Forklift device, loading / unloading system, and loading / unloading method

Abstract

This disclosure relates to a fork device, a loading / unloading system, and a loading / unloading method. A fork device (10) for transferring goods to and from a transport equipment (40) having a loading section (41), the fork device comprising: a base (2); at least one fork body (1) connected to the base (2) and spaced apart in a first direction (x) for loading goods, wherein a vertically penetrating transfer passage (3) is formed in the area between adjacent fork bodies (1) and / or in the area outside the fork bodies (1), and the transfer passage (3) is arranged to allow the loading section (41) to pass vertically to allow goods to be placed on the loading section (41) or the fork body (1), which is a load receiving member; and loading / unloading means arranged to transfer goods between the fork body (1) and a storage location.

Description

Cross-reference to Related Applications

[0001] This disclosure is based on an application with Chinese Application Number 202410575685.6 and a filing date of May 10, 2024, and claims the priority thereof. The disclosure content of the Chinese application is hereby incorporated herein in its entirety.

Technical Field

[0002] This disclosure relates to the technical field of logistics warehouses, and particularly to a fork device, an inbound / outbound system, and an inbound / outbound method.

Background Art

[0003] In an automated warehouse system, the inbound / outbound system for goods is an important technology for improving warehouse production efficiency and reducing logistics costs. Conventional warehouse systems include a rack-to-person system, a shuttle three-dimensional system, etc. In recent years, a method has emerged in which a fork device capable of traveling on a rack transfers goods to and from a conveying facility, and then the goods are conveyed by the conveying facility and shipped out. The inbound process is the reverse.

[0004] In related technologies known to the inventors, the surfaces on which the goods are placed on the fork and the conveying facility are in the same plane, and the goods are transferred horizontally by the fork. Therefore, transfer errors of the goods are likely to occur due to errors, and horizontal adjustment, alignment, and fork extension are required during the process of transferring the goods. The operation is complex, the tact is slow, and the efficiency is low.

Summary of the Invention

[0005] This disclosure provides a fork device, an inbound / outbound system, and an inbound / outbound method that can improve the accuracy and efficiency of goods transfer.

[0006] The first aspect of this disclosure is a fork device for transferring goods to and from a conveying facility having a placement portion, comprising a base, At least one fork body connected to a base and spaced apart in a first direction for loading loads, wherein a vertically penetrating transfer passage is formed in the area between adjacent fork bodies and / or in the area outside the fork bodies, and the transfer passage is arranged to allow the loading portion, which is a load-receiving member, to pass vertically through to allow the loading portion to be loaded onto the fork body, Loading and unloading means arranged to transfer cargo between the forklift and the storage location, The invention provides a forklift device that includes the following:

[0007] A second aspect of this disclosure is a storage system, Racks arranged for luggage storage, The fork device of the above embodiment is movable along the surface of the rack and is arranged to perform loading and unloading operations, A conveying device having a loading section that is positioned to pass vertically through a transfer passage so as to allow loads to be placed on a loading section or fork body which is a load receiving member, We provide a warehousing and receiving system that includes this.

[0008] A third aspect of this disclosure is a method for receiving and shipping goods using the receiving and shipping system of the above embodiment, Moving the transport equipment to the first designated position, Moving the fork device to a second predetermined position on the rack, The loading section is passed perpendicular to the transfer passage, and the load is placed on the loading section or fork body, which is the load receiving member, thereby enabling the transfer of goods. The system provides a method for receiving and shipping goods, including such methods. [Brief explanation of the drawing]

[0009] The drawings described herein are provided for further understanding of the Disclosure and constitute part of this application. The exemplary embodiments and descriptions herein are for interpretation purposes only and do not limit the Disclosure.

[0010] Figure 1 is a schematic diagram showing the configuration of several embodiments of the rack of this disclosure.

[0011] Figure 2 is a schematic diagram showing the configuration of several embodiments of the inbound / outbound system of the present disclosure.

[0012] Figure 3 is a schematic diagram showing the fork device of this disclosure mounted on a vertical rail.

[0013] Figures 4A to 4D are schematic diagrams illustrating different scenarios when transferring goods between a conveying system and a forklift, each with a constant height for the loading area.

[0014] Figures 5A to 5D are schematic diagrams illustrating different scenarios when transferring goods between a conveying system equipped with a lift mechanism and a forklift device, respectively.

[0015] Figures 6A and 6B are schematic diagrams showing the configurations of several embodiments of the fork device from two different viewpoints.

[0016] Figure 7 is a schematic diagram showing the configuration of several embodiments of the conveying equipment.

[0017] Figure 8A is a schematic diagram showing the forklift device with a load placed on it.

[0018] Figure 8B is a schematic diagram showing the state in which the loading section of the conveying equipment has placed a load and the fork device has moved downward and detached from the load.

[0019] Figures 9A to 9D are schematic diagrams showing different states when the fork device moves a load using the upper biasing member.

[0020] Figures 10A and 10B are front and top views, respectively, of the fork device moving a load using biasing members provided on both sides.

[0021] Figures 10C and 10D are schematic views showing different states when moving a load by a biasing member provided with fork devices on both sides, respectively.

[0022] Figures 11A and 11B are top views showing a state where two fork bodies are close to each other and a load is placed thereon, and a state where two fork bodies are separated from each other and detached from the load, respectively.

[0023] Figure 12 is a side view in which a first identification code and a second identification code are installed.

[0024] Figure 13 is a front view in which a first identification code and a second identification code are installed.

[0025] Figure 14A is a side view of a state where a fork device is placing a load in the shipping process, and Figure 14B is a schematic view of a state where a conveying facility with a constant height of a placement part is placing a load after the transfer of the load.

[0026] Figures 15A and 15C are a side view and a top view of a state where a fork device is placing a load in the shipping process, respectively, and Figure 15B is a schematic view of a state where a conveying facility equipped with a lift mechanism is placing a load after the transfer of the load.

