Warehousing system

Abstract

The utility model relates to a warehousing system, in particular to the technical field of intelligent warehousing, and the warehousing system comprises at least one layer of platform and at least one robot; the at least one layer of platform is spaced from the ground in the height direction and is stacked, a plurality of carriers are arranged around the at least one layer of platform, the carriers are provided with multiple layers of storage positions, each layer of storage position is provided with at least one container, and each layer of platform corresponds to the at least one layer of storage position; the robot operating on the target platform is configured to move to the first position through the movement mechanism to obtain the target object, and / or move to the second position of the target container through the movement mechanism and directly or indirectly deliver the target object into the target container through the delivery mechanism. The warehousing system is provided with at least one layer of platform structure, and each layer of platform is provided with a corresponding number of robots for sorting, so that flexible expansion of the number of containers on the platforms and efficient sorting and transportation of goods are realized, and the cost of independently configuring a delivery device for each carrier is reduced.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent warehousing technology, specifically to a warehousing system. Background Technology

[0002] Currently, in the cargo sorting process, relevant technologies can transport robots carrying goods to be sorted to the vicinity of the target vehicle via conveyor belts. Then, a delivery device that serves only the target vehicle delivers the goods to be sorted carried by the robot into the corresponding compartment in the target vehicle. This delivery device has a delivery mechanism that can move up and down and left and right.

[0003] However, the relevant technology requires a delivery device for each vehicle, which is costly. Furthermore, the limited number of delivery devices and the fact that each device can only deliver one item at a time further impacts sorting efficiency. Summary of the Invention

[0004] In view of this, the present disclosure provides a warehousing system, the main purpose of which is to improve the technical problem that the configuration cost of delivery devices is high and affects sorting efficiency in the current related technologies.

[0005] This disclosure provides a warehousing system, including:

[0006] At least one platform, the at least one platform being spaced apart from the ground and stacked along the height direction, a plurality of vehicles being arranged around the at least one platform, the vehicles having multiple storage positions, each storage position having at least one container, and each platform being arranged corresponding to the at least one storage position;

[0007] At least one robot, which operates on the platform, includes a motion mechanism and a delivery mechanism connected to the motion mechanism. The robot operating on the target platform is configured to move to a first position via the motion mechanism to obtain a target object, and / or move to a second position of a target container via the motion mechanism and deliver the target object directly or indirectly into the target container via the delivery mechanism; wherein the target platform is any layer of a multi-layer platform.

[0008] Optionally, the robot also includes a lifting mechanism connected to the delivery mechanism. The robot operating on the target platform is configured to lift the delivery mechanism to the height of the target container when the height of the layer where the target container is located is greater than a preset threshold, and then deliver the target object to the target container corresponding to the target platform through the delivery mechanism.

[0009] Optionally, the robot's delivery mechanism includes at least one delivery mechanism connected to a motion mechanism. The robot is configured to move on the platform to the delivery position of the target container via the motion mechanism, and deliver the target object to the corresponding container in the corresponding container layer via the at least one delivery mechanism.

[0010] Optionally, when the robot has multiple delivery mechanisms, the multiple delivery mechanisms are spaced apart along the height direction, or the multiple delivery mechanisms are arranged side by side along the length or width direction. The robot is configured to receive multiple target objects through the multiple delivery mechanisms and deliver the multiple target objects into one container or different containers.

[0011] Optionally, the at least one-layer platform includes: a transport area and at least one channel, the vehicle being located on at least one side of the channel; the robot operating on the target platform is configured to pass through the transport area of ​​the target platform to the channel via a motion mechanism, and move through the channel to a second position where the target container is located and deliver the target object to the target container corresponding to the target platform via a delivery mechanism;

[0012] The passage is a region surrounding the transportation area and extends outward or inward from the transportation area in at least one direction.

[0013] Optionally, the warehousing system further includes:

[0014] At least one first storage device, the first storage device including a delivery mechanism, the robot being configured to move to a third position of a target vehicle via a motion mechanism and deliver a target object to the first storage device, the first storage device being configured to receive the target object delivered by the robot at the third position via the delivery mechanism and deliver the target object into a target container in the target vehicle.

[0015] Optionally, the first storage facility further includes:

[0016] The first storage equipment operates on the lowest platform or ground via a motion mechanism.

[0017] A lifting mechanism is connected to a motion mechanism and a delivery mechanism. The robot is configured to move to a third position on the target vehicle via the motion mechanism and deliver the target object to the delivery mechanism of the first storage device. The first storage device is configured to move to the third position via the motion mechanism, lift the delivery mechanism to the corresponding height of the robot via the lifting mechanism to receive the target object delivered by the robot via the delivery mechanism, and deliver the target object into the target container in the target vehicle.

[0018] Optionally, the first storage device is further configured to move to a fourth position via a motion mechanism to obtain the target object, and, upon obtaining the target object, move to the corresponding position of the target vehicle via the motion mechanism, and lift the delivery mechanism to the corresponding height of the target container via a lifting mechanism so as to deliver the target object into the target container in the target vehicle via the delivery mechanism.

