A warehousing system

Abstract

This utility model provides a warehousing system, including a first storage rack, a second storage rack, a sorting rack, a first lurking robot, a bin robot, and production line workstations. The sorting rack includes a first inlet end, a first outlet end, and a first conveying structure. The sorting rack is located below the first storage rack. Each production line workstation corresponds to at least one sorting rack, and each workstation is located on one side of the first outlet end of its corresponding sorting rack. Storage spaces in the second storage rack are positioned above the working height of the first lurking robot, and the second storage rack includes a connecting position positioned no higher than the working height. The bin robot includes a pick-and-place component, horizontal guide rails, and vertical guide rails, which can reduce the number of pauses during warehousing, thereby improving warehousing and logistics efficiency.

Description

Technical Field

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

[0002] Traditional material management relies on a system of "high-bay racking + supermarket shelf storage + manual delivery." The specific steps include: after supplier arrival, unloading, quality inspection, and receiving, the materials are transferred by operators to high-bay racking for storage; based on production needs, they are then removed from the high-bay racking and transferred to the supermarket shelf temporary storage area; subsequently, operators unpack the materials and replenish them to the supermarket shelf; then, according to production instructions, operators pick materials from the supermarket shelf to delivery equipment; delivery personnel are responsible for transporting these delivery equipment to the production line workstations; material handlers further pick materials to replenish the flow racks at the line edge and collect empty materials; finally, delivery personnel transfer the empty materials to the sorting area, where operators sort and collect them.

[0003] However, after the materials in the bins are inspected and put into storage, they need to go through up to 5 stops and transfers in the process from the high-level shelves to the final picking of the flow racks at the production line. The distance of material flow across areas is long, resulting in low warehousing and logistics efficiency. Utility Model Content

[0004] The purpose of this utility model embodiment is to provide a warehousing system that reduces the number of stopovers and transfers during the warehousing process, thereby improving warehousing and logistics efficiency. The specific technical solution is as follows:

[0005] This utility model provides a warehousing system, which includes a first storage shelf, a second storage shelf, a sorting shelf, a first lurking robot, a bin robot, and production line workstations; wherein, the number of sorting shelves is multiple, and the number of production line workstations is multiple.

[0006] The sorting rack includes a first inlet end, a first outlet end, and a first conveying structure. The first conveying structure is used to convey the material box from the first inlet end to the first outlet end. Each production line station corresponds to at least one sorting rack, and each production line station is located on one side of the first outlet end of the corresponding sorting rack.

[0007] The first inlet is located below the storage space in the first storage shelf, and the first outlet is located on the first side of the first storage shelf;

[0008] The storage positions in the second storage rack are located at a position higher than the working height of the first lurking robot, and the second storage rack is provided with a connecting position, which is located at a position not higher than the working height;

[0009] The bin robot includes a picking and placing component, a horizontal guide rail, and a vertical guide rail. The horizontal guide rail passes through the second side of the first storage shelf and the third side of the second storage shelf. The vertical guide rail is slidably mounted on the horizontal guide rail, and the picking and placing component is slidably mounted on the vertical guide rail.

[0010] The first stealth robot is used to move the first material box to the receiving position in response to the warehousing command for the first material box;

[0011] The bin robot is used to move the first bin from the docking position to a storage location in the first storage shelf or the second storage shelf in response to the first bin being moved to the docking position, via the vertical guide rail and the pick-and-place component.

[0012] The bin robot is also used to respond to an outbound command for a second bin placed on a storage location in the first or second storage shelf, and to move the second bin from the storage location to the first inbound end of a target sorting shelf via the vertical guide rail and the pick-and-place assembly, wherein the target sorting shelf is the sorting shelf corresponding to the production line station that requires the material in the second bin.

[0013] In one possible embodiment, the warehousing system further includes transmission lines;

[0014] The transmission line passes through the first side of the first storage shelf and is positioned above the first shipping end. The transmission line is used to transport the bins placed on the transmission line to a preset empty bin collection point.

[0015] In one possible embodiment, the transmission line includes a first sub-transmission line and a second sub-transmission line;

[0016] The first sub-transmission line is located above the first shipping end and is used to transport the tin placed on the first sub-transmission line to the first point.

[0017] The second sub-transmission line is located between the first point and the preset empty material box collection point, and is used to transmit the material box from the first point to the preset empty material box collection point.

[0018] In one possible embodiment, the system further includes a second lurking robot and a palletizing robot positioned at the preset empty bin collection point;

[0019] The palletizing robot is used to palletize the boxes that are transported to the preset empty box collection point in response to the boxes being transported to the preset empty box collection point.

[0020] The second stealth robot is used to transport the completed stacked bins from the preset empty bin collection point to the preset empty return area in response to the palletizing robot completing the stacking of bins.

[0021] In one possible embodiment, the system further includes a depalletizing robot positioned in a preset depalletizing area;

[0022] The destacking robot is used to destacking the stack of boxes transported to the preset destacking area in response to the transport of the stack of boxes to the preset destacking area, and to place the destacking boxes at the online waiting point in the preset destacking area.

[0023] The first stealth robot is specifically used to move the first material box from the point to be put into service to the receiving position in response to the warehousing instruction for the first material box placed at the point to be put into service.

[0024] In one possible embodiment, each sorting rack also includes an output device;

[0025] The output device is configured to output a prompt signal in response to the material bin being transported to the first inbound end of the sorting rack to prompt for picking at the first outbound end of the sorting rack.

[0026] In one possible embodiment, the output device is further configured to output a prompt message in response to the material bin being transported to the first inbound end of the sorting shelf, the prompt message indicating the quantity of material to be picked at the first outbound end of the sorting shelf.