[0027] Figures 16A and 16B are schematic views showing a state where a placement part with a constant height of a conveying facility is placing a load, and a state where two fork bodies are separated from each other and detached from the load, respectively.

[0028] Figures 17A to 17C are schematic views showing a state where a conveying facility travels to a predetermined position in the shipping process, a state where a conveying facility equipped with a lift mechanism is placing a load, and a state where two fork bodies are separated from each other and detached from the load, respectively.

[0029] Figures 18A and 18B are schematic views showing a state where two fork bodies approach each other and place a load, and a state where they separate from each other and detach from the load, respectively.

[0030] Figure 19 is a schematic diagram showing the conveying equipment located below the rack, and the transfer of goods between the forklift and the equipment. [Modes for carrying out the invention]

[0031] The technical concepts in the embodiments of this disclosure will be described clearly and completely below with reference to the drawings in the embodiments of this disclosure. Clearly, the embodiments described are only a few embodiments of this disclosure, and not all embodiments. The following description of at least one exemplary embodiment is in fact merely descriptive and should not be construed as limiting the disclosure and its applications or use in any way. All other embodiments that a person skilled in the art could obtain by the embodiments of this disclosure without performing any creative work are within the scope of this disclosure.

[0032] While techniques, methods, and apparatus known to those skilled in the art in the relevant technical field may not be discussed in detail, they should be considered part of the specification where appropriate.

[0033] In the description of this disclosure, orientations or positional relationships indicated by terms such as “center,” “lateral,” “vertical,” “front,” “back,” “left,” “right,” “up,” “down,” “vertical,” “horizontal,” “top,” “bottom,” “inside,” and “outside” are orientations or positional relationships based on the drawings and are for the convenience and simplification of the description of this disclosure. They do not suggest or imply that the devices or elements covered must be positioned, configured, or operated in a particular orientation, and should therefore not be understood as limiting the scope of protection of this disclosure.

[0034] In the description of this disclosure, terms such as "Part 1," "Part 2," etc., are used to distinguish parts and, unless otherwise specified, do not have any special meaning and should not be understood as limiting the scope of protection of this disclosure.

[0035] As shown in Figures 1 to 19, Figure 1 shows a rack 20 in an automated warehouse system, which includes multiple interconnected columns 21 and multiple beams 22, forming a multi-tiered storage space. Each tier of storage space includes multiple storage positions for storing goods 30. The goods are arranged by storage materials to facilitate loading and unloading. Reference numerals for goods will be omitted in the following description.

[0036] One or more fork devices 10 are provided on the outer surface of the rack 20. The fork devices 10 can reach predetermined positions on the outer surface of the rack 20 to perform loading and unloading operations. Loading operations involve transporting goods from an external station to a target loading and storage position on the rack 20, and unloading operations involve transporting goods from a target unloading and storage position to an external station.

[0037] As shown in Figures 2 and 3, the outside of the rack 20 is provided with two horizontal rails 13 spaced apart in the height direction z, and two vertical rails 14 spaced apart in the width direction (first direction x) of the rack 20. The two vertical rails 14 are slidable along the horizontal rails 13 in the first direction x. The fork device 10 is attached to the two vertical rails 14 and is able to move up and down along the vertical rails 14. As a result, the fork device 10 has two degrees of freedom of movement and can flexibly move to a predetermined position on the outer surface of the rack 20.

[0038] Specifically, as shown in Figure 2, during a cargo receiving operation, the cargo to be received is transported from the station through the transition area to the perimeter of the rack 20 by the transport equipment 40 (e.g., a transport vehicle), and then the cargo is removed from the transport equipment 40 by the fork device 10 on the rack 20 and stored in the target receiving storage location. During a cargo retrieval operation, the cargo to be retrieved is transferred from the target retrieval storage location to the transport equipment 40 by the fork device 10 on the rack 20, and then the cargo to be retrieved is transported to the station through the transition area by the transport equipment 40.

[0039] For example, the transport equipment 40 is an automated guide vehicle equipped with an automatic navigation function, capable of traveling between the rack 20 and the station, and includes a loading section 41 for loading cargo.

[0040] The following describes an embodiment of the fork device 10. The fork device 10 is used for transferring goods to and from a conveying device 40 having a loading section 41.

[0041] Figure 6A is a schematic diagram showing the configuration of several embodiments of the fork device of the present disclosure. In some embodiments, the fork device 10 is: Base 2 and, At least one fork body 1 connected to a base 2 and spaced apart in a first direction x, for loading loads, wherein a vertically penetrating transfer passage 3 is formed in the area between adjacent fork bodies 1 and / or in the area outside the fork bodies 1, and the transfer passage 3 is arranged such that a loading portion 41, which is a load receiving member, or a loading portion 41 can pass vertically through to allow a load to be placed on the fork body 1, Includes loading and unloading means arranged to transfer the load between the fork body 1 and the storage location.

[0042] Here, as shown in Figure 3, the base 2 is attached to a vertical rail 14 on the outer surface of the rack 20. The fork device 10 is movable up and down along the vertical rail 14. The vertical rail 14 is provided with a running mechanism that cooperates with a horizontal rail 13 attached to the rack 20. The running wheels 25 of the running mechanism contact the horizontal rail 13, causing the fork device 10 to move horizontally along the surface of the rack 20 in a first direction x via the vertical rail 14. The base 2 is to which the fork body 1 is attached, and its specific structure is not limited. The fork body 1 extends in a second direction y that is perpendicular to the first direction x.

