Warehousing system

Abstract

The embodiment of the utility model provides a warehousing system. The warehousing system comprises a goods shelf, a first robot, a second robot and a workstation. The first robot is used for taking and placing the material box between the material box storage layer and the material box temporary storage layer of the goods shelf; the second robot can carry material boxes between the work station and the material box temporary storage layer of the goods shelf and comprises a shifting rod mechanism used for shifting the material boxes on the material box temporary storage layer to the goods carrying platform or shifting the material boxes on the goods carrying platform to the material box temporary storage layer when the second robot moves to the position, corresponding to the material box temporary storage layer, in the containing space. And moreover, the material boxes are taken and placed through shifting of the shifting rod mechanism, so that the material box temporary storage layer can be set to be low, the distance between the material box temporary storage layer and the material box storage layer is reduced, the space of the storage area is increased, and the storage capacity of the goods shelf is improved. Through mutual relay cooperation of the two robots, warehouse-in and warehouse-out of the workbins in the warehousing system are achieved, and therefore the goods taking and placing efficiency of the warehousing system is improved.

Description

Technical Field

[0001] This application relates to the field of logistics and warehousing technology, and in particular to a warehousing system. Background Technology

[0002] In related technologies, the warehousing system includes multiple shelves and handling robots. The handling robots can climb on the shelves and walk on the ground, thereby moving the boxes waiting to be shipped from the shelves to the workstation for shipment, or moving the goods waiting to be received to the shelves.

[0003] In this type of retrieval and placement method, the warehousing system only includes one type of handling robot. The handling robot needs to move goods on the ground and climb the shelves to retrieve and place goods, resulting in low retrieval and placement efficiency of the warehousing system. Utility Model Content

[0004] The purpose of this application is to provide a warehousing system that improves the efficiency of picking and placing goods in the warehousing system. The specific technical solution is as follows:

[0005] This application provides a warehousing system, including: a shelf, a first robot, a second robot, and a workstation; the shelf includes: a storage area and a buffer area; the storage area is provided with a bin storage layer for storing bins; the buffer area is located at the bottom of the storage area; the top of the buffer area has a preset height with the ground, forming a receiving space, and a bin buffer layer is provided in the receiving space for buffering bins; the first robot is disposed on one side of the shelf and is used to pick up and place bins between the bin storage layer and the bin buffer layer; the second robot is capable of transporting bins between the workstation and the bin buffer layer of the shelf; the second robot includes: a motion chassis, a loading platform, and a lever mechanism; the loading platform is installed on the top of the motion chassis; the lever mechanism is fixed to the loading platform and is used to move the bins on the bin buffer layer to the loading platform, or move the bins on the loading platform to the bin buffer layer, when the second robot moves to a position in the receiving space corresponding to the bin buffer layer.

[0006] The warehousing system provided in this application embodiment includes a first robot that retrieves and places boxes between the box storage layer and the box buffer layer, and a second robot that transports boxes between the workstation and the box buffer layer of the shelf. The relay cooperation between the first and second robots enables the inbound and outbound movement of boxes in the warehousing system, thereby improving the efficiency of picking and placing goods. Furthermore, the second robot uses a lever mechanism to pick and place boxes, allowing the height of the box buffer layer from the ground to be slightly higher than the height of the loading platform. This means the box buffer layer can be set lower, increasing the storage area space and allowing for more box storage layers, thus increasing the shelf's storage capacity. Moreover, using the lever mechanism to pick and place boxes eliminates the need to lift the boxes from the box buffer layer, reducing the distance between the box buffer layer and the box storage layer, further increasing the storage area space and improving the shelf's storage capacity.

[0007] This application embodiment also provides a warehousing system, including: a shelf, a first robot, a second robot, and a workstation; the shelf includes: a storage shelf and a buffer shelf; the storage shelf is provided with a bin storage layer for storing bins; the buffer shelf is adjacent to or integrally arranged with the storage shelf; the buffer shelf is provided with a bin buffer layer for buffering bins; the first robot is disposed on at least one side of the storage shelf and is used to pick up and place bins between the bin storage layer and the bin buffer layer; the second robot is capable of transporting bins between the workstation and the bin buffer layer of the buffer shelf; the second robot includes: a motion chassis, a loading platform, and a picking and placing mechanism; the loading platform is installed on the top of the motion chassis; the picking and placing mechanism is fixed to the loading platform and is used to move bins on the bin buffer layer to the loading platform or move bins on the loading platform to the bin buffer layer when the second robot moves to a position corresponding to the bin buffer layer.

[0008] The warehousing system provided in this application embodiment includes a first robot that retrieves and places boxes between the box storage layer and the box buffer layer, and a second robot that transports boxes between the workstation and the box buffer layer of the buffer rack. The relay cooperation between the first and second robots enables the inbound and outbound movement of boxes in the warehousing system, thereby improving the efficiency of picking and placing goods. Furthermore, the second robot retrieves and places boxes by moving horizontally relative to the box buffer layer using a picking and placing mechanism. This allows the height of the box buffer layer from the ground to be set slightly higher than the height of the loading platform; that is, the box buffer layer can be set lower, allowing for more box storage layers and increasing the storage capacity of the racks.

[0009] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0011] Figure 1a A three-dimensional structural diagram of the warehousing system provided in the first embodiment of this application;

[0012] Figure 1b for Figure 1a A front view schematic diagram of the warehouse system shown.

[0013] Figure 1c for Figure 1a A side view of the warehouse system shown.

[0014] Figure 1d for Figure 1a A top view of the warehousing system shown.

[0015] Figure 2 for Figure 1a A 3D structural diagram of the first robot in the warehouse system shown.

[0016] Figure 3a for Figure 1a A three-dimensional structural diagram of the first embodiment of the second robot in the warehouse system shown;

[0017] Figure 3b for Figure 3a The first and second forks shown are three-dimensional structural diagrams of the second robot in the raised state.

[0018] Figure 3c for Figure 1a The diagram shows a three-dimensional structural view of the second embodiment of the second robot.

[0019] Figure 4 A side view schematic diagram of a warehousing system (without a first robot shown) provided in the second embodiment of this application;

[0020] Figure 5 A side view schematic diagram of a warehousing system (without a first robot shown) provided in the third embodiment of this application;

[0021] Figure 6 for Figure 1d A 3D structural diagram of the workstations in the warehouse system shown.

[0022] Figure 7a A three-dimensional structural diagram of the warehousing system provided in the fourth embodiment of this application;

[0023] Figure 7b for Figure 7a A front view schematic diagram of the warehouse system shown.

[0024] Figure 7c for Figure 7a A top view of the warehousing system shown.

[0025] Figure 8a for Figure 7a The diagram shows the first structural diagram of the shelving system in the warehouse system shown.

[0026] Figure 8b for Figure 7a The second structural diagram of the shelving system shown is presented.

[0027] Figure 8c for Figure 7a The diagram shows a third structural diagram of the shelving system in the warehouse system shown.

[0028] Figure 9a for Figure 7a The diagram shows the first structural diagram of the bin buffer layer in the storage system.

[0029] Figure 9b for Figure 7a The diagram shows a second structural diagram of the bin buffer layer in the storage system.

[0030] Figure 10a for Figure 7a The diagram shows the first structural diagram of the second robot in the warehousing system.

[0031] Figure 10b for Figure 7a The diagram shows a second structural diagram of the second robot in the warehousing system.

[0032] Figure 10c for Figure 7a The diagram shows the third structural diagram of the second robot in the warehouse system shown.

[0033] Figure 10d for Figure 7a The diagram shows the fourth structural diagram of the second robot in the warehousing system.

[0034] Figures 1a to 6 The attached figure labels are:

[0035] Shelf 100; Storage area 110; Bin storage layer 111; Bin storage position 1111; Buffer area 120; Capacity space 121; Bin buffer layer 122; Bin buffer position 1221; Through slot 123; Beam 130;

[0036] First robot 200; mounting frame 210; picking and placing assembly 220; lifting assembly 230;

[0037] Second robot 300; motion chassis 310; cargo platform 320; lever mechanism 330; first shift fork assembly 331; first shift fork 3311; second shift fork assembly 332; second shift fork 3321; telescopic mechanism 340;

[0038] Workstation 400; Sorting table 410; Outbound material box interface 411; Inbound material box interface 412; Conveying mechanism 413; First lifting channel 414; Second lifting channel 415;

[0039] Material bin 500; aisle 600; first channel 710; second channel 720; third channel 730; fourth channel 740; fifth channel 750; sixth channel 760.

[0040] Figures 7a to 10d The attached figure labels are:

[0041] Shelf 100; Storage shelf 2-110; Bin storage layer 111; Bin storage position 1111; Buffer shelf 2-120; Bin buffer layer 122; Bin buffer position 1221; Picking slot 2-123; Through slot 123; Single opening slot 2-123B; Comb-shaped slot 2-1230;

[0042] First Robot 200;

[0043] Second robot 300; motion chassis 310; cargo platform 320; picking and placing mechanism 2-330; suction mechanism 2-330A; suction cup 2-331; lever mechanism 330; telescopic mechanism 340;

[0044] Workstation 400; Material bin 500. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0046] As mentioned in the background art, in related technologies, the warehousing system includes multiple shelves and handling robots. The handling robots can climb on the shelves and walk on the ground, thereby moving the boxes waiting to be shipped out of the shelves to the workstation for shipment, or moving the goods waiting to be received into the warehouse to the shelves.