[0019] Optionally, the delivery mechanism of the first storage equipment includes:

[0020] Guide rails are installed in multiple vehicles;

[0021] The robot is configured to move to a third position on the target vehicle via a motion mechanism and deliver the target object to a first storage device located at the target vehicle. The first storage device located at the target vehicle is configured to deliver the target object into a target container in the target vehicle by moving the pick-up and place mechanism relative to the guide rail in at least one direction.

[0022] Optionally, the warehousing system includes:

[0023] The second storage device includes a carrying device and a picking and placing device, the picking and placing device being movably disposed on the carrying device. The second storage device is configured to deliver target objects corresponding to different platforms to a robot by moving the picking and placing device relative to the carrying device in at least one direction.

[0024] Optionally, the second storage facility further includes:

[0025] A workbench, wherein the workbench is provided with at least one workstation;

[0026] Drive mechanism;

[0027] The second storage equipment includes a retrieval and placement device, a retrieval and placement platform, and a retrieval and placement mechanism. The driving mechanism is drivenly connected to the retrieval and placement platform, and the retrieval and placement mechanism is movably disposed on the retrieval and placement platform along the width direction.

[0028] The second storage equipment is configured to drive the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction via the drive mechanism so that the pick-and-place mechanism reaches the docking position with the workbench, and to receive the target object transported to the workbench via the pick-and-place mechanism;

[0029] The second storage equipment is also configured to drive the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction via the drive mechanism to reach the docking position of the target platform with the robot, and to transport the target object on the pick-and-place mechanism to the robot via the pick-and-place mechanism, wherein the robot is configured to deliver the target object into the target container of the target platform.

[0030] Optionally, the second storage device is disposed on at least one side of the at least one-layer platform, or the at least one-layer platform is disposed around the second storage device.

[0031] Optionally, there is a connecting channel between two adjacent platforms, which is used for the robot to switch between the two adjacent platforms.

[0032] Compared with existing related technologies, the warehousing system of this disclosure includes at least one platform and at least one robot. The at least one platform is spaced apart from the ground and stacked along its height. Multiple carriers are arranged around the at least one platform, each carrier having multiple storage positions. Each storage position has at least one container, and each platform corresponds to one of the at least one storage positions. The robot can operate on the platform and may include a motion mechanism and a delivery mechanism connected to the motion mechanism. The robot operating on the target platform is configured to move to a first position via the motion mechanism to obtain a target object, and / or move to a second position of the target container via the motion mechanism and deliver the target object directly or indirectly into the target container via the delivery mechanism. The target platform can be any layer of the multi-layer platform. The warehousing system of this disclosure can have at least one platform structure and configure a corresponding number of robots for sorting on each platform. This warehousing system achieves flexible expansion of the number of containers on the platform and efficient sorting and transportation of goods. It eliminates the need to configure a separate delivery device for each carrier, reducing the cost of configuring a separate delivery device for each carrier and improving sorting efficiency.

[0033] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0034] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0035] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A schematic diagram of the structure of a storage device provided in an embodiment of this disclosure is shown;

[0037] Figure 2 A schematic diagram of the structure of a robot provided in an embodiment of this disclosure is shown;

[0038] Figure 3 A schematic diagram of another robot provided in an embodiment of this disclosure is shown;

[0039] Figure 4 A schematic diagram of the structure of yet another robot provided in an embodiment of this disclosure is shown;

[0040] Figure 5 A schematic diagram of the structure of a warehousing system provided in an embodiment of this disclosure is shown;

[0041] Figure 6 A schematic diagram of another warehousing system provided in an embodiment of this disclosure is shown;

[0042] Figure 7 A schematic diagram of the structure of another warehousing system provided in an embodiment of this disclosure is shown;

[0043] Figure 8 A schematic diagram of the structure of another warehousing system provided in an embodiment of this disclosure is shown;

[0044] Figure 9 A schematic diagram of the structure of another warehousing system provided in an embodiment of this disclosure is shown;

[0045] Figure 10 A schematic diagram of the structure of a storage device provided in an embodiment of this disclosure is shown;

[0046] Figure 11 A schematic diagram of the structure of a storage device provided in an embodiment of this disclosure is shown. Detailed Implementation

[0047] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0048] Numerous specific details are set forth in the following description to provide a full understanding of this disclosure. However, this disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this disclosure. Therefore, this disclosure is not limited to the specific implementations disclosed below.

[0049] The terminology used in one or more embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this disclosure. The singular forms “a,” “the,” and “the” as used in one or more embodiments of this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0050] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this disclosure, and similarly, second may also be referred to as first. Depending on the context, the word “if” as used herein may be interpreted as “when”, “in response to a determination”, or “when…”.

[0051] The following description, in conjunction with the accompanying drawings, describes an embodiment of a storage system provided by this disclosure.

[0052] This disclosure provides a warehousing system including at least one platform 10 and at least one robot 20.

[0053] Among them, at least one platform 10 can be spaced apart from the ground and stacked along the height direction, and multiple vehicles 40 are arranged around the at least one platform 10. Each vehicle 40 has multiple storage positions, each storage position has at least one container, and each platform 1 is arranged corresponding to at least one storage position.