[0043] For example, one, two, or more fork bodies 1 may be provided. If one fork body 1 is provided, the fork body 1 places the middle region of the bottom of the load in a first direction x, and a transfer passage 3 is formed on the outside of the fork body 1 in the first direction x. The top of the loading section 41 has two loading surfaces, and the load is transferred by entering the transfer passage 3 vertically from both sides of the fork body 1. If two fork bodies 1 are provided, the two fork bodies 1 jointly load the load. The transfer passage 3 is formed in the area between the two fork bodies 1 and / or in the area outside the fork bodies 1 on both sides. The loading section 41 may have an appropriate number of loading surfaces as needed. If three or more fork bodies 1 are provided, the multiple fork bodies 1 form a comb-like structure, and depending on the size of the load, all the fork bodies 1 jointly load the load, or some of the fork bodies 1 jointly load the load. The transfer passage 3 is formed in the area between each of two adjacent fork bodies 1 and / or in the area outside the fork bodies 1 on both sides. The mounting section 41 may be provided with an appropriate number of mounting surfaces as needed.

[0044] During the transfer of goods, the transfer passage 3 allows the loading section 41 to pass vertically. Specifically, in the outbound process, the fork body 1 functions as a transporting member, and the loading section 41 functions as a receiving member. The loading section 41 enters the transfer passage 3 from bottom to top and places the goods on it. In the inbound process, the loading section 41 functions as a transporting member, and the fork body 1 functions as a receiving member. The loading section 41 enters the transfer passage 3 from top to bottom and places the goods on the fork body 1.

[0045] The fork device 10 in this embodiment has a vertically penetrating transfer passage 3, allowing the loading section 41 of the conveying equipment 40 to pass vertically and transfer goods. As a result, the fork device 10 and the conveying equipment 40 can transfer goods vertically, eliminating the need to align the fork body 1 and the loading section 41 in a horizontal plane, and eliminating the need to move the goods in a horizontal plane. This simplifies the goods transfer operation, improves the accuracy of goods transfer, shortens the time required for goods transfer, and improves the transfer efficiency.

[0046] In some embodiments, the loading section 41 includes at least one loading surface, and at least one fork body 1 is arranged to alternate with the at least one loading surface when transferring cargo.

[0047] Here, if there are multiple mounting surfaces, the multiple mounting surfaces are arranged at intervals in the first direction x. When one fork body 1 is provided, the top of the mounting section 41 has two mounting surfaces, and the transfer of goods is achieved by entering the transfer passage 3 vertically from both sides of the fork body 1. When two fork bodies 1 are provided, the mounting section 41 has one mounting surface and enters vertically into the transfer passage 3 between the two fork bodies 1, or the mounting section 41 has three mounting surfaces and enters the area between the two fork bodies 1 and the transfer passage 3 outside the two fork bodies 1, respectively. When three or more fork bodies 1 are provided, the mounting section 41 has two or more mounting surfaces and enters the area between each adjacent fork body 1 and the transfer passage 3 outside the two fork bodies 1, respectively.

[0048] In this embodiment, the mounting surface of the mounting section 41 and the fork body 1 are arranged alternately in the first direction x, so that both mounting surfaces enter the transfer passage 3 and the transfer of goods is achieved in the vertical direction. With this arrangement, both the fork device 10 and the mounting section 41 of the conveying equipment 40 can provide stable support for the goods, and the stability of the placed goods can be ensured.

[0049] In some embodiments, as shown in Figures 6A and 8A, two fork bodies 1 are provided, and a transfer passage 3 is formed in the area between the two fork bodies 1. In the first direction x, the width of the transfer passage 3 is set to be smaller than the width of the bottom surface of the load to allow the load to be placed on it.

[0050] The fork device 10 in this embodiment has two fork bodies 1, has a simple structure, and can provide stable support to the load from both sides in the first direction x. The conveying equipment 40 can also provide stable support to the load by having the mounting section 41 positioned in the intermediate area of ​​the bottom of the load in the first direction x when transferring the load, and the difficulty of manufacturing the mounting section 41 can be reduced.

[0051] In some embodiments, as shown in Figure 8B, the width of the transfer passage 3 is greater than the width of the mounting section 41 in the first direction x.

[0052] In this embodiment, by making the distance between the two fork bodies 1 in the first direction x greater than the width of the loading section 41, a distance is maintained between both sides of the loading section 41 and the fork bodies 1. This allows the loading section 41 to smoothly enter the transfer passage 3 when transferring cargo in the vertical direction, easing the positioning accuracy requirements for the fork device 10 and the conveying equipment 40 in the first direction x and reducing the difficulty of alignment. This further improves the success rate and efficiency of cargo transfer.

[0053] In some embodiments, as shown in Figure 6A, the two fork bodies 1 are able to move apart from or approach each other in a first direction x, and the conveying equipment 40 can move away from the fork bodies 1 when the width of the transfer passage 3 is greater than the width of the bottom of the load.

[0054] For example, the base 2 may include a guide rail, and the fork body 1 may be installed so as to be movable along the guide rail in a first direction x.

[0055] In this embodiment, after the loading section 41 places the load on the loading unit during the loading process, the two fork bodies 1 separate from each other to detach from the load, and then move closer to each other during the loading process to place the load on the loading unit. After the loading section 41 places the load on the loading unit during the loading process, the two fork bodies 1 separate from each other, which prevents collision with the fork bodies 1 when the conveying equipment 40 places the load on it and moves away, thereby improving the reliability of loading.

[0056] In some embodiments, the fork body 1 is positioned such that it has a gap in the first direction x with the loading section 41 when transferring cargo.

[0057] In this embodiment, the loading section 41 can smoothly enter the transfer passage 3 when transferring goods in the vertical direction, easing the positioning accuracy requirements for the fork device 10 and the conveying equipment 40 in the first direction x, and reducing the difficulty of alignment. This further improves the success rate and efficiency of goods transfer.

[0058] In some embodiments, at least two fork bodies 1 are provided, with openings 31 at the ends in the second direction y. The openings 31 are positioned to allow the conveying equipment 40, on which the load is placed, to move away from the fork bodies 1. The second direction y is perpendicular to the first direction x. For example, the configuration may be such that the opening 31 is provided at one end of the fork body 1, allowing the conveying equipment 40 to enter and exit only from one side, or the configuration may be such that the openings 31 are provided at both ends of the fork body 1, allowing the conveying equipment 40 to enter and exit from both sides.