[0047] In this type of retrieval and placement method, the warehousing system only includes one type of handling robot. The handling robot needs to move goods on the ground and climb the shelves to retrieve and place goods, resulting in low retrieval and placement efficiency of the warehousing system.

[0048] To improve the efficiency of picking and placing goods in a warehousing system, this application provides a warehousing system, which will be described in detail below.

[0049] See Figures 1a to 1d , Figure 1a A three-dimensional structural diagram of the warehousing system provided in the first embodiment of this application; Figure 1b for Figure 1a A front view schematic diagram of the warehouse system shown. Figure 1c for Figure 1a A side view of the warehouse system shown. Figure 1d for Figure 1a The diagram shows a top view of the warehousing system. Figures 1a to 1d As shown, the warehousing system includes: a shelf 100, a first robot 200, a second robot 300, and a workstation 400.

[0050] The shelf 100 includes a storage area 110 and a buffer area 120; the storage area 110 is provided with a material box storage layer 111 for storing material boxes 500; the buffer area 120 is located at the bottom of the storage area 110; the top of the buffer area 120 has a preset height between it and the ground, forming a receiving space 121, and a material box buffer layer 122 is provided in the receiving space 121 for buffering material boxes 500.

[0051] The first robot 200 is located on one side of the shelf 100 and is used to pick up and put away the material box 500 between the material box storage layer 111 and the material box buffer layer 122.

[0052] The second robot 300 is capable of moving the bin 500 between the workstation 400 and the bin buffer layer 122 of the shelf 100.

[0053] The second robot 300 includes a motion chassis 310, a loading platform 320, and a lever mechanism 330. The loading platform 320 is mounted on the top of the motion chassis 310; the lever mechanism 330 is fixed to the loading platform 320 and is used to move the material box 500 on the material box buffer layer 122 to the loading platform 320, or to move the material box 500 on the loading platform 320 to the material box buffer layer 122, when the second robot 300 moves to the position corresponding to the material box buffer layer 122 in the accommodating space 121.

[0054] The warehousing system provided in this application embodiment includes a first robot 200 that retrieves and places boxes 500 between the box storage layer 111 and the box buffer layer 122, and a second robot 300 that transports boxes 500 between the workstation 400 and the box buffer layer 122 of the shelf 100. The first robot 200 and the second robot 300 work together in a relay-like manner to achieve the inbound and outbound operations of boxes 500 in the warehousing system, thereby improving the retrieval and placement efficiency of the warehousing system. Furthermore, the second robot 300 retrieves and places boxes 500 by actuating a lever mechanism 330, allowing the height of the box buffer layer 122 from the ground to be set slightly higher than the height of the loading platform 320. That is, the box buffer layer 122 can be set lower, increasing the space of the storage area 110 and allowing for more box storage layers 111, thereby increasing the storage capacity of the shelf 100. Furthermore, by using the lever mechanism 330 to pick up and put down the material box 500, it is not necessary to lift the material box 500 from the material box buffer layer 122, which can reduce the distance between the material box buffer layer 122 and the material box storage layer 111, further increasing the space of the storage area 110 and improving the storage capacity of the shelf 100.

[0055] In some embodiments of this application, such as Figures 1a to 1c As shown, there are multiple bin storage layers 111, each bin storage layer 111 is divided into multiple bin storage positions 1111, and each bin storage position 1111 is used to store one bin 500; the bin cache layer 122 is divided into multiple bin cache positions 1221, and each bin cache position 1221 is used to cache one bin 500.

[0056] By applying the embodiments of this application, the material boxes 500 on the shelf 100 can be arranged neatly, facilitating retrieval and placement by the first robot 200 and the second robot 300. The first robot 200 can retrieve and place material boxes 500 between each material box storage position 1111 and the material box buffer position 1221, and the second robot 300 can retrieve and place material boxes 500 between each material box buffer position 1221 and the workstation 400.

[0057] In some embodiments of this application, such as Figure 1d As shown, there are multiple shelves 100, which are spaced apart, and the gaps between the shelves 100 form aisles 600.

[0058] The first robot 200 is installed on either shelf 100 on both sides of the aisle 600 and can pick up and put in the material boxes 500 on the shelves 100 on both sides of the aisle 600.

[0059] Specifically, such as Figure 1d As shown, each shelf 100 can be composed of multiple sub-shelves arranged along the length of the shelf 100, wherein the length of the shelf 100 is... Figure 1dThe x-direction is shown in the diagram. Each sub-shelf is equipped with a first robot 200, or multiple sub-shelves can be handled by a single first robot 200. This application does not limit the number of sub-shelves or the number of first robots 200, as long as there is at least one first robot 200 on each aisle 600.

[0060] like Figure 1d As shown, the warehousing system in this embodiment includes five spaced-apart shelves 100, each shelf 100 including two sub-shelves arranged along the length of the shelf 100. To improve the utilization rate of the first robot 200, the three middle shelves 100 are double-deep shelves, and the two shelves 100 located on both sides of the warehousing system are single-deep shelves.

[0061] In the embodiments of this application, the first robot 200 is set in the aisle 600, which can improve the space utilization of the warehousing system; by the first robot 200 picking up and placing the material boxes on the shelves 100 on both sides of the aisle 600, the width of the aisle 600 can be reduced, thereby improving the utilization rate of the first robot 200; the first robot 200 is set on the shelf 100, which can avoid the situation where multiple robots in the aisle 600 need to avoid each other.

[0062] In some embodiments of this application, see Figure 2 , Figure 2 for Figure 1a The diagram shows the three-dimensional structure of the first robot. Figure 1a , Figure 1b and Figure 2 As shown, the first robot 200 is mounted on the outside of the shelf 100 via crossbeams 130 spaced apart in the vertical direction, and the first robot 200 is movably connected to the crossbeams 130 in the direction of the aisle 600.

[0063] The first robot 200 is able to move within the aisle 600 based on the crossbeam 130 to pick up and place different bins 500 of the shelf 100 along the direction of the aisle 600.

[0064] Specifically, such as Figure 1a , Figure 1b and Figure 2 As shown, in this embodiment, the first robot 200 is installed on the shelf 100 via two crossbeams 130, and the crossbeams 130 are fixedly connected to the outer side of the shelf 100 in the length direction.

[0065] Using the embodiments of this application, the first robot 200 can move horizontally along the aisle 600 of the shelf 100, that is, along the length of the shelf 100, to pick up and place various material boxes 500 along the length direction. In addition, the picking and placing component 220 of the first robot 200 can move up and down along the height of the shelf 100 to pick up and place material boxes 500 at different heights of the shelf 100. Specific methods for picking up and placing material boxes will be detailed later.

[0066] In some embodiments of this application, such as Figure 1a , Figure 1b and Figure 2 As shown, the first robot 200 includes: a mounting frame 210 and a picking and placing assembly 220.

[0067] The mounting frame 210 is movably connected to the crossbeam 130 along the aisle 600. The picking and placing component 220 installed on the mounting frame 210 can move horizontally along the crossbeam 130 with the mounting frame 210 to pick up and place different material boxes 500 of the shelves 100 on both sides of the aisle 600 along the aisle 600.

[0068] The picking and placing component 220 is movably connected to the mounting frame 210 in the vertical direction. The picking and placing component 220 can be raised and lowered along the mounting frame 210 to pick and place different material boxes 500 on both sides of the aisle 600 in the height direction of the shelf 100.

[0069] Specifically, the mounting bracket 210 can be a single column, or it can be like... Figure 2 The diagram shows a column mast consisting of two opposing columns 210a. In this embodiment, the mounting frame 210 is a column mast. A picking and placing assembly 220 is disposed between the two columns 210a of the column mast. The picking and placing assembly 220 is slidably connected to the columns 210a on both sides in the vertical direction. The picking and placing assembly 220 can take forms including, but is not limited to, fork-arm type, suction cup type, roller type, hook arm, etc. The picking and placing assembly 220 can extend out of the column mast to pick and place the material boxes 500 on the shelves 100 on both sides of the aisle 600.

[0070] The first robot 200 also includes a lifting assembly 230, which is mounted on a column mast. A picking / placing assembly 220 is installed on the lifting assembly 230. The lifting assembly 230 can drive the picking / placing assembly 222 to move vertically to pick up and place material boxes 500 at different heights on the shelves 100 on both sides of the aisle 600. The lifting assembly 230 may include a lifting motor and a pulley transmission mechanism. The lifting motor drives the pulley transmission mechanism to lift and lower the picking / placing assembly 220.

[0071] Using the embodiments of this application, the picking and placing component 220 of the first robot 200 can pick and place the hopper 500 of the storage area 110 or the buffer area 120 in the horizontal direction based on the crossbeam 130; and can pick and place the hopper 500 of the storage area 110 or the buffer area 120 in the vertical direction based on the mounting frame 210 and the lifting component 230.