[0054] At least one robot 20 can operate on platform 10. For example, a certain number of robots 20 can operate on each layer of platform 1, and these robots 20 can move on their respective platforms 10.

[0055] The robot 20 may include a motion mechanism and a delivery mechanism connected to the motion mechanism. The robot 20, which operates on the target platform 10, is configured to move to a first position via the motion mechanism to obtain a target object (such as goods to be sorted), and / or move to a second position of the target container via the motion mechanism and deliver the target object directly or indirectly into the target container via the delivery mechanism. The target platform 10 is any layer of a multi-layer platform 10, and the target container may be the container to which the target object needs to be delivered. The target container is bound to the order corresponding to the target object.

[0056] For example, if the container corresponding to the goods to be sorted is a target container corresponding to the second-level platform 10, the robot 20 operating on the second-level platform 10 moves to the first position via a motion mechanism. At the first position, the target item (goods to be sorted) can be placed on the robot 20 manually or by equipment. The robot 20 then moves to the second position of the target container via a motion mechanism, and the robot 20 directly delivers the target item into the target container via a delivery mechanism; or it can be handed over to other equipment, which can also be a robot. The carrier 40 containing the target container can then be transported to a packing station for further packing and shipping of the goods in the various containers within the carrier 40.

[0057] The warehousing system provided by the embodiments of this disclosure enables flexible expansion of the number of containers on the platform and efficient sorting and transportation of goods. It eliminates the need to configure a delivery device for each vehicle separately, thereby reducing the cost of configuring a delivery device for each vehicle separately and improving sorting efficiency.

[0058] Optionally, the warehousing system may also include a second storage device 50, which may be a supply device. The second storage device 50 can be used to provide the target item (goods to be sorted) to the robot 20 running on the platform 10, such as providing the goods to be sorted to the robot 2 at the first location. The second storage device 50 includes, but is not limited to, equipment such as a hoist, a robotic arm, a cage cart, or a conveyor line.

[0059] Optionally, a second storage device 50 may be provided on at least one side of at least one layer of platform 10, or at least one layer of platform 10 may be provided around the second storage device 50, thereby meeting different layout requirements.

[0060] In some examples, the second storage device 50 can be a hoist. This hoist structure is primarily used to move goods from different platforms to their corresponding platforms for delivery to robots 20 operating on those platforms. The hoist includes one or more vertical guide rails for lifting goods to the corresponding platforms. The main structure of the hoist can be fixed to the ground or connected to the building structure to ensure its stability and load-bearing capacity. The second storage device 50 with the hoist structure can dock with multi-level platforms.

[0061] In some examples, such as Figure 1 As shown, the second storage device 50 may be a device with a pick-and-place device. The second storage device 50 may include a carrying device 1 and a pick-and-place device 2. The pick-and-place device 2 is movably disposed on the carrying device 1. The second storage device 50 is configured to deliver target objects corresponding to different platforms 10 to the robot 20 by moving the pick-and-place device 2 relative to the carrying device 1 in at least one direction.

[0062] The carrying device 1 includes at least two carrying members 11, which are spaced apart from each other. The picking and placing device 2 includes a picking and placing assembly and a picking and placing platform. The picking and placing platform is movably disposed between adjacent carrying members 11, and the picking and placing assembly is connected to the picking and placing platform.

[0063] The pick-and-place assembly has a first end and a second end disposed along a first direction. The first end and the second end are disposed opposite to each other along the first direction. At least one of the first end and the second end extends away from the carrier and beyond the pick-and-place platform along the first direction. The pick-and-place assembly is configured to pick up a target object from a designated location or to place the picked-up target object at a designated location.

[0064] By movably positioning the pick-and-place platform between adjacent support members 11, the pick-and-place device 2 can be more securely mounted on the support member 1. Furthermore, by extending at least one of the first and second ends of the pick-and-place assembly away from the support member and beyond the pick-and-place platform in a first direction, the pick-and-place device 2 can be more easily coupled with a vehicle or the like.

[0065] The supporting device 1 includes at least two supporting members 11, which are spaced apart from each other along a second direction. For example, the supporting members 11 are arranged side by side along the second direction. The second direction forms a predetermined angle with the first direction, for example, the second direction is orthogonal to the first direction.

[0066] Optionally, there can be multiple picking and placing devices 2, which are arranged between two adjacent support members 11 and along a third direction. This allows the second storage equipment 50 to perform multiple picking and placing operations, thereby improving work efficiency.

[0067] The pick-and-place device 2 can include components such as suction cups, hooks, levers, gripping forks, and magnetic suction. The force application position between the suction cup and the container / goods is not limited to the centerline of the container / goods' side; it can be adjusted according to the container / goods' center of gravity. The hook can grab the edge, top edge, bottom edge, protrusions, or handles on the container / goods' side, and can also grab grooves, protrusions, or handles on the bottom surface of the container / goods. The pick-and-place device 2 can retrieve and return containers / goods in a single or multiple positions. For example, the suction cup can be a unidirectional suction cup that picks up containers / goods in two directions by rotating; it can also be a bidirectional suction cup that picks up containers / goods in two directions.