[0027] In one possible embodiment, the sorting rack further includes a second inlet, a second outlet, and a second conveying structure, the second conveying structure being used to convey the bin from the second inlet to the second outlet;

[0028] The second outgoing end is located below the storage space in the first storage shelf, and the second ingoing end is located on the first side of the first storage shelf;

[0029] The bin robot is also used to respond to a handling command for a bin placed at the second shipping end, and to move the bin placed at the second shipping end to the docking position via the vertical guide rail and the pick-and-place assembly;

[0030] The first lurking robot is also used to move the material box to a preset empty material box collection point in response to the material box being moved to the docking position.

[0031] In one possible embodiment, the warehousing system pre-stores a minimum storage quantity for each of the sorting shelves, and in response to the storage quantity of the material on the sorting shelf being equal to the minimum storage quantity, sends an outbound instruction to the bin robot to instruct the second bin to be moved to the first inbound end corresponding to the sorting shelf.

[0032] In one possible embodiment, the warehousing system detects by photoelectric sensing that the amount of material stored on the sorting shelf is equal to the minimum storage amount, and sends an outbound instruction to the bin robot to instruct the second bin to be moved to the first inbound end corresponding to the sorting shelf.

[0033] The beneficial effects of this utility model embodiment are as follows:

[0034] The warehousing system provided in this embodiment of the invention can be configured by setting up a connecting position below the storage location of the second storage shelf and setting up a bin robot on one side of the first and second storage shelves. This allows a stealthy robot to buffer the bins to be stored at the connecting position, and then the bin robot transports the bins at the connecting position to the storage location in the first or second storage shelf for storage. Simultaneously, by configuring corresponding sorting shelves for multiple production line workstations, and setting the first inbound end of the sorting shelf below the first storage shelf, with each workstation located on the side of the first outbound end of the corresponding sorting shelf, the bin robot... The material bins can be taken from the first and second storage shelves and placed at the first receiving end. Then, the first conveying structure will transfer the material bins from the receiving order to the first shipping end. At the same time, the first shipping end and the material bin robot are located on opposite sides of the first storage shelf. Therefore, the first shipping end will not be interfered with by the material bin robot. Personnel can normally take the materials from the material bins at the first shipping end and perform assembly operations at the corresponding production line workstations. This makes the material delivery path clear and unambiguous. The second material bin is transported from the storage location to the first receiving end of the target sorting shelf through vertical guide rails and pick-and-place components, which effectively shortens the material cross-area flow distance and improves warehousing and logistics efficiency.

[0035] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0037] Figure 1 A schematic diagram of a first structure of a warehousing system provided in an embodiment of this utility model;

[0038] Figure 2 This is a schematic diagram of the structure of the sorting rack provided in an embodiment of the present utility model;

[0039] Figure 3 This is a schematic diagram of the structure of the bin robot provided in an embodiment of the present utility model;

[0040] Figure 4a A second structural schematic diagram of the warehousing system provided in this embodiment of the utility model;

[0041] Figure 4b A third structural schematic diagram of the warehousing system provided in this embodiment of the utility model;

[0042] Figure 4c A fourth structural schematic diagram of the warehousing system provided in this embodiment of the utility model;

[0043] Figure 5 This is a schematic diagram of the first process of a bin handling method provided in an embodiment of the present utility model;

[0044] Figure 6a A fifth structural schematic diagram of the warehousing system provided in this embodiment of the utility model;

[0045] Figure 6b A sixth structural schematic diagram of the warehousing system provided for an embodiment of this utility model;

[0046] Figure 7a A seventh structural schematic diagram of the warehousing system provided for embodiments of this utility model;

[0047] Figure 7b This is an eighth structural schematic diagram of a warehousing system provided in an embodiment of the present utility model;

[0048] Figure 8 A ninth structural schematic diagram of the warehousing system provided for an embodiment of this utility model;

[0049] Figure 9 A tenth structural schematic diagram of the warehousing system provided in this embodiment of the utility model;

[0050] Figure 10 Eleventh structural schematic diagram of the warehousing system provided in this embodiment of the utility model;

[0051] Figure 11 This is a second flowchart illustrating the bin handling method provided in an embodiment of the present utility model.

[0052] Figure 12 This is a schematic diagram of the interaction between the robot and the system provided in an embodiment of the present utility model;

[0053] Figure 13 A flowchart illustrating the control method for a warehousing system provided in this embodiment of the present utility model.

[0054] Explanation of reference numerals in the attached figures:

[0055] First storage rack - 100; Second storage rack - 200; Sorting rack - 300; First stealth robot - 401; Tobacco bin robot - 500; Production line station - 301; First inbound end - 310; First outbound end - 320; First transmission structure - 330; Connection station - 201; Picking and placing assembly - 510; Horizontal guide rail - 520; Vertical guide rail - 530; Second horizontal sub-guide rail - 521; Third horizontal sub-guide rail - 522; Second inbound end - 3100; Second shipping end - 3200; Second transmission structure - 3300; Transmission line - 600; Preset empty material box collection point - 1; First point 2; First sub-transmission line - 610; Second sub-transmission line - 620; Second lurking robot - 402; Palletizing robot - 701; Depalletizing robot - 702; Empty material box - 703; Empty material box stack - 704; Material box stack - 705; Material box - 706; Depalletizing robot control system - 1201; Lurking robot control system - 1202. Detailed Implementation

[0056] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art based on the present utility model are within the protection scope of the present utility model.

[0057] Currently, in manufacturing plants, the management of material bins mainly relies on a system of "high-bay racking + supermarket shelf storage + manual delivery to the production line." The specific steps include: after unloading, quality inspection, and receiving materials from suppliers, operators transfer them to high-bay racking for storage; based on production needs, materials are then removed from the high-bay racking and transferred to the supermarket shelf temporary storage area; subsequently, operators unpack the material bins and replenish them to the supermarket shelf; then, according to production instructions, operators pick material bins from the supermarket shelf to delivery equipment; delivery personnel are responsible for transporting these delivery equipment to the production line workstations; material handlers further pick material bins to replenish the flow racks at the production line and collect empty material bins; finally, delivery personnel transfer the empty material bins to the sorting area, where operators sort and collect them.