[0072] In some embodiments of this application, see Figure 3a and Figure 3b , Figure 3a for Figure 1a A three-dimensional structural diagram of the first embodiment of the second robot shown; Figure 3b for Figure 3a The first and second forks shown are a three-dimensional structural diagram of the second robot in its raised state. Figure 1a , Figure 1b , Figure 3a and Figure 3b As shown, multiple through slots 123 are spaced apart on the material bin buffer layer 122, and the through slots 123 are perpendicular to the length direction of the shelf 100; each through slot 123 and the shelves on both sides form a material bin buffer position 1221 for supporting a material bin 500.

[0073] The cargo platform 320 of the second robot 300 is used to cooperate with the through channel 123 and can move to the bottom of the through channel 123 or move out of the bottom of the through channel 123.

[0074] The lever mechanism 330 includes: a first fork assembly 331 disposed on the front end face of the loading platform 320 and / or a second fork assembly 332 disposed on the rear end face of the loading platform 320; when the second robot 300 moves to the position corresponding to the material box buffer layer 122 in the accommodating space 121, the material box 500 on the material box buffer layer 122 is moved to the loading platform 320 by the first fork assembly 331 or the second fork assembly 332; or, the material box 500 on the loading platform 320 is moved to the material box buffer layer 122 by the first fork assembly 331 or the second fork assembly 332.

[0075] like Figure 3a and Figure 3b As shown, in this embodiment, the lever mechanism 330 includes a first lever fork assembly 331 disposed on the front end face of the cargo platform 320 and a second lever fork assembly 332 disposed on the rear end face of the cargo platform 320.

[0076] Specifically, during the process of the cargo platform 320 being moved to the bottom of the channel 123, the second robot 300 is in a forward-moving state; during the process of the cargo platform 320 being moved out of the bottom of the channel 123, the second robot 300 is in a backward-moving state.

[0077] Each shelf on both sides of the through-slot 123 has a ramp at the end away from the aisle 600. The ramp gradually increases in height from the inside to the outside along the width of the shelf. The lowest point of the ramp is at the same height as the bottom of the material box 500 carried by the loading platform 320. This allows the second robot 300 to move forward during the process of the loading platform 320 being moved to the bottom of the through-slot 123, and the material box 500 to move along the ramp to the material box buffer position 1221 under the push of the second fork assembly 332 on the rear end face of the loading platform 320. During the process of the process of the loading platform 320 being moved out of the bottom of the through-slot 123, the second robot 300 to move backward, and the material box 500 to move along the ramp to the loading platform 320 under the push of the first fork assembly 331 on the front end face of the loading platform 320.

[0078] If the lever mechanism 330 includes only one set of fork assemblies, taking the first fork assembly 331 located on the front face of the cargo platform 320 as an example, its outbound process is the same as the outbound process of the embodiment where the lever mechanism 330 has two sets of fork assemblies. However, during the inbound process, before the cargo platform 320 is moved to the bottom of the channel 123, the second robot 300 needs to first turn its direction so that the rear end of the cargo platform 320 is located near the end of the channel 123, and then move towards the channel 123 to move the cargo platform 320 to the bottom of the channel 123. At this time, the first fork assembly 331 located at the end of the second robot 300 away from the channel 123 pushes the hopper 500 to move along the ramp to the hopper buffer position 1221.

[0079] By applying the embodiments of this application, by setting a first fork assembly 331 on the front end of the loading platform 320 and / or setting a second fork assembly 332 on the rear end of the loading platform 320, the material box 500 can be moved to the loading platform 320 and to the material box buffer layer 122 by the first fork assembly 331 or the second fork assembly 332 during the process of the loading platform 320 being moved to the bottom of the through slot 123 and out of the through slot 123, so as to complete the inbound and outbound process. It is not necessary to lift the material box 500 from the material box buffer layer 122 to move the material box 500 to the material box buffer layer 122, thereby improving the docking and picking efficiency of the second robot 300, and also reducing the distance between the material box buffer layer 122 and the material box storage layer 111, increasing the space of the storage area 110, and increasing the storage capacity of the shelf 100.

[0080] In some embodiments of this application, such as Figure 1a , Figure 3a and Figure 3bAs shown, taking the lever mechanism 330 as an example, which includes two sets of lever fork assemblies, the first lever fork assembly 331 includes: a first lever fork drive motor and a first lever fork 3311; the first lever fork 3311 is disposed on the front end face of the cargo platform 320 and can be rotated and raised or lowered under the drive of the first lever fork drive motor.

[0081] The second fork assembly 332 includes: a second fork drive motor and a second fork 3321; the second fork 3321 is disposed on the rear end face of the cargo platform 320 and can be rotated and raised or lowered under the drive of the second fork drive motor.

[0082] When the goods are put into storage, the first fork 3311 is in the lowered state, and the second fork 3321 is raised upward under the drive of the second fork drive motor, and moves with the loading platform 320 toward the through slot 123, moving the material box 500 on the loading platform 320 onto the material box buffer layer 122.

[0083] When the goods are being shipped out, the second fork 3321 is in the lowered state. The first fork 3311 is moved to the bottom of the channel 123 along with the loading platform 320 and then lifted up under the drive of the first fork drive motor. After that, it moves out of the bottom of the channel 123 along with the loading platform 320 and moves the material box 500 to the loading platform 320.

[0084] Specifically, the number of the first fork 3311 and the second fork 3321 is at least one, and the specific number depends on the width of the cargo platform 320. For example... Figure 3a and Figure 3b As shown, in this embodiment, there are two of each of the first shift fork 3311 and the second shift fork 3321.

[0085] During the process of loading the cargo platform 320 into the warehouse, as it is moved to the bottom of the channel 123, the second fork 3321 abuts against the material box 500 from behind, so that the material box 500 follows the second robot 300 and moves along the ramp to the material box buffer position 1221.

[0086] During the outbound process, as the loading platform 320 is moved out of the bottom of the channel 123, the second fork 3321 abuts against the material box 500 from the front, so that the material box 500 follows the second robot 300 backward and moves along the ramp onto the loading platform 320.

[0087] By controlling the lifting and lowering of the first fork 3311 and the second fork 3321 in this embodiment, the picking and placing of the material box 500 can be achieved, which is simple to control. In addition, the rotation of the first fork 3311 and the second fork 3321 can be controlled while the second robot 300 is moving, which can save time and improve the picking and placing efficiency. Compared with robots that use lifting mechanisms, which need to lift the material box, move it to the bottom of the channel, and lower the material box when entering the warehouse, and move it to the bottom of the channel and lift the material box when leaving the warehouse, this embodiment completes the placement of the material box 500 on the material box buffer layer 122 when the loading platform 320 is moved to the bottom of the channel 123, and completes the placement of the material box 500 on the loading platform 320 when the loading platform 320 is moved out of the bottom of the channel 123, which is more efficient.

[0088] In some embodiments of this application, such as Figure 1a , Figure 3a and Figure 3b As shown, the cargo platform 320 of the second robot 300 is fixed to the top of the motion chassis 310; the cargo platform 320 can be moved to the bottom of the through channel 123 under the drive of the motion chassis 310.

[0089] During the warehousing process, the second robot 300 drives the second fork 3321 to lift upward via the second fork drive motor, and moves the cargo platform 320 toward the through slot 123 via the motion chassis 310, so as to move the material box from the rear end of the material box 500 onto the material box buffer layer 122.

[0090] During the outbound process, the second robot 300 moves the loading platform 320 to the bottom of the channel 123 via the motion chassis 310, so that the first fork 3311 is located on the first side of the material box 500. Then, the first fork drive motor drives the first fork 3311 to lift it upward, and the motion chassis 310 moves the loading platform 320 towards the second side of the material box 500 to take the material box 500 away from the material box buffer layer 122 and move it to the loading platform 320.

[0091] By applying the embodiments of this application, only the movement of the motion chassis 310 needs to be controlled. In addition to realizing the walking function of the second robot 300, the cargo platform 320 can also be moved to or out of the bottom of the through channel 123, which simplifies the control part of the second robot 300.

[0092] In some embodiments of this application, see Figure 3c , Figure 3c for Figure 1a A three-dimensional structural diagram of the second embodiment of the second robot is shown. Figure 1a and Figure 3c As shown, the cargo platform 320 of the second robot 300 is mounted on top of the motion chassis 310 via a telescopic mechanism 340.

[0093] The cargo platform 320 can be moved to the bottom of the channel 123 or moved out of the bottom of the channel 123 by the telescopic mechanism 340.

[0094] During the warehousing process, the second robot 300 moves the cargo platform 320 to one end of the through slot 123 via the motion chassis 310. Then, the second fork drive motor drives the second fork 3321 to lift upwards, and the telescopic mechanism 340 drives the cargo platform 320 to extend towards the through slot 123, so as to move the material box 500 to the material box buffer layer 122 from the rear end of the material box 500.