[0068] Optionally, such as Figure 1As shown, the second storage equipment 50 further includes a workbench 3 and a drive mechanism. The workbench has at least one workstation. The pick-and-place device 2 of the second storage equipment 50 includes a pick-and-place platform and a pick-and-place mechanism. The drive mechanism is driven to the pick-and-place platform, and the pick-and-place mechanism is movably mounted on the pick-and-place platform along the width direction. The second storage equipment 50 is configured to drive the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction via the drive mechanism, so that the pick-and-place mechanism reaches the docking position with the workbench 3, and receives the target object transported to the workbench 3 via the pick-and-place mechanism. The second storage equipment 50 is also configured to drive the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction via the drive mechanism, so as to reach the docking position of the target platform with the robot, and transport the target object on the pick-and-place mechanism to the robot via the pick-and-place mechanism. The robot 20 is configured to deliver the target object into the target container of the target platform.

[0069] The workstations of workbench 3 may include rollers or conveyor lines to facilitate the transfer of containers / goods. Buffer positions / racks may also be provided above, below, or beside workbench 3 to buffer containers or goods. Containers / goods on the buffer positions / racks can be retrieved using the box-picking device 2 or manually. A conveyor line may also be provided next to the workstations of workbench 3 to transport picked goods. A docking area for large items, pallets, irregularly shaped items, and conventional cargo-type mobile carriers may also be provided next to workbench 3 for manual picking.

[0070] For example, if a target item needs to be delivered to a target container on the third-level platform, a robot can move a carrier (such as a shelf) carrying the goods (target items) to be sorted from the cargo area to the location of the second storage device. After picking is completed at the workstation, the target item is delivered to the robot on the third-level platform by the movement of the pick-and-place device relative to the carrier in at least one direction. The robot then moves on the third platform to the location of the target container and delivers the target item into the corresponding target container.

[0071] The warehousing system provided in this disclosure can be applied to various scenarios, which will be described one by one below:

[0072] As an alternative approach, each platform 10 can correspond to multiple container layers, and one platform can handle containers of multiple different layers. Correspondingly, the robot 20 can adapt to the height of different container layers using its lifting components; that is, based on the height of the target container layer, it adjusts its own height using its lifting components, and then delivers the goods into the corresponding container through direct delivery or lifting delivery. The multi-layer container design in this embodiment effectively utilizes vertical space, increasing storage capacity without expanding the ground area, and can flexibly adapt to the layout of various goods and containers.

[0073] For example, the number of platform layers and robots can be increased or decreased according to actual needs, demonstrating good scalability. The workstations can also be adjusted as needed for cargo conveying and container handling, making the system highly adaptable and capable of handling different types of goods and sorting requirements.

[0074] Optionally, such as Figure 2 As shown, robot 20 includes a delivery mechanism 1021 and a motion mechanism 1022. The delivery mechanism 1021 and the motion mechanism 1022 are connected. The delivery device 102 receives the target object (such as goods to be sorted) through the delivery mechanism 1021, which can be placed manually or by the storage equipment 100. The robot moves to the position of the target container through the motion mechanism 1022, and then delivers the target object into the target container through the delivery mechanism 1021.

[0075] In some embodiments, each platform 10 corresponds to at least one container layer. For example, a platform 10 may correspond to 2 or 4 container layers, with each layer including 10 containers. Thus, if a platform 10 corresponds to 2 container layers, then a platform 10 corresponds to 20 containers, which can meet more sorting needs.

[0076] Optionally, the robot 20 also includes a lifting mechanism connected to the delivery mechanism. The robot operating on the target platform is configured to lift the delivery mechanism to the height of the target container when the height of the layer where the target container is located is greater than a preset threshold, and then deliver the target object to the target container corresponding to the target platform through the delivery mechanism.

[0077] For example, such as Figure 3 As shown, robot 20 includes a delivery mechanism 1021, a motion mechanism 1022, and a lifting mechanism 1023. The delivery mechanism 1021 is connected to the lifting mechanism 1023, and the motion mechanism 1022 is connected to the lifting mechanism 1023. Robot 20 receives target objects (such as goods to be sorted) through the delivery mechanism 1021, which can be placed manually or by the second storage equipment 50. The robot moves to the position of the target container via the motion mechanism 1022. When the height of the target container exceeds a certain threshold, the lifting mechanism 1023 lifts the delivery mechanism 1021 to a height corresponding to the target container, and then the delivery mechanism 1021 delivers the received target object into the target container.

[0078] To achieve more efficient delivery, robot 20 may include a motion mechanism and at least one delivery mechanism connected to motion mechanism 1022. Robot 20 is configured to move on platform 101 via motion mechanism to move from docking position with second storage equipment 50 to delivery position of target container, and to deliver target object to corresponding container in corresponding container layer via at least one delivery mechanism.