[0058] The following problems exist in the entire material flow process of the hopper described above:

[0059] Problem 1: After the materials in the bins are inspected and put into storage, they undergo up to five stops and transfers on the way from the high-level shelving to the final picking station on the production line. This high frequency of stops and transfers reduces the efficiency of warehousing and logistics.

[0060] Question 2: Multiple transfers mean that more manpower is needed to perform tasks such as handling, sorting, and organizing. This not only increases labor costs, but also increases the risk of material damage or loss due to human error.

[0061] Question 3: Due to the wide variety of materials in the bins, the factory has to set up more temporary storage areas to accommodate these bins during the transfer process, thus occupying storage space.

[0062] Based on this, the present invention provides a warehousing system, such as Figure 1 As shown, it includes a first storage shelf 100, a second storage shelf 200, a sorting shelf 300, a first lurking robot 401, a bin robot 500, and a production line station 301; wherein, there are multiple sorting shelves 300 and multiple production line stations 301. Figure 1 Only one sorting shelf 300 and one production line station 301 are shown.

[0063] 300 sorting shelves can be used as follows Figure 2 As shown, the system includes a first inlet 310, a first outlet 320, and a first conveying structure 330. The first conveying structure 330 is used to convey the material box from the first inlet 310 to the first outlet 320. Each production line station 301 corresponds to at least one sorting rack 300, and each production line station 301 is located on one side of the first outlet 320 of the corresponding sorting rack 300.

[0064] The first receiving end 310 is located below the storage position in the first storage shelf 100, and the first discharging end 320 is located on the first side of the first storage shelf 100.

[0065] The storage positions in the second storage rack 200 are located at a position higher than the working height of the first lurking robot 401, and the second storage rack 200 is provided with a connecting position 201, which is located at a position no higher than the working height. In this article, the working height of the lurking robot refers to the height at which the lurking robot can place the material box. For example, assuming that the lurking robot lifts the material box and then places it at a designated point, and assuming that the lurking robot can lift the material box up to 50cm off the ground, then obviously when the designated point is lower than 50cm, the lurking robot can normally place the material box at that point. Therefore, in this example, the working height of the material box is 50cm.

[0066] Since the docking position 201 is not higher than the working height of the first stealth robot 401, it can be assumed that the first stealth robot 401 can place the transported bin at the docking position 201. Conversely, the storage position in the second storage shelf 200 is higher than the working height of the first stealth robot 401, so the first stealth robot cannot place the transported bin in the storage position of the second storage shelf 200.

[0067] 500 bin robots Figure 3 As shown, it includes a pick-and-place component 510, a horizontal guide rail 520, and a vertical guide rail 530. The horizontal guide rail 520 passes through the second side of the first storage shelf 100 and the third side of the second storage shelf 200. The vertical guide rail 530 is slidably mounted on the horizontal guide rail 520. The pick-and-place component 510 is slidably mounted on the vertical guide rail 530.

[0068] The second side of the first storage rack 100 and the third side of the second storage rack 200 can be as follows: Figure 4a The two opposing sides shown can also be as follows: Figure 4b The two sides facing the same direction are shown.

[0069] For example Figure 4a In the illustrated case, "via" can mean that the horizontal guide rail 520 includes at least a first horizontal sub-guide rail, which is located on the second side of the first storage rack 100 and on the third side of the second storage rack 200. That is, the first horizontal sub-guide rail is located between the first storage rack 100 and the second storage rack 200, and the second side of the first storage rack 100 refers to the side of the first storage rack 100 facing the second storage rack 200, while the third side of the second storage rack 200 refers to the side of the second storage rack 200 facing the first storage rack 100. Furthermore, in this case, the horizontal guide rail 520 may include only the first horizontal sub-guide rail, or it may include other horizontal sub-guide rails besides the first horizontal sub-guide rail.

[0070] And for such Figure 4b As shown, "via" can mean that the horizontal guide rail 520 includes at least the following: Figure 4c The second horizontal sub-guide rail 521 and the third horizontal sub-guide rail 522 are shown. The second horizontal sub-guide rail 521 is located on the second side of the first storage rack 100, and the third horizontal sub-guide rail 522 is located on the third side of the second storage rack 200. In this case, the horizontal guide rail 520 may include only the second horizontal sub-guide rail 521 and the third horizontal sub-guide rail 522, or it may include other horizontal sub-guide rails besides the second horizontal sub-guide rail 521 and the third horizontal sub-guide rail 522.

[0071] The first stealth robot 401 is used to move the first material box to the docking position 201 in response to the warehousing instruction for the first material box.

[0072] A bin robot 500 is used to move the first bin from the docking position to a storage location in the first storage shelf 100 or the second storage shelf 200 via a vertical guide rail 530 and a pick-and-place assembly 510 in response to the first bin being moved to the docking position 201. It is understood that the vertical guide rail 530 can slide horizontally along the horizontal guide rail 520, while the pick-and-place component 510 can slide vertically along the vertical guide rail 530. The horizontal guide rail 520 passes through the sides of the first storage shelf 100 and the second storage shelf 200. Therefore, theoretically, by controlling the sliding of the vertical guide rail 530 and the pick-and-place component 510, the pick-and-place component 510 can be aligned with any storage location or connection location on the first storage shelf 100 and the second storage shelf 200. Thus, the first bin can be transported from the connection location to the storage location in the first storage shelf 100 or the second storage shelf 200 through the vertical guide rail 530 and the pick-and-place component 510. How the bin robot 500 transports the bin through the vertical guide rail 530 and the pick-and-place component 510 will be illustrated in the following description and will not be repeated here.