[0095] During the outbound process, the second robot 300 moves the loading platform 320 to one end of the channel 123 via the motion chassis 310. Then, the telescopic mechanism 340 extends towards the channel 123, moving the loading platform 320 to the bottom of the channel 123, so that the first fork 3311 is located on the side of the material box 500 away from the motion chassis 310. Then, the second robot 300 drives the first fork 3311 to lift it upward via the first fork drive motor, and then retracts it via the telescopic mechanism 340, moving the loading platform 320 out of the bottom of the channel 123, so as to take the material box 500 away from the material box buffer layer 122 and move it to the loading platform 320.

[0096] Specifically, such as Figure 3c As shown, in this embodiment, the telescopic mechanism 340 is a telescopic fork plate, which is set at the bottom of the cargo platform 320 and is slidably connected to the cargo platform 320. It can drive the cargo platform 320 to extend and retract horizontally, so as to move the cargo platform 320 to the bottom of the through groove 123 or move it out of the bottom of the through groove 123.

[0097] The telescopic mechanism 340 can also be a telescopic slide rail, a scissor mechanism, etc. This application does not limit the specific structure of the telescopic mechanism 340.

[0098] Using the embodiments of this application, the second robot 300 can move to one end of the channel 123 and extend towards the material box buffer layer 122 via the telescopic mechanism 340 to dock with the pick-up and drop-off box 500. This increases the movement docking path of the second robot 300, reduces the situation where multiple second robots 300 need to avoid each other, and improves the picking and dropping efficiency of the warehousing system.

[0099] In some embodiments of this application, such as Figures 1a to 1dAs shown, each shelf 100 is a double-deep shelf, and the bin buffer layer 122 of each shelf 100 is a single-deep shelf, and is close to the first side of the shelf 100 along its length. The bin buffer layer 122 is at least one depth away from the second side of the shelf 100 along its length, so that the accommodating space 121 forms a first channel 710 from the bottom of the bin buffer layer 122 to the ground and a second channel 720 from the top of the buffer area 120 to the ground.

[0100] The height of the first channel 710 is sufficient for the second robot 300 to travel unloaded, and the height of the second channel 720 is sufficient for the second robot 300 to travel carrying the material box 500.

[0101] The second robot 300 is used to travel along the aisle 600, the first channel 710 or the second channel 720 to one side of the material box buffer layer 122, move the loading platform 320 to the bottom of the through channel 123, and pick up and put down the material box 500 on the material box buffer layer 122 through the lever mechanism 330.

[0102] Specifically, when the second robot 300 is unloaded, it can travel along any passage in the roadway 600 and buffer zone 120 on the ground. When it is carrying the material box 500, it can travel along the roadway 600 and the second passage 720. When there are other second robots 300 in the direction of travel of the second robot 300, the second robot 300 can avoid them and continue to travel in other passages.

[0103] The first robot 200 can be a single-depth pick-and-place robot, and each aisle 600 needs to be equipped with a first robot 200 for picking and placing the material boxes 500 on the side of the adjacent two shelves 100 that are close to the aisle 600. The first robot 200 can also be a double-depth pick-and-place robot, capable of picking and placing the material boxes 500 on the adjacent two shelves 100 that are close to or far from the aisle 600.

[0104] In this embodiment of the application, multiple channels are set on the ground for the second robot 300 to travel on. When the second robot 300 is unloaded, it can travel along any channel within the aisle 600 and buffer area 120. When carrying the material box 500, it can travel along the aisle 600 and the second channel 720, allowing the second robot 300 to flexibly avoid obstacles and improve handling efficiency. The specific handling process is described in detail later.

[0105] In some embodiments of this application, such as Figures 1a to 1d As shown, the second robot 300 is used to move the material box 500 to be stored from the workstation 400 to the shelf 100 during the storage process, and travel along the aisle 600 or the second channel 720 to one side of the material box buffer layer 122, move the loading platform 320 to the bottom of the through channel 123, and move the material box 500 on the loading platform 320 to the material box buffer layer 122 through the second fork assembly 332.

[0106] The second robot 300 is also used to move empty to the shelf 100 during outbound operations, and travel along the aisle 600, the first channel 710 or the second channel 720 to one side of the bin buffer layer 122, move the loading platform 320 to the bottom of the through slot 123, and use the first fork assembly 331 to move the bin 500 waiting to be outbound on the bin buffer layer 122 to the loading platform 320, and leave the shelf 100 along the aisle 600 or the second channel 720 and go to the workstation 400 to place the bin 500.

[0107] Specifically, after the material bin 500 is put into storage, the second robot 300 can travel unloaded along the aisle 600, the first channel 710 or the second channel 720 to the workstation 400, or pick up the material bin 500 waiting to be put out of storage on the material bin buffer layer 122 and then travel along the aisle 600 or the second channel 720 to the workstation 400.

[0108] After the material bin 500 leaves the warehouse, the second robot 300 can travel unloaded along the aisle 600, the first channel 710 or the second channel 720 to the material bin buffer layer 122 to pick up the material bin 500 to be left out, or pick up the material bin 500 to be put into the warehouse on the workstation 400 and then travel along the aisle 600 or the second channel 722 to the material bin buffer layer 122.

[0109] Based on the handling process of the second robot 300 provided in the embodiments of this application, it can cooperate with the first robot 200 to realize the entry and exit of the material box 500 of the double-deep rack, thereby improving the handling efficiency of the warehousing system.

[0110] In some embodiments of this application, see Figure 4 , Figure 4 A side view of a warehousing system (first robot not shown) provided in the second embodiment of this application. Figure 4 As shown, each shelf 100 is a four-deep shelf, with each side of the shelf 100 facing an aisle 600. Each shelf 100 has two material box buffer layers 122, both of which are single-deep, and are respectively set on the side of the shelf 100 facing the aisle 600 along its length.

[0111] The two bin buffer layers 122 of the four-deep rack are at least two depths apart, such that the accommodating space 121 is located on both sides of the aisle 600, forming a third passage 730 from the bottom of the bin buffer layer 122 to the ground, and a fourth passage 740 located in the middle area of ​​the accommodating space 121 from the top of the buffer area 120 to the ground.

[0112] The height of the third channel 730 is sufficient for the second robot 300 to travel unloaded, and the height of the fourth channel 740 is sufficient for the second robot 300 to travel carrying the material box 500. The second robot 300 can travel along the aisle 600, the third channel 730 or the fourth channel 740 to one side of the material box buffer layer 122, move the loading platform 320 to the bottom of the through channel 123, and pick up and put down the material box 500 on the material box buffer layer 122 through the lever mechanism 330.

[0113] Specifically, the first robot 200 is a double-deep or multi-deep picking and placing robot, capable of picking and placing double-deep or multi-deep bins 500 on two adjacent shelves 100.

[0114] The width of the fourth channel 740 is at least two depths. When the second robot 300 needs to pick up or put down a hopper 500 on one side of the hopper buffer layer 122, it can travel to the aisle 600 or the fourth channel 740 near the hopper buffer layer 122 to pick up or put down the hopper.

[0115] In this embodiment of the application, the rack 100 is a four-depth rack, which increases the storage capacity of the warehousing system and widens the aisles within the buffer area for the second robot 300 to travel on. Multiple aisles are provided on the ground for the second robot 300 to travel on. When unloaded, the second robot 300 can travel along the aisle 600 and any aisle within the buffer area 120. When carrying the material box 500, it can travel along the aisle 600 and the fourth aisle 740, allowing the second robot 300 to maneuver flexibly and improve handling efficiency. Detailed handling processes are described later.

[0116] In some embodiments of this application, such as Figure 4 As shown, when the second robot 300 is entering the warehouse, it carries the material box 500 to be stored from the workstation 400 to the shelf 100, and travels along the aisle 600 or the fourth channel 740 to one side of the material box buffer layer 122. It moves the loading platform 320 to the bottom of the through channel 123, and moves the material box 500 on the loading platform 320 to the material box buffer layer 122 through the second fork assembly 332.

[0117] The second robot 300 is also used to move empty to the shelf 100 during outbound operations, and travel along the aisle 600, the third channel 730 or the fourth channel 740 to one side of the bin buffer layer 122, move the loading platform 320 to the bottom of the through slot 123, and use the first fork assembly 331 to move the bin 500 waiting to be outbound on the bin buffer layer 122 to the loading platform 320, and leave the shelf 100 along the aisle 600 or the fourth channel 740 and go to the workstation 400 to place the bin 500.

[0118] Specifically, after the material bin 500 is put into storage, the second robot 300 can travel unloaded along the aisle 600, the third channel 730 or the fourth channel 740 to the workstation 400, or pick up the material bin 500 waiting to be put out of storage on the material bin buffer layer 122 and then travel along the aisle 600 or the fourth channel 740 to the workstation 400.

[0119] After the material bin 500 leaves the warehouse, the second robot 300 can travel unloaded along the aisle 600, the third channel 730 or the fourth channel 740 to the material bin buffer layer 122 to pick up the material bin 500 to be left out, or pick up the material bin 500 to be put into the warehouse on the workstation 400 and then travel along the aisle 600 or the fourth channel 740 to the material bin buffer layer 122.

[0120] Based on the handling process of the second robot 300 provided in the embodiments of this application, it can cooperate with the first robot 200 to realize the entry and exit of the material box 500 of the four-deep shelf, thereby improving the handling efficiency of the warehousing system.