[0079] For example, such as Figure 4 As shown, the robot 20 may include a motion mechanism 1022 and at least one delivery mechanism 1021. The delivery mechanism 1021 can be connected to the motion mechanism 1022 via a lifting mechanism 1023. The robot 20 is configured to move on the platform 101 via the motion mechanism 1022 to move from a docking position with the storage equipment 100 to a delivery position of the target container, and to deliver the target object on each delivery mechanism 1021 to the corresponding container in the corresponding container layer via the at least one delivery mechanism 1021.

[0080] Optionally, when the delivery device 102 has multiple delivery mechanisms, the multiple delivery mechanisms are spaced apart along the height direction, or the multiple delivery mechanisms are arranged side by side along the length or width direction. The robot 20 is configured to receive multiple target objects through the multiple delivery mechanisms and deliver the multiple target objects into one container or different containers. For example, as Figure 4 As shown, two target items can be delivered into the upper and lower containers through two delivery mechanisms 1021 to improve sorting efficiency.

[0081] As an alternative, goods sorting can be completed using a second storage device 50, at least one platform 10, and a robot 20 operating on the platform 10, wherein each platform 10 corresponds to at least two layers of containers.

[0082] For example, such as Figure 5 As shown, the target object is lifted to the corresponding platform 10 by the second storage equipment 50, and the robot 20 running on the platform 10 transports the target object to the position corresponding to the target container, and then delivers the target object into the target container. If the height of the layer where the target container is located is greater than a preset threshold, the delivery mechanism is lifted to the height of the target container by the lifting mechanism, and the target object is delivered into the target container corresponding to the target platform by the delivery mechanism.

[0083] See Figure 8 The at least one-layer platform includes: a transport area and at least one channel, the carrier being located on at least one side of the channel; a robot operating on the target platform is configured to pass through the transport area of ​​the target platform to the channel via a motion mechanism, and move through the channel to a second position where the target container is located, and deliver the target object to the target container corresponding to the target platform via a delivery mechanism; wherein, the channel is a region surrounding the transport area and the channel extends outward or inward from the transport area in at least one direction.

[0084] Optionally, to enable the robot to deliver containers to different container layers, the delivery mechanism of robot 20 includes at least one delivery mechanism connected to a motion mechanism. Robot 20 is configured to move on platform 10 to the delivery position of the target container via the motion mechanism, and deliver the target object to the corresponding container in the corresponding container layer via the at least one delivery mechanism. Each delivery mechanism corresponds to a container layer. For example, multiple delivery structures can correspond to multiple container layers. For instance, there may be three delivery mechanisms: delivery mechanism a, delivery mechanism b, and delivery mechanism c, corresponding to three container layers. Delivery mechanism a corresponds to container layer 1 and is responsible for delivering goods to containers in container layer 1; delivery mechanism b corresponds to container layer 2 and is responsible for delivering goods to containers in container layer 2; and delivery mechanism c corresponds to container layer 3 and is responsible for delivering goods to containers in container layer 3.

[0085] In some embodiments, in order to enable the robot 20 to deliver a target object to a target container in the carrier 40, at least one layer of platform 10 may include: a transport area and at least one channel, with the carrier 40 located on at least one side of the channel; the robot 20 operating on the target platform 10 is configured to pass through the transport area of ​​the target platform 10 to the channel via a motion mechanism, and move through the channel to a second position where the target container is located, and deliver the target object to the target container corresponding to the target platform via a delivery mechanism; wherein, the channel is a region surrounding the transport area and extending outward or inward from the transport area in at least one direction.

[0086] As an alternative, goods sorting can be accomplished through a second storage device 50, at least one platform 10, and a robot 20 operating on the platform 10, wherein each platform 10 can correspond to one layer of containers.

[0087] For example, such as Figure 6 As shown, the target object is lifted to the corresponding platform 10 by the second storage equipment 50, and the robot 20 running on the platform 10 transports the target object to the position corresponding to the target container, and then delivers the target object to the target container.

[0088] Furthermore, in addition to the above, Figure 5 and Figure 6In addition to the method shown where the robot 20 directly delivers the target object, there may also be a method where the robot 20 indirectly delivers the target object. Accordingly, the warehousing system provided in this embodiment may further include at least one first storage device 30. The first storage device 30 may include a delivery mechanism. The robot 20 is configured to move to a third position on the target carrier via a motion mechanism and deliver the target object to the first storage device 30. Correspondingly, the first storage device 30 is configured to receive the target object delivered by the robot at the third position via the delivery mechanism and deliver the target object into a target container in the target carrier. In some examples, the first storage device 30 may be a robot or a delivery device.

[0089] For example, the first storage device 30 may include a motion mechanism, a lifting mechanism, and a delivery mechanism; the first storage device 30 operates on the lowest platform via a running mechanism; the lifting mechanism is connected to the motion mechanism and the delivery mechanism respectively; the robot 20 is configured to move to a third position of the target carrier via the motion mechanism and deliver the target object to the delivery mechanism of the first storage device; the first storage device 30 is configured to move to the third position via the motion mechanism, lift the delivery mechanism to the corresponding height of the robot via the lifting mechanism to receive the target object delivered by the robot via the delivery mechanism, and deliver the target object into the target container in the target carrier.