[0073] The bin robot 500 is also used to respond to an outbound command for a second bin placed in a storage location in the first storage shelf 100 or the second storage shelf 200, and to transport the second bin from the storage location to the first inbound end 310 of the target sorting shelf via a vertical guide rail 530 and a pick-and-place assembly 510. The target sorting shelf is the sorting shelf corresponding to the production line station 301 that requires materials from the second bin. It is understood that since the first inbound end 310 is located below the storage location in the first storage shelf, similarly, for the reasons mentioned above that the first bin can be transported from the connection point to the storage location in the first storage shelf 100 or the second storage shelf 200 via the vertical guide rail 530 and the pick-and-place assembly 510, the second bin can also be transported from the connection point to the first inbound end 310 via the vertical guide rail 530 and the pick-and-place assembly 510.

[0074] Outbound instructions can be sent by the system after triggering the replenishment process of the first sorting shelf. Whether the replenishment process has been triggered can be determined based on whether the materials on the sorting shelf meet preset replenishment conditions. Whether the materials meet the preset replenishment conditions can be determined based on whether the material's inventory status meets a preset inventory threshold requirement. The inventory status can be the quantity or weight of the material, and the preset inventory threshold can be set based on the quantity or weight of the material. For example, it can be set based on the quantity of the material.

[0075] In one possible embodiment, the system pre-sets the minimum storage quantity of each material in the sorting shelf 300. For example, the minimum storage quantity of material A in the sorting shelf 300 is 1 box. When the system detects that the storage quantity of material A on the sorting shelf 300 is 1 box, it automatically triggers the task of replenishing from the storage shelf to the sorting shelf 300, that is, it triggers the replenishment process of the sorting shelf. The system sends an outbound instruction to the bin robot 500 to instruct the first inbound end 310 corresponding to the sorting shelf 300.

[0076] Specifically, when the system detects that the quantity of material A on the sorting shelf 300 is 1 box through photoelectric sensing, the system sends an outbound instruction to the material box robot 500 to instruct the first inbound end 310 corresponding to the sorting shelf 300.

[0077] In other embodiments, the weight of the material can be set. The system can pre-set the minimum load of material A in the sorting rack 300 to be 10KG. When the system detects that the weight of material A on the sorting rack 300 is 10KG through the gravity sensor, the system sends an outbound instruction to the bin robot 500 to instruct the first inbound end 310 corresponding to the sorting rack 300.

[0078] After the materials required by production line station 301 are transported to the first inlet 310 by the bin robot 500, the materials are then transferred to the first outlet 320 by the first transfer structure 330. Since production line station 301 is located on one side of the first outlet 320, assembly operators can retrieve the materials required by production line station 301 from the first outlet 320 and perform assembly operations at production line station 301.

[0079] The warehousing system provided by this utility model allows for the installation of a connecting station below the storage location of the second storage shelf, and the placement of a bin robot on one side of the first and second storage shelves. This enables a stealthy robot to buffer the bins to be stored at the connecting station, and then the bin robot transports the bins from the connecting station to the storage location on the first or second storage shelf. Simultaneously, by configuring corresponding sorting shelves for multiple production line workstations, with the first inbound end of the sorting shelf located below the first storage shelf and each workstation positioned on the side of the first outbound end of the corresponding sorting shelf, the bin robot can retrieve bins from the first and second storage shelves and place them at the first inbound location. The first conveying structure then transfers the material box from the receiving order to the first shipping end. Simultaneously, the first shipping end and the material box robot are located on opposite sides of the first storage rack, so the first shipping end is not interfered with by the material box robot. Assembly operators can normally retrieve the materials from the material box at the first shipping end and perform assembly operations at the corresponding production line workstation, making the material delivery path clear and unambiguous. The second material box is then transported from its storage location to the first receiving end of the target sorting rack via vertical guide rails and pick-and-place components. During this process, the material flows through the storage rack – sorting rack – production line workstation. Compared to the five stopovers in existing technologies, this effectively shortens the material cross-zone flow distance, thereby improving warehousing and logistics efficiency and solving the aforementioned problem one.

[0080] Furthermore, because the material delivery route is clear and well-defined, it can be accurately delivered to the production line workstations where materials are needed. Since material handling is all performed by bin robots, labor costs are reduced, and misplacement is avoided, minimizing the risk of material damage or loss due to human error, thus solving problem two mentioned above. Because the number of stopovers and transfers is reduced, the factory does not need to set up more temporary storage areas, thereby reducing storage space requirements, solving problem three mentioned above.

[0081] Furthermore, the warehousing system provided by this utility model fully utilizes the characteristic of the bin robot to pick up and place bins at high storage locations. By setting the docking station 201 and the sorting shelf 300 below the storage locations in the second storage shelf 200 and the first storage shelf 100 respectively, the docking station 201 and the sorting shelf 300 do not need to occupy additional area, thereby reducing the floor space occupied by the warehousing system.

[0082] The following describes how the bin robot 500 moves bins. For ease of description, assume that the bin robot 500 needs to move bins from a first point to a second point. The first point can be the docking station 201, any storage location on the first storage shelf 100, or any storage location on the second storage shelf 200. The second point can be any storage location on the first storage shelf 100, any storage location on the second storage shelf 200, or the first inbound end 310 of the picking shelf 300. The bin moving process can be as follows: Figure 5 As shown, it includes:

[0083] Step S501: Control the vertical guide rail 530 to slide horizontally along the horizontal guide rail 520 until the pick-up and put-down component 510 is aligned with the first point in the horizontal direction.

[0084] If the pick-and-place component 510 is initially aligned with the first point in the horizontal direction, then step S501 is skipped.

[0085] Step S502: Control the pick-and-place component 510 to slide vertically along the vertical guide rail 530 until the pick-and-place component 510 is aligned with the first point in the vertical direction.