[0059] In this embodiment, the distance between the two fork bodies 1 is kept constant, making it easier for the loading section 41 to enter and exit the transfer passage 3. In the outbound process, after the cargo is transferred to the loading section 41, the fork device 10 cannot move upward to move away, and can only move downward to move vertically away from the cargo. By providing an opening 31 at the end of the fork body 1, the conveying equipment 40 on which the cargo is loaded can move away from the fork device 10. In the inbound process, the fork device 10 is first lowered until the fork body 1 is lower than the upper surface of the loading section 41, and then the conveying equipment 40 on which the cargo is loaded enters the area of ​​the transfer passage 3. By providing an opening 31, the loading section 41 can enter the transfer passage 3 through the opening 31.

[0060] In some embodiments, each fork body 1 includes a fixed portion 12 and a support portion 11, the support portion 11 being movable in a second direction y relative to the fixed portion 12. The second direction y is perpendicular to the first direction x.

[0061] In this embodiment, by installing the support portion 11 so as to be extendable and retractable relative to the fixed portion 12, as shown in Figure 19, when the conveying equipment 40 is parked in the area below the rack 20, the support portion 11 of the fork device 10 on the rack 20 can be extended in the reverse direction to enter the area below the rack 20 and transfer the cargo. Alternatively, the support portion 11 of the fork device 10 on an adjacent rack 20 can be extended in the forward direction to enter the area below the rack 20 and transfer the cargo. With this configuration, even when the conveying equipment 40 is not parked in the area directly below the fork device 10, the requirement for transferring cargo in the vertical direction can be met, and the parking position of the conveying equipment 40 can be set more flexibly.

[0062] Three embodiments applicable to the loading / unloading mechanism are shown below.

[0063] In some embodiments, as shown in Figure 6A, the loading and unloading mechanism includes two fork arms 4, each located on the outside of two fork bodies 1. The fork arms 4 are extendable and retractable relative to the fork bodies 1 in a second direction y, and are arranged to extend when loading or unloading cargo and to retract after loading or unloading is complete. When the fork bodies 1 are loaded with cargo, the fork arms 4 prevent the cargo from falling off the sides. A fixing part 12 is connected perpendicularly to the bottom of the corresponding fork arm 4. The loading and unloading mechanism also further includes a drive member 6, which is arranged to extend and retract the fork arms 4 relative to the fork bodies 1. For example, the drive member 6 may be a motor or electric motor.

[0064] As shown in Figure 6B, the loading and unloading mechanism further includes a plurality of loading members 5. For example, the inner walls of two fork arms 4 are provided with a pair of cooperative loading members 5 so that when loading or unloading cargo, the two loading members 5 located at the same position in the second direction y of the two fork arms 4 contact the same surface of the cargo. The loading members 5 are also rotatable in a plane perpendicular to the second direction y, so that when rotated to the stowed position, cargo is placed on them, and when rotated to the open position (e.g., horizontal position), cargo is restricted to be removed from the storage position of the rack 20 or stored in the storage position of the rack 20. For example, the loading members 5 may be designed as rod-shaped structures that form the forks.

[0065] The operating principle of such a loading / unloading mechanism is as follows:

[0066] Specifically, each of the two fork arms 4 is provided with four load-taking members 5 in the second direction y: a first load-taking member 5A, a second load-taking member 5B, a third load-taking member 5C, and a fourth load-taking member 5D. Load-taking members 5 located at the same position on the two fork arms 4 form a pair of load-taking members 5 to accommodate different storage depths and different load size requirements in the load rack 20. For example, if the load size is uniform, the pair of first load-taking members 5A and the pair of third load-taking members 5C work together to retrieve loads stored inside the rack, while the pair of second load-taking members 5B and the pair of fourth load-taking members 5D work together to retrieve loads stored outside the rack. When retrieving loads, the fork arms 4 may extend relative to the fork body 1.

[0067] In some embodiments, as shown in Figures 9A to 9D, the insertion / removal means is: A mounting member 7 is provided above the fork body 1 and connected to the base 2, A biasing member 8 is provided at the lower part of the mounting member 7 and is positioned to move the load from the top or end of the load, A lateral movement mechanism 91 is provided on the mounting member 7 and is arranged to move the biasing member 8 in a second direction y that is perpendicular to the first direction x, The system further includes a lifting mechanism 92 provided on the mounting member 7 and arranged to raise and lower the biasing member 8.

[0068] For example, the biasing member 8 is a hook, and a hooking ring or the like is provided on the front end surface of the luggage 30, or the biasing member 8 is a chuck, and a suction part is provided on the front end surface of the luggage 30.

[0069] For example, as shown in Figure 9A, when removing a load from its storage position on the rack 20, the biasing member 8 is moved toward the load by the lateral movement mechanism 91. Figure 9D is a front view of Figure 9A. As shown in Figure 9B, after the biasing member 8 reaches a position close to the outer end of the fork body 1, the lifting mechanism 92 lowers the biasing member 8 to the biased portion of the front end surface of the load and connects it. As shown in Figure 9C, the biasing member 8 is moved by the lateral movement mechanism 91 to move the load to the fork body 1. Similarly, this mechanism can also be used to move a load on the fork body 1 to its storage position on the rack 20.

[0070] In this embodiment, the load can be transferred from the rack 20 to the fork body 1, or from the fork body 1 to the rack 20, by applying a tensile force to the top or end of the load using the biasing member 8. In this way, adaptability to loads of different sizes can be increased, regardless of the length of the load in the second direction y.