[0121] In some embodiments of this application, see Figure 5 , Figure 5 A side view of a warehousing system (without a first robot) provided in the third embodiment of this application. Figure 5 As shown, the four-deep rack includes: two double-deep racks spliced ​​back to back, and two material box buffer layers 122 respectively set on the side of each of the two double-deep racks near the aisle 600.

[0122] The middle area of ​​the accommodating space 121 includes a fourth aisle 740 from the top of the buffer area 120 to the ground, comprising a fifth aisle 750 located at the bottom of the first double-deep shelving and a sixth aisle 760 located at the bottom of the second double-deep shelving.

[0123] The second robot 300 is used to travel along aisle 600, third aisle 730 or fifth aisle 750 to one side of the bin buffer layer 122 of the first double-deep rack, move the loading platform 320 to the bottom of the through slot 123, and pick up or put down the bin 500 on the bin buffer layer 122 through lever mechanism 330; or, travel along aisle 600, third aisle 730 or sixth aisle 760 to one side of the bin buffer layer 122 of the second double-deep rack, move the loading platform 320 to the bottom of the through slot 123, and pick up or put down the bin 500 on the bin buffer layer 122 through lever mechanism 330.

[0124] Specifically, the four-deep rack includes two double-deep racks spliced ​​back to back. The rack legs on one side of the splicing surface of the two double-deep racks divide the fourth aisle 740 into a fifth aisle 750 located at the bottom of the first double-deep rack and a sixth aisle 760 located at the bottom of the second double-deep rack.

[0125] The second robot 300 enters from the end of the fifth aisle 750 or the sixth aisle 760, and can then switch between the fifth aisle 750 and the sixth aisle 760 to approach the bin buffer layer 122 of the first double-deep rack or the second double-deep rack to pick up or put down the bin 500.

[0126] Based on the handling process of the second robot 300 provided in the embodiments of this application, it can cooperate with the first robot 200 to realize the entry and exit of the material box 500 of two back-to-back double-deep shelves, thereby improving the handling efficiency of the warehousing system.

[0127] In some embodiments of this application, see Figure 6 , Figure 6 for Figure 1d The diagram shows the 3D structure of the workstation. Figure 1d and Figure 6 As shown, workstation 400 is equipped with a sorting table 410, which has an interface 411 for outbound material boxes and an interface 412 for inbound material boxes.

[0128] The sorting station 410 can receive the material box 500 at the outbound material box interface 411, then transport the material box 500 for sorting, and output the sorted material box 500 at the inbound material box interface 412.

[0129] The second robot 300 is used to carry the outbound material box 500 to the outbound material box interface 411, dock with the outbound material box interface 411 to unload the material box 500, and then go to the inbound material box interface 412 to pick up the material box 500 or go to the shelf 100 to continue picking up the outbound material box 500.

[0130] Specifically, the second robot 300 is also used to move unloaded to the material box interface 412, dock with the material box interface 412 to pick up the material box 500, and then go to the shelf 100 to place the material box 500 in the material box buffer layer 122.

[0131] The outgoing material box interface 411 and the incoming material box interface 412 are located at the bottom of the sorting table 410. The top of the sorting table 410 is equipped with a conveying mechanism 413. The outgoing material box interface 411 is connected to the conveying mechanism 413 through the first lifting channel 414, and the incoming material box interface 412 is connected to the conveying mechanism 413 through the second lifting channel 415.

[0132] The specific sorting process is as follows: The second robot 300, carrying the outbound bins 500, moves to below the outbound bin docking interface 411 and docks with it. The first lifting channel 414 moves the outbound bins 500 upward to the conveying mechanism 413. The conveying mechanism 413 transports the outbound bins 500 towards the second lifting channel 415. During the transport process on the conveying mechanism 413, the staff sorts the outbound bins 500 on the conveying mechanism 413, sorting out the goods that need to be shipped. The sorted bins 500, i.e., the inbound bins 500, are transported by the conveying mechanism 413 to the second lifting channel 415, and then moved downward through the second lifting channel 415 to the empty second robot 300 located below the inbound bin docking interface 412. The second robot 300 then moves back to the shelf 100 for storage.

[0133] By applying the embodiments of this application, the second robot 300 only needs to briefly pause at the outbound material box interface 411 or the inbound material box interface 412 to complete the docking and loading / unloading of the material box 500, thereby improving the efficiency of the warehousing system for loading and unloading goods.

[0134] In other embodiments of this application, the workstation 400 may also be in the form of a conveyor line. The upstream of the conveyor line is used to dock with the second robot 300 to receive the outgoing material box 500 on the second robot 300. The worker is located next to the conveyor line to sort the outgoing material box 500 transported from the upstream, or to place external incoming material boxes 500 on the conveyor line. The downstream of the conveyor line is used to dock with the second robot 300 to transfer the sorted material box 500 and the incoming material box 500 placed on the conveyor line by the worker to the empty second robot 300.

[0135] To illustrate the above scheme more clearly, the warehousing system of the fourth embodiment will be described in detail below.

[0136] See Figures 7a to 7c , Figure 7a A three-dimensional structural diagram of the warehousing system provided in the fourth embodiment of this application; Figure 7b for Figure 7a A front view schematic diagram of the warehouse system shown. Figure 7c for Figure 7a The diagram shows a top view of the warehousing system. Figures 7a to 7c As shown, the warehousing system includes: a shelf 100, a first robot 200, a second robot 300, and a workstation 400.

[0137] The rack 100 includes: a storage rack 2-110 and a buffer rack 2-120. The storage rack 2-110 is provided with a material box storage layer 111 for storing material boxes 500; the buffer rack 2-120 is adjacent to or integrated with the storage rack 2-110; the buffer rack 2-120 is provided with a material box buffer layer 122 for buffering material boxes 500.

[0138] The first robot 200 is disposed on at least one side of the storage rack 2-110 and is used to pick up and place the bin 500 between the bin storage layer 111 and the bin buffer layer 122.

[0139] The second robot 300 is capable of moving the bin 500 between the workstation 400 and the bin buffer layer 122 of the buffer shelf 2-120.

[0140] The second robot 300 includes: a motion chassis 310, a loading platform 320, and a pick-and-place mechanism 2-330; the loading platform 320 is mounted on the top of the motion chassis 310; the pick-and-place mechanism 2-330 is fixed on the loading platform 320 and is used to move the loading platform 320 horizontally relative to the material box buffer layer 122 when the second robot 300 moves to the position corresponding to the material box buffer layer 122, so as to move the material box 500 on the material box buffer layer 122 to the loading platform 320, or move the material box 500 on the loading platform 320 to the material box buffer layer 122.

[0141] The warehousing system provided in this application embodiment includes a first robot 200 that retrieves and places boxes 500 between the box storage layer 111 and the box buffer layer 122, and a second robot 300 that transports boxes 500 between the workstation 400 and the box buffer layer 122 of the buffer rack 2-120. The first robot 200 and the second robot 300 work together to achieve the inbound and outbound operations of boxes 500 in the warehousing system, thereby improving the retrieval and placement efficiency of the warehousing system. Furthermore, the second robot 300 retrieves and places boxes 500 by horizontally moving the retrieval and placement mechanism 2-330 relative to the box buffer layer 122. This allows the height of the box buffer layer 122 from the ground to be set slightly higher than the height of the loading platform 320, meaning the box buffer layer 122 can be set lower, thus allowing for more box storage layers 111 and increasing the storage capacity of the rack 100.

[0142] Specifically, in the warehousing system, the buffer rack 2-120 and the storage rack 2-110 can be adjacent in either a vertical or horizontal direction; their specific positional relationship will be detailed later. The picking and placing mechanism 2-330 of the second robot 300 can be a suction mechanism 2-330A or a lever mechanism 330, which is the same as the lever mechanism 330 in the first warehousing system; the specific structure of the picking and placing mechanism 2-330 will also be detailed later.

[0143] In the warehousing system, apart from the structure and positional relationship of storage racks 2-110 and cache racks 2-120 and the structure of the second robot 300, the rest can adopt the same settings as the warehousing system in the first embodiment, which will not be described in detail here.

[0144] The process of the first robot 200 picking up and placing the material box 500 and the process of the second robot 300 transporting the material box 500 in the warehousing system are the same as those in the warehousing system of the first embodiment, and will not be described again here.

[0145] In some embodiments of this application, see Figures 8a to 8c , Figure 8a for Figure 7a The diagram shows the first structural diagram of the shelving system in the warehouse system shown. Figure 8b for Figure 7a The second structural diagram of the shelving system shown is presented. Figure 8c for Figure 7a The diagram shows the third structural design of the shelving system in the warehouse system.

[0146] like Figure 8a As shown, storage rack 2-110 and buffer rack 2-120 are integrated racks. The bottom layer of the integrated rack is the material box buffer layer 122, and the remaining layers are material box storage layers 111. Each material box storage layer 111 is divided into multiple material box storage positions 1111, and each material box storage position 1111 is used to store one material box 500. Figure 8a The shelf 100 structure shown in the embodiment is the same as the shelf 100 structure in the storage system of the first embodiment, and will not be described again here.