[0086] If the pick-and-place component 510 is initially aligned with the second point in the vertical direction, then step S502 is skipped.

[0087] Step S503: Control the pick-up and drop-off component 510 to pick up the material box from the first position.

[0088] It is understandable that at this time, the pick-and-place component 510 is aligned with the first point in both the horizontal and vertical directions. Therefore, it can be assumed that the pick-and-place component 510 is aligned with the first point, so the pick-and-place component 510 can pick up the material box from the first point.

[0089] In step S504, the vertical guide rail 530 is controlled to slide horizontally along the horizontal guide rail 520 until the pick-up and put-down component 510 is aligned with the second point in the horizontal direction.

[0090] If the second point is at the same horizontal position as the first point, skip step S504.

[0091] Step S505: Control the pick-and-place component 510 to slide vertically along the vertical guide rail 530 until the pick-and-place component 510 is aligned with the second point in the vertical direction.

[0092] If the second point is in the same vertical position as the first point, skip step S505.

[0093] Step S506: Control the pick-up and place component 510 to place the picked-up bin at the second position.

[0094] It is understandable that at this time, the pick-and-place component 510 is aligned with the second point in both the horizontal and vertical directions. Therefore, it can be assumed that the pick-and-place component 510 is aligned with the second point, and thus the pick-and-place component 510 can place the material box at the second point.

[0095] Understandably, after the second material bin is moved to the first inbound end 310, the first conveying structure 330 of the sorting rack 300 will transfer the second material bin from the first inbound end 310 to the first outbound end 320, so that personnel can retrieve the materials from the second material bin at the first outbound end 320. However, the amount of materials in the second material bin is limited, and as production continues, the materials in the second material bin may be depleted, at which point only an empty material bin will remain at the first outbound end 320.

[0096] The space at the first shipping end 320 is limited. If too many empty bins are placed at the first shipping end 320, it will result in insufficient space to accommodate bins containing materials, thus preventing personnel from continuing to retrieve materials from the first shipping end 320. Therefore, in one possible embodiment, after personnel have retrieved all the materials from the second bin, they can manually transport the empty bins to a designated point for collecting empty bins (hereinafter referred to as the preset empty bin collection point) for recycling, in order to avoid empty bins occupying too much space at the first shipping end 320.

[0097] However, manually transporting empty bins to designated collection points for recycling requires significant manpower, which is often limited in production operations, making it difficult to allocate resources promptly for empty bin recycling. Therefore, in one possible implementation, such as... Figure 6a and Figure 6b As shown, the sorting rack 300 also includes a second inbound end 3100, a second outbound end 3200, and a second conveying structure 3300.

[0098] The second shipping end 3200 is located below the storage position in the first storage shelf 100, and the second receiving end 3100 is located on the first side of the first storage shelf 100.

[0099] Both the first shipping end 320 and the second shipping end 3200 are located below the storage positions in the first storage rack 100, and both the first receiving end 310 and the second receiving end 3100 are located on the first side of the first storage rack 100. Based on this, see... Figure 6a The second inlet 3100 is located below the first outlet 320, and the second outlet 3200 is located below the first inlet 310. See also Figure 6b The second inlet end 3100 is located above the first outlet end 320, and the second outlet end 3200 is located above the first inlet end 310.

[0100] The second inlet 3100 can also be located to the left or right of the first outlet 320, and the second outlet 3200 can also be located to the left or right of the first inlet 310, without specific limitations.

[0101] The bin robot 500 is also used to transport the bins placed at the second shipping end 3200 to the docking position via the vertical guide rail 530 and the pick-and-place assembly 510 in response to a handling instruction for the bins placed at the second shipping end 3200.

[0102] The first stealth robot 401 is also used to move the material box to the preset empty material box collection point 1 in response to the material box being moved to the docking position.

[0103] The connection point can be the connection point 201 through which the first bin is stored to the first storage shelf 100 or the second storage shelf 200, or it can be another connection point different from the connection point 201, which is not specifically limited here.

[0104] In this embodiment, the sorting rack in the warehousing system is further equipped with a second inbound end, a second outbound end, and a second conveying structure. This allows personnel to simply place empty boxes at the second inbound end, and the box robot and the stealth robot will automatically transport the empty boxes to the preset empty box collection point. Specifically, after personnel place the empty boxes at the second inbound end, the empty boxes are conveyed to the second outbound end. The box robot responds to the handling command for the boxes placed at the second outbound end and moves the boxes to the receiving position. Subsequently, the first stealth robot moves the boxes to the preset empty box collection point, reducing manual intervention, saving manpower, and ensuring that empty boxes can be recycled and processed in a timely and efficient manner.

[0105] In another possible embodiment, such as Figure 7a As shown, the warehousing system also includes a transmission line 600.

[0106] The conveyor line 600 passes through the first side of the first storage shelf 100 and is positioned above the first shipping end 320. The conveyor line 600 is used to transport the bins placed on the conveyor line to the preset empty bin collection point 1.

[0107] In this embodiment, by setting up a conveyor line 600, personnel can place empty material bins on the conveyor line 600, which will automatically transport the empty material bins to a preset empty material bin collection point. It can be understood that empty material bins are generated when personnel remove the remaining material from the bins. At this time, the personnel should obviously be positioned within reach of the first dispensing end 320, which is located on the first side of the first storage shelf 100. Therefore, it can be assumed that the personnel are on the first side of the first storage shelf 100, and the conveyor line 600 is also located on the first side of the first storage shelf 100. When personnel are on the first side of the first storage shelf 100, they should be able to reach the conveyor line 600. As can be seen, by setting the transmission line 600 on the first side of the first storage rack 100, personnel can reach the empty bins and the transmission line 600 each time an empty bin is generated. At this time, personnel only need to place the empty bins on the transmission line 600 to realize the recycling of the empty bins. That is, personnel can collect empty bins at the same time as taking materials, which effectively reduces the manpower required for empty bin recycling and improves the real-time performance of empty bin recycling.