[0071] In some embodiments, as shown in Figures 10A to 10D, the insertion / removal means is: Two mounting members 7 are provided on both sides of each of the two fork bodies 1 and are connected to the base 2, Two biasing members 8 are provided inside each of the two mounting members 7 and are arranged to move the load from the areas on both sides, The system further includes two lateral movement mechanisms 91, each provided on two mounting members 7 and arranged to move the corresponding biasing member 8 in a second direction y that is perpendicular to the first direction x.

[0072] For example, Figures 10A and 10B are a front view and a top view, respectively, when a load is on the fork body 1. As shown in Figure 10C, when removing a load from its storage position on the rack 20, the lateral movement mechanisms 91 on both sides move the biasing members 8 toward the load until the corresponding biasing members 8 reach a position close to the outer end of the fork body 1. The end of the load has two biased portions, or one biased portion is provided on each side of the load, and the two biasing members 8 are connected to the two biased portions, respectively. As shown in Figure 10D, the lateral movement mechanisms 91 on both sides move the corresponding biasing members 8 synchronously to move the load to the fork body 1. Similarly, this mechanism can also be used to move a load on the fork body 1 to its storage position on the rack 20.

[0073] In this embodiment, the load can be transferred from the rack 20 to the fork body 1, or from the fork body 1 to the rack 20, by applying tensile force to areas on both sides of the load using two biasing members 8. In this way, the load transfer process is made more stable, and it is possible to prevent unevenness during movement on the fork body 1 from affecting the subsequent transfer of loads. Furthermore, this method increases adaptability to loads of different sizes, regardless of the length of the load in the second direction y. In addition, there is no need to provide a lifting mechanism, and the structure of the fork device 10 can be simplified.

[0074] In some embodiments, the fork body 1 is provided with a conveying member that works in cooperation with a biasing member 8 to move the load to a predetermined position on the fork body 1, or to remove the load from the fork body 1.

[0075] For example, when the conveying equipment 40 stops in the area below the rack 20 and goods are transferred using the fork device 10 on the adjacent rack 20, if the lateral movement mechanism 91 moves the goods a certain distance and then the columns 21 and beams 22 of the rack 20 prevent the lateral movement mechanism 91 from moving any further, the conveying member can move the goods to a predetermined position. For example, the conveying member may be a conveyor belt, rollers, etc.

[0076] In this embodiment, by providing a conveying member on the fork body 1, the movement stroke of the load can be made larger in cooperation with the biasing member 8, and the flexibility of the stopping position of the fork device 10 and the conveying equipment 40 when transferring loads is improved.

[0077] Next, this disclosure provides an inbound / outbound system. In some embodiments, as shown in Figure 2, the inbound / outbound system is: Rack 20 is positioned for storing luggage, The fork device 10 of the above embodiment is movable along the surface of the rack 20 and is arranged to perform loading and unloading operations, The conveying equipment 40 includes a loading section 41, where the loading section 41 is, for example, a pallet, and is arranged to pass vertically through a transfer passage 3 so as to allow cargo to be placed on the loading section 41 or the fork body 1, which is a cargo receiving member.

[0078] Here, the fork device 10 is attached to the rack 20, for example, by being attached to the rack 20 via vertical rails 14 and horizontal rails 13, or by being suspended from rails provided above. These configurations allow the fork device 10 to move along the surface of the rack 20.

[0079] Here, one or more racks 20 are provided, and the multiple racks 20 are installed at intervals in the second direction y, forming a passage 24 between adjacent racks 20. The fork device 10 is mounted on the outer surface of the rack 20 and is movable in the height direction z and the first direction x. Part A of Figure 2 shows the conveying equipment 40 stopped in the passage 24 to transfer goods, while other conveying equipment 40 are stopped in the area below the racks 20 to transfer goods or are in a standby state.

[0080] The forklift device 10 and conveying equipment 40 in this embodiment employ a vertical cargo transfer mode, which simplifies the cargo transfer process, improves the accuracy of cargo transfer, reduces the time required for transfer, and improves transfer efficiency. This improves the overall inbound and outbound efficiency of the automated warehouse system.

[0081] In some embodiments, the loading section 41 and the fork body 1 are arranged to place the load by bringing the load-receiving member into contact with the bottom surface of the load through relative vertical movement. Specifically, the protection range includes cases where only the loading section 41 moves vertically, only the fork body 1 moves vertically, or both move.

[0082] In the outbound process, the fork device 10 places the load on it, and the fork body 1 is initially positioned higher than the upper surface of the loading section 41. As the conveying equipment 40 moves below the fork body 1, the loading section 41 enters the transfer passage 3 from bottom to top. Subsequently, either the fork device 10 moves downward or the loading section 41 moves upward, causing a relative movement that brings the loading section 41 into contact with the bottom surface of the load and places the load on it.

[0083] In the receiving process, the conveying equipment 40 places the cargo on it, and the fork body 1 is initially positioned lower than the upper surface of the loading section 41. As the conveying equipment 40 moves to the position of the fork body 1, the loading section 41 enters the transfer passage 3 from top to bottom. Subsequently, the fork device 10 moves upward or the loading section 41 moves downward, causing a relative movement that brings the fork body 1 into contact with the bottom surface of the cargo and places the cargo on it.

[0084] In this embodiment, the conveying equipment 40 can smoothly reach the area where the cargo is transferred to the fork device 10, and the cargo can be placed on the receiving member.

[0085] In some embodiments, the loading section 41 and the fork body 1 are arranged such that, after the load receiving member places the load, the loading section 41 or the fork body 1, which are load transport components, detach from the load by relative motion.

[0086] Here, the relative motion may be relative motion in the vertical direction, or relative motion along the first direction x.

[0087] In this embodiment, the loading component is detached from the load after the loading member has placed the load on it, thereby enabling the loading member to smoothly detach from the load after it has been placed on it.

[0088] In some embodiments, as shown in Figures 4A to 4D, the conveying equipment 40 further includes a main body 42, and the loading section 41 is at a constant height relative to the main body 42. The fork device 10 is arranged to place the load by bringing the load receiving member into contact with the bottom surface of the load through vertical movement, and to detach the loading component, the loading section 41 or the fork body 1, from the load by vertical movement.