[0090] The first storage equipment 30 can provide Figure 3 or Figure 4 Similar structure. There can be at least one delivery mechanism. When there are multiple delivery mechanisms, they can be stacked along the height direction or arranged side-by-side along the length or width direction. The lifting mechanism can be a slide rail structure, a linkage structure, or a telescopic structure, etc. When the lifting mechanism is a linkage structure, it can be a scissor fork, a four-bar linkage, etc. When the lifting mechanism is a slide rail structure, it includes a slide rail, and the delivery mechanism is movable up and down on the slide rail along the height direction. When the lifting mechanism is a telescopic structure, it includes structures such as hydraulic cylinders.

[0091] For example, the first storage device 30 is used to receive and sort goods at a third location and deliver them into designated containers. The robot 20 moves on the platform 10, responsible for transporting goods to be sorted to the third location, or delivering goods into designated containers. The first storage device 30 is located at or moves to the third location to receive goods delivered by the robot 20 and deliver them into designated containers. The robot 20 and the first storage device 30 cooperate to complete the sorting and delivery of goods, placing the goods to be sorted into specific containers of the target vehicle according to instructions.

[0092] In some examples, the first storage device 30 can identify paths, avoid obstacles, and move freely on platforms and / or in carrier areas. It also has the ability to dock and lift goods, moving and delivering goods on the platform, reducing human intervention, improving sorting accuracy and speed, and lowering labor costs. The warehousing system assigns corresponding docking and delivery tasks to appropriate robots. Each robot performs specific actions according to task instructions, such as moving to a designated location according to a planned route, grabbing or placing goods, etc. By integrating multi-layer platforms, robots, and the first storage device to work collaboratively, multiple goods can be processed simultaneously, efficiently completing tasks such as receiving, sorting, transporting, and packaging goods, greatly improving sorting efficiency.

[0093] In some embodiments, the first storage facility may be as follows: Figure 3 or Figure 4 The robot shown has lifting and delivery functions. Accordingly, the first storage device 30 is also configured to move to a fourth position via a motion mechanism to obtain the target object, and, upon obtaining the target object, move to the corresponding position of the target carrier via the motion mechanism, and lift the delivery mechanism to the corresponding height of the target container via a lifting mechanism so as to deliver the target object into the target container in the target carrier via the delivery mechanism.

[0094] For example, such as Figure 7 and Figure 8 As shown, a multi-layer platform 10 connects to multiple carriers 40, each containing multiple containers. The multi-layer platform 10 is used for the rapid and accurate sorting of received goods. Each layer of platform 10 connects to multiple carriers 40, each carrier 40 having multiple containers for storing sorted goods; each container corresponds to a specific item or order. The multi-layer platform design effectively utilizes vertical space, significantly reducing the floor space required compared to traditional single-layer sorting systems, and improving sorting efficiency and cargo handling capacity per unit area. In the specific operation, a robot 20 moves on at least one layer of platform 1 and transports the goods to be sorted to the designated carrier 40. A first storage device 30 receives the sorted goods at the carrier 40 and delivers them into the designated containers.

[0095] For example, such as Figure 9As shown, the first storage device 30 can also operate on the lowest platform 10. The first storage device 30 operating on the lowest platform 10 is configured to receive target items (such as goods to be sorted) via a delivery mechanism, which can be placed manually or by the second storage device 50. The delivery mechanism moves to the position of the target container via a motion mechanism. When the height of the target container exceeds a certain threshold, the delivery mechanism can be lifted to the height corresponding to the target container via a lifting mechanism, and then the delivery mechanism delivers the received target item into the target container. Alternatively, it can also receive targets delivered by the robot 20, that is, receive target items (such as goods to be sorted) delivered by the robot 20 via the delivery mechanism, and then deliver them into the corresponding target container.

[0096] For example, multiple vehicles can share the same first storage device 30 to provide delivery services for goods to be sorted. Sharing a single first storage device reduces the number of robots required and lowers equipment costs. The first storage device 30 can be dynamically scheduled based on task priority and cargo flow to ensure maximum sorting efficiency. Through reasonable scheduling and layout, the efficiency and flexibility of the entire warehousing system can be effectively improved, reducing the number of robots required and increasing resource utilization. Furthermore, by optimizing robot work paths and task allocation, resource utilization can be maximized, further enhancing sorting efficiency.

[0097] In some examples, the warehousing system can assign specific delivery tasks to the first storage device 30 based on the priority of the current task and the flow of goods. The system monitors the demand of each vehicle in real time and dynamically adjusts the task order of the first storage device 30 according to priority and flow. If a task on a certain vehicle is more urgent, it is given priority. Then, the system plans the optimal working path for the first storage device 30 to ensure that it can reach the target location and complete the task as quickly as possible. After receiving the task, the first storage device 30 quickly moves to the designated vehicle location, uses its lifting components to lift the goods to be sorted to the correct height, and accurately delivers them into the designated container. After completing the task, the first storage device 30 reports the task completion status to the system and prepares to receive the next task instruction. The system further optimizes the allocation of subsequent tasks and path planning based on the feedback information.