[0108] Meanwhile, since the height of the transmission line 600 is higher than that of the first shipping end 320, compared to setting the transmission line on the ground, in this example the transmission line 600 will only occupy the space above the first shipping end 320 without occupying additional area, thus effectively reducing the floor space of the warehousing system.

[0109] The transmission line 600 can be positioned directly above (hereinafter referred to as "above") the first shipping end 320, or diagonally above the shipping end 320. For example, in one possible embodiment, such as... Figure 7b As shown, Figure 7b This is a top view of the first storage rack 100 and the transmission line 600, which includes a first sub-transmission line 610 and a second sub-transmission line 620.

[0110] The first sub-transfer line 610 is located above the first shipping end 320 and is used to transfer the material box placed on the first sub-transfer line 610 to the first point 2. The second sub-transfer line 620 is located between the first point 2 and the preset empty material box collection point 1 and is used to transfer the material box from the first point 2 to the preset empty material box collection point 1.

[0111] In one possible embodiment, such as Figure 8 As shown, the warehousing system also includes a second lurking robot 402 and a palletizing robot 701 set at a preset empty bin collection point 1.

[0112] Palletizing robot 701 is used to palletize empty bins 703 that are transported to preset empty bin collection point 1 in response to bins (to distinguish them from bins 706 loaded with materials in the following text) being transported to preset empty bin collection point 1.

[0113] The second stealth robot 402 is used to transport the completed empty box stack 704 from the preset empty box collection point 1 to the preset empty return area in response to the palletizing robot 701 completing the stacking of the box stack (to distinguish it from the box stack 705 composed of boxes 706 in the following text).

[0114] In this embodiment, when empty boxes are transported to the preset empty box collection point, a palletizing robot stacks the empty boxes, reducing the occupation of storage space and manual operation. After palletizing, a stealth robot transports the stacked empty boxes to the preset empty box return area, realizing automated processing of empty boxes, avoiding the accumulation of empty boxes at the preset empty box collection point, and ensuring the continuity of logistics.

[0115] In one possible embodiment, such as Figure 9 As shown, the warehousing system also includes a depalletizing robot 702 located in a preset depalletizing area.

[0116] The destacking robot 702 is used to destacking the material box stack 705 transported to the preset destacking area in response to the material box stack 705 being transported to the preset destacking area, and to place the destacking material box 706 at the online point in the preset destacking area.

[0117] In this example, the bin stack 705 is a stack of bins containing materials, and the bin 706 is a bin containing materials. The first stealth robot 401 is specifically used to respond to the warehousing instruction for the first bin (i.e., bin 706) placed at the point to be put into service, and to move the first bin from the point to be put into service to the receiving position 201.

[0118] In this embodiment, the system is equipped with a depalletizing robot and a first lurking robot. The depalletizing robot can respond to the transport of the material box stacks to the preset depalletizing area and complete the depalletizing, placing the material boxes at the waiting-to-go-on point, reducing manual operation. At the same time, the first lurking robot can respond to the warehousing command for the material boxes at the waiting-to-go-on point and directly transport them to the receiving position, realizing a seamless connection between the depalletizing and material delivery process, reducing manual intervention, shortening the overall operation cycle, and thus improving the system's logistics efficiency.

[0119] In one possible embodiment, there are multiple sorting racks 300, and each sorting rack also includes an output device for outputting a prompt signal in response to a tote being transported to the first inbound end of the sorting rack, the prompt signal being used to prompt picking at the first outbound end of the sorting rack.

[0120] Output devices can be any devices capable of outputting signals that can be received by personnel, including but not limited to optical signal output devices and audio signal output devices. Taking an optical signal output device as an example, the output device can be a signal light. When the signal light is on, it indicates that personnel should go to the first shipping end of the corresponding sorting shelf to pick items, while when the signal light is off, it indicates that personnel do not need to go to the first shipping end of the corresponding sorting shelf to pick items.

[0121] By using this embodiment, output devices can be set up on each sorting shelf to prompt personnel to pick items in a timely manner.

[0122] In one possible embodiment, the output device may also output prompt information when outputting a prompt signal. Specifically, the output device is further configured to output prompt information in response to the material bin being transported to the first inbound end of its respective sorting rack. The prompt information indicates the quantity of materials to be picked at the first outbound end of the respective sorting rack.

[0123] The prompts can be displayed by a display device or given by sound. Therefore, the output device can be a sound signal output device, a device that integrates a light signal output device and a sound signal output device, or a device that integrates a light signal output device and a display device, etc. There are no specific limitations here.

[0124] Taking a device that integrates a light signal output device and a display device as an example, when the signal light is on, the display device will simultaneously display the quantity of materials to be picked. For example, if the quantity of materials to be picked is 5, the display device can display the number "5", the text "five", or five specific patterns, etc.

[0125] By using this embodiment, output devices can be set up on each sorting shelf to output the quantity of materials to be picked, so as to prompt personnel to pick the required materials accurately in a timely manner.

[0126] As mentioned above, the system pre-sets the storage quantity of various materials on the sorting shelf 300. When the output device outputs a prompt message indicating the quantity of materials to be sorted, the system accumulates and records the quantity of each type of material that has been picked. When the recorded quantity of picked materials reaches the maximum storage quantity of that type of material on the sorting shelf 300, the replenishment process of the sorting shelf 300 is triggered.