[0147] Or, such as Figure 8b As shown, storage rack 2-110 and cache rack 2-120 are two independent racks; the bottom layer 111 of storage rack 2-110 has a preset height between itself and the ground, forming a storage space to accommodate cache rack 2-120.

[0148] Or, such as Figure 8c As shown, storage shelf 2-110 and cache shelf 2-120 are two independent shelves; cache shelf 2-120 is located on at least one side of storage shelf 2-110 and has a gap between it and storage shelf 2-110 to accommodate the first robot 200.

[0149] Specifically, adopt Figure 8a and Figure 8b When the shelf 100 structure is shown, the second robot 300 moves horizontally relative to the bin buffer layer 122 via the pick-and-place mechanism 2-330 to pick up and place the bin 500. This eliminates the need to lift the bin 500 from the bin buffer layer 122, reducing the distance between the bin buffer layer 122 and the bin storage layer 111. This further increases the space of the storage shelf 2-110, allowing for more bin storage layers 111 to be set up, thereby increasing the storage capacity of the shelf 100.

[0150] use Figure 8c When the shelving 100 structure is shown, the bottom of the storage shelving 2-110 does not need to reserve space, allowing for more storage bin layers 111, thereby increasing the storage capacity of the shelving 100. Furthermore, the picking and placing component of the first robot 200 can extend and retract bidirectionally in the horizontal direction relative to the column mast to pick and place bins 500 located on the storage shelving 2-110 and buffer shelving 2-120 on both sides of the first robot 200.

[0151] The embodiments of this application will be described below. Figure 8a The structure of the shelf 100 shown is used as an example for explanation.

[0152] In some embodiments of this application, such as Figure 7a and Figure 7b As shown, multiple material bin buffer positions 1221 are arranged sequentially along the length direction on the material bin buffer layer 122, and each material bin buffer position 1221 is used to hold one material bin 500.

[0153] Each bin buffer position 1221 is provided with at least one picking slot 2-123, the picking slot 2-123 being perpendicular to the length direction of the buffer shelf 2-120; the bin buffer layer 122 forms a bin buffer position 1221 at each picking slot 2-123 for holding a bin 500.

[0154] The cargo platform 320 of the second robot 300 is used to cooperate with the picking slot 2-123 and can move to the bottom of the picking slot 2-123 or move out of the bottom of the picking slot 2-123.

[0155] The loading and unloading mechanism 2-330 can move horizontally under the drive of the cargo platform 320.

[0156] When the goods are received, the material box 500 on the loading platform 320 is connected to the picking and placing mechanism 2-330. The loading platform 320 moves to the bottom of the picking slot 2-123, so that the material box 500 moves to the material box buffer position 1221. The picking and placing mechanism 2-330 disconnects from the material box 500 and moves out of the bottom of the picking slot 2-123 under the drive of the loading platform 320, so as to move the material box 500 from the loading platform 320 to the material box buffer layer 122.

[0157] When the goods are being shipped out, the loading platform 320 moves the picking and placing mechanism 2-330 to the bottom of the picking slot 2-123. The picking and placing mechanism 2-330 is connected to the material box 500. The loading platform 320 moves the picking and placing mechanism 2-330 out of the bottom of the picking slot 2-123 to move the material box 500 from the material box buffer layer 122 to the loading platform 320.

[0158] By applying the embodiments of this application, the loading platform 320 drives the picking and placing mechanism 2-330 to translate to complete the entry and exit of the warehouse. There is no need to lift the material box 500 from the material box buffer layer 122. The material box 500 can be transferred between the loading platform 320 and the material box buffer layer 122, which improves the docking and picking efficiency of the second robot 300.

[0159] In some embodiments of this application, see Figure 9a and Figure 9b , Figure 9a for Figure 7a The diagram shows the first structural diagram of the bin buffer layer in the storage system. Figure 9b for Figure 7a The diagram shows a second structural diagram of the bin buffer layer in the storage system. (See diagram for example.) Figure 9a As shown, each bin buffer position 1221 has one picking slot 2-123, which is a through slot 123. Each through slot 123 and the shelves on both sides form a bin buffer position 1221. The loading platform 320 is flat to cooperate with the through slot 123. Figure 9a The structure of the picking slots 2-123 in the illustrated embodiment is the same as that of the picking slot 123 in the warehousing system of the first embodiment, and will not be described again here.

[0160] Or, such as Figure 9b As shown, there are multiple picking slots 2-123 on each material bin buffer position 1221. Each picking slot 2-123 is a single-opening slot 2-123B with its opening facing the inside of the buffer shelf 2-120. Multiple single-opening slots 2-123B are spaced apart to form a comb-shaped slot 2-1230. The loading platform 320 is comb-shaped to cooperate with the comb-shaped slot 2-1230.

[0161] See Figures 10a to 10c , Figure 10a for Figure 7aThe diagram shows the first structural diagram of the second robot in the warehousing system. Figure 10b for Figure 7a The diagram shows a second structural diagram of the second robot in the warehousing system. Figure 10c for Figure 7a The diagram shows the third structure of the second robot in the warehousing system.

[0162] like Figure 10a and Figure 10b The second robot 300 shown has a flat cargo platform 320 for engaging with the through-slot 123. Figure 10c The second robot 300 shown has a comb-shaped cargo platform 320 for engaging with comb-shaped slots 2-1230. The number of comb teeth on the cargo platform 320 corresponds to the number of single-opening slots 2-123B in each comb-shaped slot 2-1230, but the specific number is not limited in this application. For example, such as... Figure 9b and Figure 10c As shown, the cargo platform 320 has 5 comb teeth, and correspondingly, each comb-shaped groove 2-1230 has 5 single-opening grooves 2-123B.

[0163] in, Figure 10b and Figure 10c The second robot 300 has a pick-and-place mechanism 2-330, which is a suction mechanism 2-330A. The suction mechanism 2-330A includes a suction cup 2-331. The second robot 300 picks up or releases the hopper 500 through the suction cup 2-331 to move the hopper 500 on the hopper buffer layer 122 to the loading platform 320, or to move the hopper 500 on the loading platform 320 to the hopper buffer layer 122.

[0164] The quantity of suction cups 2-331 is not limited in this application; it can be set specifically based on the dimensions of the 320-ton loading platform and the weight of the 500-ton material bin. For example, if... Figure 10b As shown, there are two suction cups 2-331, located at both ends of the loading platform 320, to pick up both ends of the material box 500, thereby improving the stability of the connection between the picking and placing mechanism 2-330 and the material box 500, as well as the stability when transferring the material box 500.

[0165] The suction cup 2-331 is level with or slightly higher than the loading platform 320. As long as the suction cup 2-331 can move with the loading platform 320 into the picking slot 2-123, the picking and placing of the material box 500 can be completed.

[0166] Or, such as Figure 10aAs shown, the picking and placing mechanism 2-330 of the second robot 300 is a lever mechanism 330. The second robot 300 moves the material box 500 on the material box buffer layer 122 to the loading platform 320, or moves the material box 500 on the loading platform 320 to the material box buffer layer 122 through the lever mechanism 330. Figure 10a The structure of the picking and placing mechanism 2-330 in the embodiment shown is the same as that of the lever mechanism 330 in the storage system of the first embodiment, and will not be described again here.

[0167] like Figure 7b As shown, when the picking and placing mechanism 2-330 of the second robot 300 is a lever mechanism 330, during the picking process, when the second robot 300 moves towards the target material box buffer position 1221, the lever mechanism 330 can be lifted, and the moving chassis 310 drives the loading platform 320 through the through groove 123, so that the lever mechanism 330 can move the material box 500 to the loading platform 320. During the whole process, the second robot 300 does not need to stop at the material box buffer position 1221, thereby improving the picking efficiency.

[0168] In addition to the suction mechanism 2-330A and the lever mechanism 330, in other embodiments of this application, the pick-up and place mechanism 2-330 may also be a clamping pick-up and place mechanism, which clamps and picks up the material box 500 when the loading platform 320 is moved to the bottom of the picking slot 2-123.

[0169] In some embodiments of this application, such as Figure 10a As shown, the cargo platform 320 of the second robot 300 is fixed to the top of the motion chassis 310; the cargo platform 320 can be moved to the bottom of the picking slot 2-123 or moved out of the bottom of the picking slot 2-123 under the drive of the motion chassis 310. Figure 10a The structure of the embodiment shown is similar to Figure 3a The first embodiment shown is the same, and will not be described again here.

[0170] By applying the embodiments of this application, only the movement of the motion chassis 310 needs to be controlled. In addition to realizing the walking function of the second robot 300, the cargo platform 320 can also be moved to or out of the bottom of the cargo retrieval slot 2-123, which simplifies the control part of the second robot 300.

[0171] In some embodiments of this application, see Figure 10d , Figure 10d for Figure 7a The diagram shows the fourth structural diagram of the second robot in the warehousing system. (See diagram for example.) Figure 10d As shown, the cargo platform 320 of the second robot 300 is mounted on top of the motion chassis 310 via a telescopic mechanism 340.