[0098] In addition to being a robot, the first storage device 30 may optionally also be a delivery device. Accordingly, the delivery mechanism of the first storage device includes a guide rail 62 and a pick-and-place mechanism 61. The guide rail 62 is disposed in multiple carriers; the pick-and-place mechanism 61 is movably disposed on the guide rail 62. The robot 20 is configured to move to a third position on the target carrier via a motion mechanism and deliver the target object to the first storage device 30 disposed at the target carrier. The first storage device 30 disposed at the target carrier is configured to deliver the target object into a target container in the target carrier by moving the pick-and-place mechanism 61 relative to the guide rail 62 in at least one direction.

[0099] For example, such as Figure 10 and Figure 11 As shown, the pick-and-place mechanism 61 is mounted on a guide rail 62, which extends along the arrangement direction of the carriers and covers at least one carrier. The first storage equipment 30 can receive the goods to be sorted delivered by the robot 20 through the pick-and-place mechanism 61 and deliver the target item into the target container in the target carrier by moving the pick-and-place mechanism 61 relative to the guide rail 62 in at least one direction.

[0100] In some examples, through the design of the picking and placing mechanism and guide rails, the first storage device 30 can cover multiple carriers, reducing equipment redundancy. The working range of the first storage device 30 should cover multiple carriers, enabling it to quickly move to any carrier position for goods delivery. The first storage device 30 can be installed in the middle or on one side of a carrier, and can move quickly between carriers via guide rails or ground moving devices. The shared delivery device, including a pallet picking mechanism and guide rails, further optimizes resource allocation while ensuring the stability and accuracy of the delivery process.

[0101] For example, the first storage device 30 is used to transport goods to be sorted to a designated carrier location and deliver them into a designated container. The first storage device 30 receives a sorting task assigned by the storage system, and the task information includes the source location of the goods, the target carrier, and the specific information of the target container. According to the task information, the first storage device quickly moves to the location of the target carrier, and then adjusts the height of the lifting components and the position of the moving device according to the location of the target container to accurately deliver the goods into the designated container.

[0102] Through the above solution, the first storage device 30 can not only receive goods to be sorted from the robot at the carrier position, but also obtain goods to be sorted from the packing device at the workstation, and then directly transport and deliver the goods to the designated container, eliminating the handover link between the robot and the first storage device and improving work efficiency. The first storage device is equipped with lifting components and can adjust its height to adapt to containers of different levels, so it is not necessary to set up a dedicated first robot on each level to be responsible for the initial handling of goods. The first storage device can either dock with the robot on the second-level platform, or, by rationally planning the working path of the first storage device, independently complete the entire process from picking up to delivery, which can reduce the need for multi-level platforms to a certain extent, reduce the dependence on large-area, multi-level platforms, and further improve the flexibility of the system.

[0103] Optionally, a connecting channel exists between adjacent platform layers, allowing robots to switch between them. In some examples, a ramp connecting the two layers enables robots to move freely not only on the same layer but also between different layers. This ramp design allows robots to easily switch between adjacent layers without complex lifting equipment or additional power units, reducing system complexity and cost. For instance, in situations where there are insufficient robots or low transport efficiency on a particular layer, robots on different layers can be rationally allocated based on order volume or actual production conditions, without additional manual intervention or complex scheduling systems. This avoids reduced sorting efficiency due to excessively long switching times between layers, enabling rapid response to sorting task demands.

[0104] For example, in actual sorting scenarios, the system can plan the optimal path for the robot based on order volume and / or task requirements, including whether it needs to move between different layers via ramps, enabling the system to adapt to various sorting needs and efficiently complete tasks, whether cross-layer or same-layer.

[0105] Compared with existing related technologies, the warehousing system in this disclosure includes at least one platform and at least one robot. The at least one platform is spaced apart from the ground along its height and stacked in layers. Multiple carriers are arranged around the at least one platform, each carrier having multiple storage positions. Each storage position has at least one container, and each platform corresponds to one of the at least one storage positions. The robot can operate on the platform and may include a motion mechanism and a delivery mechanism connected to the motion mechanism. The robot operating on the target platform is configured to move to a first position via the motion mechanism to obtain a target object, and / or move to a second position of the target container via the motion mechanism and deliver the target object directly or indirectly into the target container via the delivery mechanism. The target platform can be any layer of the multi-layer platform. The warehousing system in this disclosure can have at least one platform structure, and each platform is configured with a corresponding number of robots for sorting. The warehousing system provided by this disclosure achieves flexible expansion of the number of containers on the platform and efficient sorting and transportation of goods, reducing the cost of configuring a delivery device for each carrier individually and improving sorting efficiency.

[0106] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0107] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A warehousing system, characterized in that, include: At least one platform, the at least one platform being spaced apart from the ground and stacked along the height direction, a plurality of vehicles being arranged around the at least one platform, the vehicles having multiple storage positions, each storage position having at least one container, and each platform being arranged corresponding to the at least one storage position; At least one robot, which operates on the platform, includes a motion mechanism and a delivery mechanism connected to the motion mechanism. The robot operating on the target platform is configured to move to a first position via the motion mechanism to obtain a target object, and / or move to a second position of a target container via the motion mechanism and deliver the target object directly or indirectly into the target container via the delivery mechanism; wherein the target platform is any layer of a multi-layer platform.