[0127] To more clearly explain the warehousing system provided by this utility model, the following will use... Figure 10 The example shown illustrates the entire process of handling bins in a warehousing system. Figure 10 In the example shown, Figure 10 In the example shown, the warehousing system includes a first storage rack 100, a second storage rack 200, a sorting rack 300, a production line station 301, a first lurking robot 401, a second lurking robot 402, a bin robot 500, a conveyor line 600, a palletizing robot 701, and a depalletizing robot 702. For details about each component, please refer to the relevant descriptions in the aforementioned examples, which will not be repeated here.

[0128] exist Figure 10 In the example shown, the entire process of handling the hopper is as follows: Figure 11 As shown, it includes the following steps:

[0129] In step S1101, after unloading, quality inspection, and receiving, the material boxes are transported to the preset destacking area by a stealthy robot.

[0130] The stealth robot can be a first stealth robot 401, a second stealth robot 402, or any other stealth robot besides the first stealth robot 401 and the second stealth robot 402.

[0131] Step S1102: The destacking robot destacking the stack of material boxes and placing the material boxes at the points to be put online.

[0132] In step S1103, the first lurking robot moves the material box from the point to be put into operation to the docking point.

[0133] See Figure 12The depalletizing robot control system 1201, responding to the control of the warehouse main control system, sends instructions to the depalletizing robot 702, causing the depalletizing robot 702 to depalletize and place the depalletized bins 706 at the designated loading point. After placing the bins 706 at the loading point, the depalletizing robot 702 notifies the first lurking robot 401 to proceed to the loading point to move the bins 706. In this example, the depalletizing robot 702 sends a notification (i.e., provides information feedback) to the depalletizing robot control system 1201. Information exchange is maintained between the depalletizing robot control system 1201 and the lurking robot control system 1202. The depalletizing robot control system 1201 forwards the notification to the lurking robot control system 1202, which then sends instructions to the first lurking robot 401 to move the bins 706 to the loading point. In other possible embodiments, the depalletizing robot 702 may send a notification directly to the first lurking robot 401 without going through the aforementioned two control systems, or the depalletizing robot 702 may send a notification to the warehouse main control system, and then the warehouse main control system may notify the first lurking robot 401 to go to the point to be put into operation to move the material box.

[0134] In step S1104, the bin robot moves the bin from the docking station to the storage location in the first or second storage rack.

[0135] Step S1105: When a production line station requires materials, the material bin robot moves the material bin from the storage location to the first inbound end of the sorting shelf.

[0136] After the bin is placed at the first inbound end, the first conveying structure of the sorting rack will transfer the bin from the first inbound end to the first outbound end.

[0137] In step S1106, the indicator light on the sorting shelf lights up to remind personnel to pick items.

[0138] The traffic light in this example is the aforementioned output device.

[0139] In step S1107, after all the material in the bin has been removed, the personnel take the empty bin out from the first shipping end and place it on the conveyor line above the first shipping end. The conveyor line then transports the empty bin to the preset empty bin collection point.

[0140] Step S1108: The palletizing robot at the empty material box collection point palletizes the empty material boxes.

[0141] Step S1109: After the palletizing is completed, the second lurking robot will transport the entire stack of empty boxes to the preset empty return area for emptying.

[0142] In step S1110, the bin robot moves a new bin from the storage location to the first inlet end of the sorting rack to replenish the materials in the sorting rack.

[0143] To more clearly explain the warehousing system provided by this utility model, the warehousing control method used in applying this warehousing system will be described below. The method is as follows: Figure 13 As shown, it includes:

[0144] Step S1301: In response to the warehousing command for the first material box, control the first lurking robot to move the first material box to the receiving position;

[0145] Step S1302: In response to the first bin being transported to the docking position, the bin robot is controlled to transport the first bin from the docking position to the storage location in the first storage shelf or the second storage shelf via the vertical guide rail and the pick-and-place component.

[0146] Step S1303: In response to an outbound instruction for a second material box placed on a storage location in a first or second storage shelf, determine the sorting shelf corresponding to the production line station that requires the material in the second material box, and designate it as the target sorting shelf; move the second material box from the storage location to the first inbound end of the target sorting shelf using vertical guide rails and pick-and-place components.

[0147] Applying the above embodiments, by setting up a connecting position below the storage location of the second storage shelf and placing a bin robot on one side of the first and second storage shelves, a stealth robot can buffer the bins to be stored at the connecting position, and then the bin robot can transport the bins at the connecting position to the storage location in the first or second storage shelf for storage. Simultaneously, by configuring corresponding sorting shelves for multiple production line workstations, and setting the first inbound end of the sorting shelf below the first storage shelf, with each workstation located on the side of the first outbound end of the corresponding sorting shelf, the bin robot can retrieve bins from the first and second storage shelves and place them at the first inbound end. The first transmission structure transfers the material bins from the receiving slip to the first shipping end. Simultaneously, the first shipping end and the material bin robot are located on opposite sides of the first storage rack. Therefore, the first shipping end is not interfered with by the material bin robot. Assembly operators can normally retrieve materials from the material bins at the first shipping end and perform assembly operations at the corresponding production line workstations, making the material delivery path clear and unambiguous. The second material bin is transported from its storage location to the first receiving end of the target sorting rack via vertical guide rails and pick-and-place components. During this process, the material flow path is storage rack - sorting rack - production line workstation. Compared to the five stopovers in existing technologies, this effectively shortens the material cross-area flow distance, thereby improving warehousing and logistics efficiency and solving the aforementioned problem one.

[0148] Furthermore, because the material delivery route is clear and well-defined, it can be accurately delivered to the production line workstations where materials are needed. Since material handling is all performed by bin robots, labor costs are reduced, and misplacement is avoided, minimizing the risk of material damage or loss due to human error, thus solving problem two mentioned above. Because the number of stopovers and transfers is reduced, the factory does not need to set up more temporary storage areas, thereby reducing storage space requirements, solving problem three mentioned above.