[0089] Specifically, the fork device 10 is configured such that, in the outbound process, it moves downward to place the load on the loading section 41, and after the loading section 41 has placed the load, it moves further downward to detach the fork body 1 from the load, and / or, in the inbound process, it moves upward to place the load on the fork body 1, and after the fork body 1 has placed the load, it moves further upward to detach the loading section 41 from the load.

[0090] Taking the outbound process as an example, as shown in Figure 4A, the fork device 10 moves to the second predetermined position P2. As shown in Figures 4B and 14A, the conveying equipment 40 moves along a predetermined path to the first predetermined position P1, at which point the conveying equipment 40 is positioned directly below the fork device 10. As shown in Figure 4C, the fork device 10 is lowered, and in this process, the loading section 41 enters the transfer passage 3, and the load is placed on the loading section 41. The fork device 10 lowers further and detaches from the bottom surface of the load. As shown in Figures 4D and 14B, the conveying equipment 40, having placed the load, exits through the opening 31 of the fork device 10 and leaves the area where the fork device 10 is located.

[0091] In this embodiment, the conveying equipment 40 has a constant height for the loading section 41, resulting in a simple structure and low cost. The entire load transfer process can be achieved by moving the fork device 10 in the height direction z, and it is easy to control. Furthermore, because the loading section 41 is fixed, loads can be placed stably, and as the load is moved away after the transfer is complete, the center of gravity becomes lower, which is advantageous for increasing the travel speed and improving the efficiency of transferring loads to the target position.

[0092] In some embodiments, the fork device 10 further includes a distance sensor, which is positioned to detect the lowering height of the fork device 10 so that the lowering height of the fork body 1 does not exceed a predetermined distance after the loading section 41 has placed a load during the loading process. The distance sensor can detect the distance between the fork body 1 and the bottom surface of the load, the distance between the fork body 1 and a reference point of the conveying equipment 40, the distance between the fork body 1 and the ground, or the distance between the fork body 1 and a reference point of the rack 20. For example, the distance sensor may be installed at the bottom or end of the fork body 1.

[0093] By installing a distance measuring sensor, during the outbound process, after the loading section 41 places the load, the fork body 1 descends by an appropriate distance to transfer the load to the loading section 41 while simultaneously detaching from the load, thereby preventing interference or collision with the main body 42 of the conveying equipment 40.

[0094] Alternatively, the conveying equipment 40 further includes a weight sensor, which is provided on the loading section 41 and is configured to detect changes in the weight of the loading section 41 so as to stop the descent of the fork device 10 when the weight change after the loading section 41 contacts the bottom surface of the load reaches a predetermined weight during the loading process.

[0095] By installing a weight sensor, it is possible to detect when a load is placed on the loading section 41 during the loading process. When the weight change reaches a predetermined weight, it is assumed that the load has been reliably transferred to the conveying equipment 40, and at this time the descent of the fork device 10 is stopped, thereby preventing interference or collision with the main body 42 of the conveying equipment 40.

[0096] In some embodiments, as shown in Figures 5A to 5D, the conveying equipment 40 further includes a main body 42 and a lift mechanism 43, the loading section 41 is mounted to the main body 42 so as to be able to move up and down by the lift mechanism 43, and the lift mechanism 43 is arranged to move up and down to bring the load receiving member into contact with the bottom surface of the load and / or to move up and down to detach the loading section 41 or fork body 1, which are load conveying components, from the load.

[0097] As shown in Figure 8, a storage chamber is provided at the top of the main body 42, and a lift mechanism 43 is installed inside the storage chamber. A mounting section 41 is positioned at the top of the lift mechanism 43. The lift mechanism 43 may be a scissor mechanism, a linear drive mechanism, or the like.

[0098] Specifically, in the outbound process, the lift mechanism 43 is raised to bring the loading section 41 into contact with the bottom surface of the load and place the load on it. After the loading section 41 has placed the load, it is raised further to detach the fork body 1 from the load, or the fork device 10 is lowered to detach the fork body 1 from the load. The lift mechanism 43 is arranged so that in the inbound process, it is lowered to bring the fork body 1 into contact with the bottom surface of the load and place the load on it. After the fork body 1 has placed the load, it is lowered further to detach the loading section 41 from the load, or the fork device 10 is raised to detach the loading section 41 from the load.

[0099] Taking the outbound process as an example, as shown in Figure 5A, the fork device 10 moves to the second predetermined position P2. Figure 15C is a plan view when the cargo 30 is on the fork body 1. As shown in Figures 5B and 15A, the conveying equipment 40 moves along a predetermined path to the first predetermined position P1, at which point the conveying equipment 40 is positioned directly below the fork device 10. As shown in Figure 5C, the lift mechanism 43 of the conveying equipment 40 is raised, and in this process, the loading section 41 enters the transfer passage 3, the cargo is placed on the loading section 41, and the lift mechanism 43 is raised further to separate the fork body 1 from the bottom surface of the cargo. As shown in Figures 5D and 15B, the conveying equipment 40 lowers the fork device 10 or maintains the position shown in Figure 5C, places the cargo on it, exits through the opening 31 of the fork device 10, and leaves the area where the fork device 10 is located.

[0100] In this embodiment, by equipping the conveying equipment 40 with a lift mechanism 43, the lift mechanism 43 can raise and lower the loading section 41 to satisfy the requirement for transferring goods to and from the forklift 10, and the requirement for the stopping height position of the forklift 10 can be relaxed. Furthermore, since the conveying equipment 40 can position the goods at a higher position after loading them, it can be adjusted to the operating height of a human during subsequent manual picking at the station.