[0172] The cargo platform 320 can be moved to the bottom of the loading slot 2-123 or moved out of the bottom of the loading slot 2-123 by the telescopic mechanism 340. Figure 10d The structure of the embodiment shown is similar to Figure 3c The first embodiment shown is the same, and will not be described again here.

[0173] Using the embodiments of this application, the second robot 300 can move to one end of the picking slot 2-123 and extend towards the material box buffer layer 122 via the telescopic mechanism 340 to dock with the picking and placing box 500. This increases the movement docking path of the second robot 300, reduces the situation where multiple second robots 300 need to avoid each other, and improves the picking and placing efficiency of the warehousing system.

[0174] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A warehousing system characterized by, The warehouse system comprises a shelf (100), a first robot (200), a second robot (300) and a workstation (400). The shelf (100) comprises a storage area (110) and a buffer area (120); the storage area (110) is provided with a bin storage layer (111) for storing bins (500); the buffer area (120) is located at the bottom of the storage area (110); the buffer area (120) has a preset height between the top of the buffer area (120) and the ground, forming an accommodation space (121), and the accommodation space (121) is provided with a bin buffer layer (122) for buffering bins (500). The first robot (200) is arranged on one side of the shelf (100) and is used to take and place bins (500) between the bin storage layer (111) and the bin buffer layer (122). The second robot (300) can carry bins (500) between the workstation (400) and the bin buffer layer (122) of the shelf (100). The second robot (300) comprises a moving chassis (310), a cargo carrying platform (320) and a lever mechanism (330); the cargo carrying platform (320) is installed on the top of the moving chassis (310); the lever mechanism (330) is fixed on the cargo carrying platform (320) and is used to move the bins (500) on the bin buffer layer (122) to the cargo carrying platform (320) or move the bins (500) on the cargo carrying platform (320) to the bin buffer layer (122) when the second robot (300) moves to a position corresponding to the bin buffer layer (122) in the accommodation space (121).

2. The warehouse system according to claim 1, wherein a plurality of through slots (123) are arranged on the bin buffer layer (122) at intervals, and the through slots (123) are perpendicular to the length direction of the shelf (100); each through slot (123) and the layer plates on both sides of the through slot (123) form a bin buffer position (1221) for carrying a bin (500); the cargo carrying platform (320) of the second robot (300) is used to cooperate with the through slots (123) and can move to the bottom of the through slots (123) or move out of the bottom of the through slots (123); the lever mechanism (330) comprises a first lever assembly (331) arranged on the front end face of the cargo carrying platform (320) and / or a second lever assembly (332) arranged on the rear end face of the cargo carrying platform (320); when the second robot (300) moves to a position corresponding to the bin buffer layer (122) in the accommodation space (121), the bins (500) on the bin buffer layer (122) are moved to the cargo carrying platform (320) by the first lever assembly (331) or the second lever assembly (332); or, the bins (500) on the cargo carrying platform (320) are moved to the bin buffer layer (122) by the first lever assembly (331) or the second lever assembly (332). ​ 3. The warehouse system according to claim 2, wherein, the shifter mechanism (330) comprises a first shifter assembly (331) arranged at the front end face of the loading platform (320) and a second shifter assembly (332) arranged at the rear end face of the loading platform (320); the first shifter assembly (331) comprises a first shifter drive motor and a first shifter (3311); the first shifter (3311) is arranged at the front end face of the loading platform (320) and can be lifted up or lowered down under the drive of the first shifter drive motor; the second shifter assembly (332) comprises a second shifter drive motor and a second shifter (3321); the second shifter (3321) is arranged at the rear end face of the loading platform (320) and can be lifted up or lowered down under the drive of the second shifter drive motor; when storing, the first shifter (3311) is in the lowered state, the second shifter (3321) is lifted up under the drive of the second shifter drive motor, and the loading platform (320) is moved towards the through slot (123) to shift the bin (500) on the loading platform (320) to the bin buffer layer (122); when taking out, the second shifter (3321) is in the lowered state, the first shifter (3311) is lifted up under the drive of the first shifter drive motor after being moved to the bottom of the through slot (123) following the loading platform (320), and then the loading platform (320) is moved out of the bottom of the through slot (123) to shift the bin (500) to the loading platform (320).

4. The warehouse system according to claim 3, wherein, the loading platform (320) of the second robot (300) is fixed to the top of the motion chassis (310); the loading platform (320) can be moved to the bottom of the through slot (123) under the drive of the motion chassis (310); when storing, the second robot (300) lifts up the second shifter (3321) under the drive of the second shifter drive motor and drives the loading platform (320) to move towards the through slot (123) to shift the bin (500) from the rear end to the bin buffer layer (122); when taking out, the second robot (300) moves the loading platform (320) to the bottom of the through slot (123) to make the first shifter (3311) located at the first side of the bin (500), then lifts up the first shifter (3311) under the drive of the first shifter drive motor, and drives the loading platform (320) to move towards the second side of the bin (500) to take the bin (500) away from the bin buffer layer (122) and shift it to the loading platform (320).

5. The warehouse system according to claim 3, wherein, The second robot (300) is provided with a cargo platform (320) installed on the top of the moving chassis (310) through a telescopic mechanism (340); The cargo platform (320) can be moved to the bottom of the through slot (123) or moved out of the bottom of the through slot (123) under the drive of the telescopic mechanism (340); When storing, the second robot (300) drives the cargo platform (320) to move to one end of the through slot (123) through the moving chassis (310), then drives the second fork (3321) to lift up through the second fork drive motor, and drives the cargo platform (320) to extend towards the through slot (123) through the telescopic mechanism (340), so as to move the bin from the rear end of the bin (500) to the bin buffer layer (122); When storing, the second robot (300) drives the cargo platform (320) to move to one end of the through slot (123) through the moving chassis (310), then drives the second fork (3321) to lift up through the second fork drive motor, and drives the cargo platform (320) to extend towards the through slot (123) through the telescopic mechanism (340), so as to move the bin from the rear end of the bin (500) to the bin buffer layer (122); 6. The warehousing system according to claim 2, characterized in that, The number of the shelves (100) is multiple, and multiple shelves (100) are arranged at intervals, and the interval region between the shelves (100) forms a lane (600); The first robot (200) is arranged on any shelf (100) on both sides of the lane (600), and can take and place the bins (500) on the shelves (100) on both sides of the lane (600).

7. The warehousing system according to claim 6, characterized in that, Each of the shelves (100) is a double-depth shelf, the bin buffer layer (122) of each of the shelves (100) is a single-depth, and is close to the first side of the shelf (100) in the length direction, the bin buffer layer (122) and the second side of the shelf (100) in the length direction have a distance of at least one depth, so that the accommodation space (121) forms a first channel (710) from the bottom of the bin buffer layer (122) to the ground and a second channel (720) from the top of the buffer area (120) to the ground; wherein the height of the first channel (710) can allow the second robot (300) to travel empty, and the height of the second channel (720) can allow the second robot (300) to travel while carrying the bin (500); The second robot (300) is used to drive to one side of the bin buffer layer (122) along the aisle (600), the first passage (710) or the second passage (720), move the loading platform (320) to the bottom of the through slot (123), and take and place the bin (500) on the bin buffer layer (122) through the lever mechanism (330).

8. The warehouse system according to claim 7, characterized in that, The second robot (300) is used to carry the bin (500) to be stored from the workstation (400) to the shelf (100) during storage, drive to one side of the bin buffer layer (122) along the aisle (600) or the second passage (720), move the loading platform (320) to the bottom of the through slot (123), and move the bin (500) on the loading platform (320) to the bin buffer layer (122) through the second fork assembly (332); The second robot (300) is also used to move to the shelf (100) empty during storage, drive to one side of the bin buffer layer (122) along the aisle (600), the first passage (710) or the second passage (720), move the loading platform (320) to the bottom of the through slot (123), move the bin (500) to be taken out on the bin buffer layer (122) to the loading platform (320) through the first fork assembly (331), and leave the shelf (100) along the aisle (600) or the second passage (720) and go to the workstation (400) to place the bin (500).

9. The warehouse system according to claim 6, characterized in that, Each of the shelves (100) is a four-deep shelf, and the shelves (100) are respectively located on one aisle (600) on both sides; each of the bin buffer layers (122) of the shelf (100) has two single-deep bin buffer layers (122) respectively arranged on the side of the shelf (100) facing the aisle (600) in the length direction of the shelf (100); The distance between the two bin buffer layers (122) of the four-deep shelf is at least two deep positions, so that the two sides of the containing space (121) close to the aisle (600) respectively form a third passage (730) from the bottom of the bin buffer layer (122) to the ground, and a fourth passage (740) in the middle region of the containing space (121) from the top of the buffer area (120) to the ground; the height of the third passage (730) can allow the second robot (300) to travel empty, and the height of the fourth passage (740) can allow the second robot (300) to travel while carrying the bin (500); the second robot (300) can drive to one side of the bin buffer layer (122) along the aisle (600), the third passage (730) or the fourth passage (740), move the loading platform (320) to the bottom of the through slot (123), and take and place the bin (500) on the bin buffer layer (122) through the lever mechanism (330).