[0149] In one possible embodiment, the warehousing system further includes a conveyor line, a second lurking robot, and a palletizing robot set at a preset empty bin collection point; the conveyor line passes through the first side of the first storage shelf and is set at a position higher than the first shipping end, and the conveyor line is used to transport bins placed on the conveyor line to the preset empty bin collection point.

[0150] The method further includes:

[0151] In response to the material bin being transported to the preset empty material bin collection point, the palletizing robot is controlled to palletize the material bins transported to the preset empty material bin collection point;

[0152] In response to the palletizing robot completing the palletizing of the bins, the second lurking robot is controlled to transport the completed palletizing bins from the preset empty bin collection point to the preset empty return area.

[0153] In one possible embodiment, the system further includes a depalletizing robot positioned in a preset depalletizing area;

[0154] The method further includes:

[0155] In response to the material box stack being transported to the preset destacking area, the destacking robot is controlled to destacking the material box stack transported to the preset destacking area and placing the destacking material boxes at the online waiting point in the preset destacking area;

[0156] The step of controlling the first stealth robot to move the first material box to the receiving position in response to the warehousing command for the first material box includes:

[0157] In response to an inbound command for the first material box placed at the point to be put into service, the first stealth robot is controlled to move the first material box from the point to be put into service to the docking station.

[0158] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A warehousing system, characterized in that, The system includes a first storage shelf, a second storage shelf, a sorting shelf, a first lurking robot, a bin robot, and production line workstations; wherein, there are multiple sorting shelves and multiple production line workstations. The sorting rack includes a first inlet end, a first outlet end, and a first conveying structure. The first conveying structure is used to convey the material box from the first inlet end to the first outlet end. Each production line station corresponds to at least one sorting rack, and each production line station is located on one side of the first outlet end of the corresponding sorting rack. The first inlet is located below the storage space in the first storage shelf, and the first outlet is located on the first side of the first storage shelf; The storage positions in the second storage rack are located at a position higher than the working height of the first lurking robot, and the second storage rack is provided with a connecting position, which is located at a position not higher than the working height; The bin robot includes a picking and placing component, a horizontal guide rail, and a vertical guide rail. The horizontal guide rail passes through the second side of the first storage shelf and the third side of the second storage shelf. The vertical guide rail is slidably mounted on the horizontal guide rail, and the picking and placing component is slidably mounted on the vertical guide rail. The first stealth robot is used to move the first material box to the receiving position in response to the warehousing command for the first material box; The bin robot is used to move the first bin from the docking position to a storage location in the first storage shelf or the second storage shelf in response to the first bin being moved to the docking position, via the vertical guide rail and the pick-and-place component. The bin robot is also used to respond to an outbound command for a second bin placed on a storage location in the first or second storage shelf, and to move the second bin from the storage location to the first inbound end of a target sorting shelf via the vertical guide rail and the pick-and-place assembly, wherein the target sorting shelf is the sorting shelf corresponding to the production line station that requires the material in the second bin.

2. The system according to claim 1, characterized in that, The warehousing system also includes transmission lines; The transmission line passes through the first side of the first storage shelf and is positioned above the first shipping end. The transmission line is used to transport the bins placed on the transmission line to a preset empty bin collection point.

3. The system according to claim 2, characterized in that, The transmission line includes a first sub-transmission line and a second sub-transmission line; The first sub-transmission line is located above the first shipping end and is used to transport the tin placed on the first sub-transmission line to the first point. The second sub-transmission line is located between the first point and the preset empty material box collection point, and is used to transmit the material box from the first point to the preset empty material box collection point.

4. The system according to claim 2 or 3, characterized in that, The system also includes a second lurking robot and a palletizing robot set at the preset empty material box collection point; The palletizing robot is used to palletize the boxes that are transported to the preset empty box collection point in response to the boxes being transported to the preset empty box collection point. The second stealth robot is used to transport the completed stacked bins from the preset empty bin collection point to the preset empty return area in response to the palletizing robot completing the stacking of bins.

5. The system according to claim 1, characterized in that, The system also includes a depalletizing robot set in a preset depalletizing area; The destacking robot is used to destacking the stack of boxes transported to the preset destacking area in response to the transport of the stack of boxes to the preset destacking area, and to place the destacking boxes at the online waiting point in the preset destacking area. The first stealth robot is specifically used to move the first material box from the point to be put into service to the receiving position in response to the warehousing instruction for the first material box placed at the point to be put into service.

6. The system according to claim 1, characterized in that, Each sorting rack also includes output devices; The output device is configured to output a prompt signal in response to the material bin being transported to the first inbound end of the sorting rack to prompt for picking at the first outbound end of the sorting rack.

7. The system according to claim 6, characterized in that, The output device is also configured to output a prompt message in response to the material bin being transported to the first inbound end of the sorting shelf, the prompt message being used to indicate the quantity of materials to be picked at the first outbound end of the sorting shelf.

8. The system according to claim 1, characterized in that, The sorting rack also includes a second inlet, a second outlet, and a second conveying structure, wherein the second conveying structure is used to convey the bin from the second inlet to the second outlet. The second outgoing end is located below the storage space in the first storage shelf, and the second ingoing end is located on the first side of the first storage shelf; The bin robot is also used to respond to a handling command for a bin placed at the second shipping end, and to move the bin placed at the second shipping end to the docking position via the vertical guide rail and the pick-and-place assembly; The first lurking robot is also used to move the material box to a preset empty material box collection point in response to the material box being moved to the docking position.

9. The system according to claim 1, characterized in that, The warehousing system is used to send an outbound instruction to the bin robot in response to the material on the sorting shelf meeting the preset replenishment conditions, instructing the second bin to be moved to the first inbound end corresponding to the sorting shelf.

10. The system according to claim 9, characterized in that, The preset replenishment conditions include whether the inventory status of the material meets the preset inventory threshold requirements.

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