2. The warehousing system according to claim 1, characterized in that, The robot also includes a lifting mechanism connected to the delivery mechanism. The robot, which operates on the target platform, is configured to lift the delivery mechanism to the height of the target container when the height of the layer where the target container is located is greater than a preset threshold, and then deliver the target object to the target container corresponding to the target platform through the delivery mechanism.

3. The warehousing system according to claim 1, characterized in that, The robot's delivery mechanism includes at least one delivery mechanism connected to a motion mechanism. The robot is configured to move on a platform to the delivery position of the target container via the motion mechanism, and deliver the target object to the corresponding container in the corresponding container layer via the at least one delivery mechanism.

4. The warehousing system according to claim 3, characterized in that, When the robot has multiple delivery mechanisms, the multiple delivery mechanisms are spaced apart along the height direction, or the multiple delivery mechanisms are arranged side by side along the length or width direction. The robot is configured to receive multiple target objects through the multiple delivery mechanisms and deliver the multiple target objects into one container or different containers.

5. The warehousing system according to claim 1, characterized in that, The at least one-layer platform includes: a transport area and at least one channel, the vehicle being located on at least one side of the channel; the robot operating on the target platform is configured to pass through the transport area of ​​the target platform to the channel via a motion mechanism, move through the channel to a second position where the target container is located, and deliver the target object to the target container corresponding to the target platform via a delivery mechanism; The passage is a region surrounding the transportation area and extends outward or inward from the transportation area in at least one direction.

6. The warehousing system according to claim 1, characterized in that, The warehousing system also includes: At least one first storage device, the first storage device including a delivery mechanism, the robot being configured to move to a third position of a target vehicle via a motion mechanism and deliver a target object to the first storage device, the first storage device being configured to receive the target object delivered by the robot at the third position via the delivery mechanism and deliver the target object into a target container in the target vehicle.

7. The warehousing system according to claim 6, characterized in that, The first storage facility also includes: The first storage equipment operates on the lowest platform or ground via a motion mechanism. A lifting mechanism is connected to a motion mechanism and a delivery mechanism. The robot is configured to move to a third position on the target vehicle via the motion mechanism and deliver the target object to the delivery mechanism of the first storage device. The first storage device is configured to move to the third position via the motion mechanism, lift the delivery mechanism to the corresponding height of the robot via the lifting mechanism to receive the target object delivered by the robot via the delivery mechanism, and deliver the target object into the target container in the target vehicle.

8. The warehousing system according to claim 7, characterized in that, The first storage device is also configured to move to a fourth position via a motion mechanism to obtain the target object, and, if the target object is obtained, move to the corresponding position of the target vehicle via the motion mechanism, and lift the delivery mechanism to the corresponding height of the target container via a lifting mechanism so as to deliver the target object into the target container in the target vehicle via the delivery mechanism.

9. The warehousing system according to claim 6, characterized in that, The delivery mechanism of the first storage equipment includes: Guide rails are installed in multiple vehicles; The robot is configured to move to a third position on the target vehicle via a motion mechanism and deliver the target object to a first storage device located at the target vehicle. The first storage device located at the target vehicle is configured to deliver the target object into a target container in the target vehicle by moving the pick-up and place mechanism relative to the guide rail in at least one direction.

10. The warehousing system according to any one of claims 1 to 9, characterized in that, The warehousing system includes: The second storage device includes a carrying device and a picking and placing device, the picking and placing device being movably disposed on the carrying device. The second storage device is configured to deliver target objects corresponding to different platforms to a robot by moving the picking and placing device relative to the carrying device in at least one direction.

11. The warehousing system according to claim 10, characterized in that, The second storage facility also includes: A workbench, wherein the workbench is provided with at least one workstation; Drive mechanism; The second storage equipment includes a retrieval and placement device, a retrieval and placement platform, and a retrieval and placement mechanism. The driving mechanism is drivenly connected to the retrieval and placement platform, and the retrieval and placement mechanism is movably disposed on the retrieval and placement platform along the width direction. The second storage equipment is configured to drive the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction via the drive mechanism so that the pick-and-place mechanism reaches the docking position with the workbench, and to receive the target object transported to the workbench via the pick-and-place mechanism; The second storage equipment is also configured to drive the pick-and-place platform to move along the height direction and / or the pick-and-place mechanism to move along the width direction via the drive mechanism to reach the docking position of the target platform with the robot, and to transport the target object on the pick-and-place mechanism to the robot via the pick-and-place mechanism, wherein the robot is configured to deliver the target object into the target container of the target platform.

12. The warehousing system according to claim 10, characterized in that, The second storage device is disposed on at least one side of the at least one-layer platform, or the at least one-layer platform is disposed around the second storage device.

13. The warehousing system according to claim 1, characterized in that, There is a connecting channel between two adjacent platforms, which is used for the robot to switch between the two adjacent platforms.

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