[0101] In some embodiments, as shown in Figures 1 and 2, the conveying equipment 40 further includes a main body 42 and a lift mechanism 43, and the loading section 41 is mounted to the main body 42 so as to be able to move up and down by the lift mechanism 43. A temporary storage shelf 23 is provided in the lower area of ​​the rack 20, and the conveying equipment 40 transfers goods to and from the temporary storage shelf 23. The lift mechanism 43 is arranged to move up and down to bring the loading receiving member, the loading section 41 or the temporary storage shelf 23, into contact with the bottom surface of the goods and to place the goods, and to move up and down to detach the loading component, the loading section 41 or the temporary storage shelf 23, from the goods.

[0102] Specifically, in the outbound process, the lift mechanism 43 is raised to place the goods on the loading section 41, and after the loading section 41 has placed the goods, it is raised further to detach the temporary storage shelf 23 from the goods. In the inbound process, the lift mechanism 43 is lowered to place the goods on the temporary storage shelf 23, and after the temporary storage shelf 23 has placed the goods, it is lowered further to detach the loading section 41 from the goods.

[0103] In this embodiment, the conveying equipment 40 is equipped with a lift mechanism 43, which allows the loading section 41 to be raised and lowered to satisfy the request for transferring goods to and from the temporary storage rack 23. In the loading and unloading process, goods being unloaded from the forklift 10 are transferred to the conveying equipment 40. If the conveying equipment 40 is unavailable, malfunctions and cannot reach the rack 20, or if the goods are not needed at the current station, the goods can be temporarily stored in the temporary storage rack 23. Goods being loaded from the conveying equipment 40 are transferred to the forklift 10 for direct loading, or if the forklift 10 is unavailable, the conveying equipment 40 can store the goods in the temporary storage rack 23. By reducing the waiting time and idle time of the conveying equipment 40 and the forklift 10, loading and unloading efficiency can be improved.

[0104] In some embodiments, as shown in Figures 11A and 11B, and Figures 18A and 18B, the two fork bodies 1 are able to move apart from or approach each other in a first direction x, and are arranged so that in the outbound process the loading sections 41 move apart from each other and detach from the load after loading the load, and in the inbound process they move closer to each other to load the load.

[0105] In this embodiment, after the loading section 41 places the cargo during the loading process, the two fork bodies 1 move apart from each other, thereby preventing collision with the fork bodies 1 when the conveying equipment 40 loads the cargo and moves away, and improving the reliability of loading. Furthermore, this can also be applied to structures in which no openings are provided at the ends of the fork bodies 1.

[0106] Below, two embodiments are shown for different conveying equipment 40 in which two fork bodies 1 can be separated from or approached each other in a first direction x.

[0107] As shown in Figures 16A and 16B, in a transport equipment 40 in which the loading section 41 is at a constant height relative to the main body 42, in the retrieval process, after the loading section 41 places the load, the fork device 10 is first moved downward a certain distance, then separated from each other in the first direction x, and away from the bottom surface of the load. Subsequently, the fork device 10 is moved upward until it is higher than the top surface of the load, and then the transport equipment 40 on which the load is placed moves away, thereby preventing collision with the fork body 1 and improving retrieval reliability.

[0108] As shown in Figures 17A to 17C, in a conveying system equipped with a lift mechanism 43 that allows the loading section 41 to be raised and lowered relative to the main body 42, in the retrieval process, as shown in Figure 17A, the conveying system 40 reaches a predetermined position at the bottom of the fork device 10. As shown in Figure 17B, after raising the lift mechanism 43 to place the load on the loading section 41, the lift mechanism 43 is raised further to separate the fork body 1 from the load in the height direction. As shown in Figure 17C, the two fork bodies 1 are separated from each other in the first direction x and away from the bottom surface of the load, and then the fork device 10 is moved upward until it is higher than the top surface of the load, and then the conveying system 40 on which the load is placed moves away, thereby preventing collision with the fork body 1 and improving retrieval reliability.

[0109] In some embodiments, as shown in Figure 2, there are multiple racks 20, which are spaced apart and have passages 24 between adjacent racks 20. The fork device 10 is located outside the racks 20 and is movably mounted along the outer surface of the racks 20.

[0110] The length of the fork body 1 is constant, and the conveying equipment 40 is positioned to stop within the passage 24 or outside the rack 20, directly below the fork device 10. Alternatively, the fork body 1 is extendable, and the conveying equipment 40 is positioned to stop within the passage 24, outside the rack 20, or below the rack 20, offset from the fork device 10, and loads are transferred by extending the fork body 1 in the forward or reverse direction.

[0111] In this embodiment, in a structure where the length of the fork body 1 is constant, the conveying equipment 40 needs to be positioned in the area directly below the fork device 10, and after the transfer of goods, the goods can be positioned in the intermediate area of ​​the receiving member. In a structure where the fork body 1 is extendable and retractable, when the conveying equipment 40 is stopped in the area below the rack 20, the support portion 11 of the fork device 10 on the rack 20 is extended in the reverse direction to enter the area below the rack 20 and transfer the goods, or the support portion 11 of the fork device 10 on an adjacent rack 20 is extended and retracted in the forward direction to enter the area below the rack 20 and transfer the goods. With this configuration, even when the conveying equipment 40 is not stopped in the area directly below the fork device 10, the requirement for transferring goods in the vertical direction can be met, and the stopping position of the conveying equipment 40 can be set more flexibly.

[0112] In some embodiments, at least two fork bodies 1 are provided, with an opening 31 at the end in the second direction y. The conveying equipment 40 is arranged to enter the transfer passage 3 through the opening 31 before the transfer of goods and to leave the transfer passage 3 through the opening 31 after the transfer of goods. In this embodiment, the distance between the two fork bodies 1 is kept constant, facilitating the entry and exit of the loading section 41 to and from the transfer passage 3.

[0113] In some embodiments, as shown in Figures 12 and 13, the inventory system is as follows: A first identification code 61, such as a barcode or QR code, is provided at a first predetermined location on the ground, The system further includes a first imaging member 62 provided on the transport equipment 40, which photographs a first identification code 61 to position the transport equipment 40.

