goods can be sucked by the suction mechanism 201 and / or the picking mechanism of the goods sorting device system. Before suction, the identification module needs to identify the X goods or a certain SKU. The identification module can be arranged on the goods 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.

[0143] After the above sorting process is completed, the identification module is used to accurately position, and the goods sorting device is used to put the X goods or a 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.

[0144] In another embodiment, one or more racks are included. The structure and working principle of the rack are described in detail in Figures 12-16 . The rack can be configured with a warehouse sorting device and / or a track transmission device. When running, the track transmission device is arranged on the fulfillment operation surface of the warehouse rack, including but not limited to the lane direction, and even the scenario of arranging the rack perpendicular to the lane.

[0145] The one or more racks can be ordinary racks or precision racks, and are not limited to rack height and ground flatness. In addition, the present application also discloses a transmission system configured to Figure 17 The transmission system and the plurality of freight robots 105 can further improve the efficiency of goods storage, transportation and sorting, and meet the technical requirements of rapid transfer and transmission in various warehouse scenarios.

[0146] In the description of the present application, it should be understood that the orientation words such as "front", "back", "upper", "lower", "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, and are only for the convenience of describing the present application and simplifying the description, without the opposite description, these orientation words do not indicate and imply that the indicated device or element 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 present application; the orientation words "inner", "outer" refer to the inner and outer of the contour of each component itself.

[0147] 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 positional 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 orientation of the components described in the figure, but also include different orientations in use or operation. For example, if the components in the figure are inverted as a whole, the components "above" or "on" other components or features will include the case of "below" or "under" other components or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. In addition, the components or features can also be positioned at other different angles (for example, rotated by 90 degrees or other angles), and all these cases are intended to be included herein.

[0148] 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, they indicate the presence of the features, steps, operations, components, assemblies and / or combinations thereof.

[0149] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily describe a particular 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 present application described herein can be implemented in an order other than those illustrated or described herein.

[0150] 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 transport system for a warehouse rack, characterized in that, Comprise: a handling layer for the storage rack, and the handling layer is higher than the ground; and a track transportation system comprising a lateral track, a column and a task module, wherein: the lateral track horizontally extends along a fulfillment operation surface of the storage rack; the column is vertically arranged on and slidable along the lateral track; the task module is arranged on and slidable along the column; the task module is used for performing an article access operation for the storage rack, and performs an article handover operation with a load handling device of the handling layer, the article including a case and / or goods.

2. The transmission system of claim 1, wherein, The task module is movable to a predetermined position directly below the handling layer, The load handling device comprises a lifting assembly for lifting the article on the task module directly below the predetermined position to the handling layer, or lowering the article of the handling layer to the task module directly below the predetermined position.

3. The transmission system of claim 2, wherein, The load handling device further comprises a handling assembly that is walkable on the handling layer, and the lifting assembly is arranged on the handling assembly.

4. The transmission system of claim 3, wherein, The load handling device further comprises a receiving space assembly for accommodating the article, and the receiving space assembly is arranged on the handling assembly, and the lifting assembly is used to lift the article into the receiving space assembly.

5. The transmission system of claim 2, wherein, The lifting assembly is arranged around the predetermined position, and the load handling device further comprises a freight robot that is walkable on the handling layer, and the lifting assembly is further used to place the article thereon on the freight robot or pick up the article from the freight robot.

6. The transmission system of claim 1, wherein, The task module is slidable along the column to the handling layer.

7. The transmission system of claim 6, wherein, The load handling device further comprises a freight robot that directly performs the handover operation with the task module that is slid to the handling layer.

8. The transmission system of claim 7, wherein, The handling layer is used to be installed to the middle of an end surface of the storage rack, and the end surface is perpendicular to the fulfillment operation surface.

9. The transmission system of claim 1, wherein, The task module is further used to perform the article handover operation with a ground freight robot that runs on a ground layer.

10. The transmission system of claim 9, wherein, The transportation system comprises a plurality of the storage racks, and the plurality of the storage racks are spaced apart to form aisles, and the fulfillment operation surface is a side surface of the storage rack that faces the aisles, And a ground layer is arranged below the plurality of the storage racks, and a passageway for the ground freight robot to walk is formed, and the passageway is in communication with the aisles.