10. The warehouse system according to claim 9, characterized in that, The second robot (300) carries the to-be-stored bin (500) from the workstation (400) to the rack (100) and drives along the aisle (600) or the fourth channel (740) to one side of the bin buffer layer (122), moves the loading platform (320) to the bottom of the slot (123), and moves the bin (500) on the loading platform (320) to the bin buffer layer (122) through the second fork assembly (332). The second robot (300) is also used for emptying to move to the rack (100), driving along the aisle (600), the third channel (730) or the fourth channel (740) to one side of the bin buffer layer (122), moving the loading platform (320) to the bottom of the slot (123), moving the bin (500) to be taken out on the bin buffer layer (122) to the loading platform (320) through the first fork assembly (331), and leaving the rack (100) along the aisle (600) or the fourth channel (740) and going to the workstation (400) to place the bin (500).

11. The warehouse system according to claim 9, characterized in that, The four-deep rack comprises two back-to-back spliced double-deep racks, and two bin buffer layers (122) are respectively arranged on the sides of the two double-deep racks close to the aisle (600); The middle region of the containing space (121) from the top of the buffer area (120) to the ground fourth channel (740) comprises a fifth channel (750) at the bottom of the first double-deep rack and a sixth channel (760) at the bottom of the second double-deep rack; The second robot (300) is used for driving to one side of the bin buffer layer (122) of the first double-deep rack along the aisle (600), the third channel (730) or the fifth channel (750), moving the loading platform (320) to the bottom of the slot (123), and taking and placing the bin (500) on the bin buffer layer (122) through the lever mechanism (330); or driving to one side of the bin buffer layer (122) of the second double-deep rack along the aisle (600), the third channel (730) or the sixth channel (760), moving the loading platform (320) to the bottom of the slot (123), and taking and placing the bin (500) on the bin buffer layer (122) through the lever mechanism (330).

12. The warehousing system of claim 1, wherein, The number of bin storage layers (111) is multiple, each bin storage layer (111) is divided into multiple bin storage positions (1111), and each bin storage position (1111) is used for storing a bin (500).

13. The warehousing system of claim 6, wherein, The first robot (200) is installed outside the rack (100) through the horizontally arranged cross beams (130), and the first robot (200) and the cross beams (130) are movably connected along the aisle (600). The first robot (200) can move based on the cross beam (130) in the aisle (600) to take and place different bins (500) of the rack (100) along the aisle (600).

14. The warehousing system according to claim 13, characterized in that, The first robot (200) comprises a mounting frame (210) and a taking and placing component (220); The mounting frame (210) is movably connected with the cross beam (130) along the aisle (600), and the taking and placing component (220) arranged on the mounting frame (210) can move horizontally based on the cross beam (130) together with the mounting frame (210) to take and place different bins (500) of the rack (100) along the aisle (600) on both sides of the aisle (600); The taking and placing component (220) is movably connected with the mounting frame (210) in the vertical direction, and the taking and placing component (220) can be lifted along the mounting frame (210) to take and place different bins (500) of the rack (100) in the height direction on both sides of the aisle (600).

15. The warehousing system of claim 1, wherein, The workstation (400) is provided with a sorting table (410), and the sorting table (410) is provided with a to-be-outbound bin docking port (411) and a to-be-inbound bin docking port (412); The sorting table (410) can receive a bin (500) at the to-be-outbound bin docking port (411), then transport the bin (500) for sorting, and output the sorted bin (500) at the to-be-inbound bin docking port (412); The second robot (300) is used to carry a to-be-outbound bin (500) to the to-be-outbound bin docking port (411), dock with the to-be-outbound bin docking port (411) to unload the bin (500), then go to the to-be-inbound bin docking port (412) to pick up a to-be-inbound bin (500) or go to the rack (100) to continue picking up a to-be-outbound bin (500).

16. A warehousing system characterized by, Comprise: a rack (100), a first robot (200), a second robot (300), and a workstation (400); The rack (100) comprises a storage rack (2-110) and a buffer rack (2-120); the storage rack (2-110) is provided with a bin storage layer (111) for storing bins (500); the buffer rack (2-120) is adjacent to or integrally arranged with the storage rack (2-110); the buffer rack (2-120) is provided with a bin buffer layer (122) for buffering bins (500); The first robot (200) is arranged on at least one side of the storage rack (2-110) and is used to take and place bins (500) between the bin storage layer (111) and the bin buffer layer (122); The second robot (300) can carry bins (500) between the workstation (400) and the bin buffer layer (122) of the buffer rack (2-120); The second robot (300) comprises a moving chassis (310), a cargo carrying platform (320) and a pick-and-place mechanism (2-330); the cargo carrying platform (320) is installed on the top of the moving chassis (310); the pick-and-place mechanism (2-330) is fixed on the cargo carrying platform (320) and can move horizontally based on the cargo carrying platform (320) relative to the bin cache layer (122) when the second robot (300) moves to a position corresponding to the bin cache layer (122), so as to move a bin (500) on the bin cache layer (122) to the cargo carrying platform (320) or move a bin (500) on the cargo carrying platform (320) to the bin cache layer (122).

17. The warehouse system according to claim 16, characterized in that, The bin cache layer (122) is sequentially provided with a plurality of bin cache positions (1221) along the length direction, and each bin cache position (1221) is used for carrying a bin (500); Each bin cache position (1221) is provided with at least one pick-up slot (2-123), and the pick-up slot (2-123) is perpendicular to the length direction of the cache shelf (2-120); The cargo carrying platform (320) of the second robot (300) is used for cooperating with the pick-up slot (2-123) and can move to the bottom of the pick-up slot (2-123) or move out of the bottom of the pick-up slot (2-123); The pick-and-place mechanism (2-330) can move horizontally under the driving of the cargo carrying platform (320); When the bin (500) on the cargo carrying platform (320) is connected with the pick-and-place mechanism (2-330) during warehousing, the cargo carrying platform (320) moves to the bottom of the pick-up slot (2-123), so that the bin (500) moves to the bin cache position (1221), the pick-and-place mechanism (2-330) is disconnected from the bin (500), and moves out of the bottom of the pick-up slot (2-123) under the driving of the cargo carrying platform (320), so as to move the bin (500) from the cargo carrying platform (320) to the bin cache layer (122); When the bin (500) is connected with the pick-and-place mechanism (2-330) during warehousing, the cargo carrying platform (320) drives the pick-and-place mechanism (2-330) to move to the bottom of the pick-up slot (2-123), the pick-and-place mechanism (2-330) is connected with the bin (500), and the cargo carrying platform (320) drives the pick-and-place mechanism (2-330) to move out of the bottom of the pick-up slot (2-123), so as to move the bin (500) from the bin cache layer (122) to the cargo carrying platform (320).

18. The warehouse system according to claim 17, characterized in that, The second robot (300) has a loading platform (320) fixed to the top of the moving chassis (310); the loading platform (320) can be moved to the bottom of the picking slot (2-123) or out of the bottom of the picking slot (2-123) under the action of the moving chassis (310).

19. The warehousing system of claim 17, wherein, The loading platform (320) of the second robot (300) is installed on the top of the moving chassis (310) through a telescopic mechanism (340); The loading platform (320) can be moved to the bottom of the picking slot (2-123) or out of the bottom of the picking slot (2-123) under the action of the telescopic mechanism (340).

20. The warehousing system of claim 16, wherein, The picking and placing mechanism (2-330) is a suction mechanism (2-330A), which includes a suction disc (2-331), and the second robot (300) sucks or releases the bin (500) through the suction disc (2-331) to move the bin (500) on the bin buffer layer (122) to the loading platform (320) or move the bin (500) on the loading platform (320) to the bin buffer layer (122); Alternatively, the picking and placing mechanism (2-330) is a lever mechanism (330), and the second robot (300) moves the bin (500) on the bin buffer layer (122) to the loading platform (320) or moves the bin (500) on the loading platform (320) to the bin buffer layer (122) through the lever mechanism (330).

21. The warehouse system according to claim 17, wherein, The number of picking slots (2-123) on each bin buffer position (1221) is one, and the picking slot (2-123) is a through slot (123); each through slot (123) and the two side plates thereof form a bin buffer position (1221); and the loading platform (320) is flat to match the through slot (123); Alternatively, the number of picking slots (2-123) on each bin buffer position (1221) is multiple, and each picking slot (2-123) is a single-opening slot (2-123B) with an opening facing the inside of the buffer shelf (2-120); multiple single-opening slots (2-123B) are arranged in a comb-shaped slot (2-1230); and the loading platform (320) is comb-shaped to match the comb-shaped slot (2-1230).

22. The warehouse system according to claim 16, wherein, The storage shelf (2-110) and the buffer shelf (2-120) are an integrated shelf, the bottom layer of the integrated shelf is the bin buffer layer (122), and the remaining layers are the bin storage layers (111). Or, the storage rack (2-110) and the buffer rack (2-120) are two independent racks; the bottommost layer of the storage rack (2-110) has a preset height from the ground, forming a containing space for containing the buffer rack (2-120); Or, the storage rack (2-110) and the buffer rack (2-120) are two independent racks; the buffer rack (2-120) is located at least one side of the storage rack (2-110) and has a spacing from the storage rack (2-110) to contain the first robot (200).

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