11. The transport system according to any one of claims 1-10, characterized in that, The handling layer comprises a plurality of openings arranged in a grid, and the task module is movable to directly below at least one of the plurality of openings to perform the article handover operation with the load handling device of the handling layer via the opening.

12. The transmission system of claim 11, wherein, The handling layer is provided with a track for the load handling device and / or the freight robot to walk, and the track comprises a first group of parallel tracks parallel to the lateral track and a second group of parallel tracks perpendicular to the first group of parallel tracks, and the plurality of openings are located at intersections of the first group of parallel tracks and the second group of parallel tracks.

13. The transmission system of claim 1, wherein, The load handling device further comprises a task picking assembly, and the task picking assembly is used for: picking items on the task module to complete the item transfer operation; and / or picking items on the load handling device.

14. The transmission system of claim 1, wherein, The handling layer has one or more of the following structures: The handling layer is formed by the top surface of the storage rack; The handling layer is arranged above the storage rack; and The handling layer is arranged in the middle of the storage rack.

15. A warehouse-based transport system, characterized by The application is applied to a stereoscopic warehouse, which is internally provided with multiple rows and multiple layers of storage racks. The storage racks are provided with multiple layers of storage spaces, and a carton is placed at a storage position of the storage space. A track transmission device is installed on the storage rack, and the device comprises: a lateral track, a first vertical column, a first movable member, and a connecting mechanism of a task module, wherein: The lateral track is on the rack. The first vertical column is vertically arranged on the lateral track and can slide laterally. The first movable member is arranged on the first vertical column and can slide along the first vertical column. The first movable member is provided with a connecting mechanism of a task module. The task module is driven by the first movable member to access the carton and / or the goods and is placed into or taken out of a docking assembly of a carton robot running at the bottom and / or the top of the storage rack. A space capable of providing the travel of a freight robot is arranged below the rack. The task module of the track transmission device can extend out of the top of the stereoscopic warehouse.

16. The warehouse-based transport system of claim 15, wherein, The fulfillment operation surface of the storage rack is provided with the track transmission device.

17. The warehouse-based transport system of claim 15 or 16, wherein, An opening is arranged at the top of the stereoscopic warehouse, and the shape of the opening matches the task module to provide the extension of the task module for the fulfillment docking action.

18. The warehouse-based transport system of claim 15 or 16, wherein, The stereoscopic warehouse can be disassembled or is a mobile stereoscopic warehouse.

19. The warehouse-based transport system of claim 15 or 16, wherein, Arranging an opening at the top of the stereoscopic warehouse is specifically implemented as follows: the task module accesses the carton by extending out of the opening arranged at the top of the stereoscopic warehouse and is driven by the first movable member to place into a docking assembly of a freight robot running at the top of the storage rack.

20. The warehouse-based transport system of claim 15 or 16, wherein, The task module comprises a goods picking device, which places the goods into or takes out of a docking assembly or a docking box of a freight robot running at the bottom of the rack.

21. The warehouse-based transport system of claim 15 or 16, wherein, The track transmission device further comprises a second vertical column and a second movable member, wherein: The second vertical column is vertically arranged on the lateral track and can slide laterally. The second movable member is arranged on the second vertical column and can slide along the second vertical column.

22. The warehouse-based transport system of claim 15 or 16, wherein, The second movable member is provided with a connecting mechanism of a second task module. The top of the stereoscopic warehouse is provided with a load handling device, which is arranged to move at the top of the stereoscopic warehouse and is used to lift and move the carton or the goods in the stereoscopic warehouse. The load handling device comprises: a lifting assembly; and a receiving space assembly accommodating the carton or the goods, The lifting assembly is configured to grasp the carton or the goods and lift and lower the carton or the goods relative to the receiving space assembly.

23. The warehousing-based transport system according to claim 15 or 16, wherein, The top of the stereoscopic warehouse can deploy the AGV walking surface of the freight robot, or The top of the stereoscopic warehouse is arranged with a first group of parallel tracks and a second group of parallel tracks, the second group of parallel tracks extends transversely to the first group of parallel tracks, forming a grid structure containing a plurality of grid spaces.

24. An intelligent stereoscopic warehousing system, characterized in that, Comprise: Warehouse shelves; And One or more transmission systems as claimed in any of claims 15-23.

Images