[0114] In this embodiment, by detecting the first identification code 61 with the first imaging member 62, the conveying equipment 40 can be accurately positioned to align with the fork device 10 for the transfer of goods. In particular, accurate positioning in the first direction x prevents collision between the loading section 41 and the side fork body 1, thereby improving the reliability of the transfer of goods.

[0115] Furthermore, in addition to identification code detection, there are various other methods for positioning the transport equipment 40, such as laser navigation, magnetic tape navigation, or any other form of navigation. Positioning of the fork device 10 can also be achieved by calculation using an encoder.

[0116] In some embodiments, as shown in Figures 12 and 13, the inventory system is as follows: A second identification code 71, such as a barcode or QR code, is provided at a second predetermined position on the rack 20, A second imaging member 72 is provided on the fork device 10 to photograph the second identification code 71 and position the fork device 10 in the first direction x and the height direction z, It also includes.

[0117] For example, the second identification code 71 can be attached at the height closest to the ground. A second imaging member 72 is provided at each end of the two fork bodies 1. The second identification code 71 is attached to a beam 22 that can be photographed by both of the second imaging members 72 on both sides. After the fork device 10 moves to the area where the second identification code 71 is located, it photographs the second identification code 71 to obtain a distance deviation, and then fine-tunes the position of the fork device 10 based on this distance deviation until the distance deviation with respect to the second identification code 71 disappears, thereby achieving accurate positioning of the fork device 10.

[0118] In this embodiment, the fork device 10 can be accurately positioned to align with the conveying equipment 40 and transfer goods by detecting the second identification code 71 using the second imaging member 72. Accurate positioning in the first direction x prevents collision between the mounting section 41 and the inner surface of the fork body 1, and accurate positioning in the height direction z prevents collision between the mounting section 41 and the upper or lower surface of the fork body 1 when the conveying equipment 40 enters an area of ​​the fork device 10, thereby improving the reliability of goods transfer.

[0119] Specifically, the cargo transfer position may be outside the aisle 23 or rack 20, or below rack 20. The optimal position for cargo transfer is where the center of the cargo corresponds to the center of the cargo receiving member. For example, in the outbound process, the center of the cargo corresponds to the center of the loading section 41, and in the inbound process, the center of the cargo corresponds to the center of the fork device 10. By installing the first identification code 61 and the second identification code 71 described above, adjustment and positioning to the predetermined cargo transfer position are facilitated.

[0120] Furthermore, this disclosure provides a method for receiving and shipping goods using the receiving and shipping system of the above embodiment. In some embodiments, Step 110 involves moving the conveying equipment 40 to a first predetermined position, Step 120 involves moving the fork device 10 to a second predetermined position on the rack 20, The method includes step 130, which involves passing the loading section 41 perpendicularly through the transfer passage 3 and placing the load on the loading section 41 or the fork body 1, which are load receiving members, to facilitate the transfer of the load.

[0121] Here, the execution order of steps 110 and 120 can be set according to the requirements of the receiving and shipping tasks, and step 130 is executed after steps 110 and 120. For example, in the shipping process, the execution order of steps 110 and 120 is not restricted because the fork device 10 is above the mounting section 41 of the conveying equipment 40. In the receiving process, step 120 is executed before step 110 because the fork device 10 is below the mounting section 41.

[0122] In this embodiment of the loading and unloading method, the forklift 10 and conveying equipment 40 employ a vertical loading and unloading mode, simplifying the loading and unloading process, improving the accuracy of loading and unloading, reducing the time required for loading and unloading, and improving loading and unloading efficiency. This improves the overall loading and unloading efficiency of the automated warehouse system.

[0123] In some embodiments, the step of transferring the goods in step 130 is: Step 131 involves placing the load by bringing the load receiving member into contact with the bottom surface of the load, by moving the loading section 41 and the fork body 1 relative to each other in a vertical direction. The process includes step 132, in which, after the receiving member has placed the load, the loading portion 41 and the fork body 1 are moved relative to each other to detach the loading portion 41 or the fork body 1, which are loading components, from the load.

[0124] Here, step 132 is executed after step 131.

[0125] In the outbound process, the fork device 10 places the load on it, and the fork body 1 is initially positioned higher than the upper surface of the loading section 41. The conveying equipment 40 is moved below the fork body 1, causing the loading section 41 to enter the transfer passage 3 from bottom to top. Then, in step 131, the fork device 10 is moved downward or the loading section 41 is moved upward by relative motion, causing the loading section 41 to contact the bottom surface of the load and place the load on it. Subsequently, in step 132, the fork device 10 is moved further downward, the loading section 41 is moved upward, or the two fork bodies 1 are separated from each other in the first direction x, thereby detaching the fork device 10 from the load.

[0126] In the receiving process, the conveying equipment 40 places the load on it, and the fork body 1 is initially positioned lower than the upper surface of the loading section 41. By moving the conveying equipment 40 to the position of the fork body 1, the loading section 41 enters the transfer passage 3 from top to bottom. Then, in step 131, the fork device 10 is moved upward or the loading section 41 is moved downward by relative motion, bringing the fork body 1 into contact with the bottom surface of the load and placing the load on it. Subsequently, in step 132, the loading section 41 is detached from the load by moving the fork device 10 further upward, moving the loading section 41 downward, or moving the two fork bodies 1 apart from each other in the first direction x.

[0127] In this embodiment, the conveying equipment 40 can smoothly reach the area where the fork device 10 and the cargo are transferred, the cargo receiving member can securely place the cargo, and after the cargo receiving member places the cargo, the cargo transport component can be detached from the cargo, allowing the cargo receiving member to smoothly move away after placing the cargo.

[0128] In some embodiments, as shown in Figures 4A to 4D, the conveying equipment 40 further includes a main body 42, and the mounting section 41 is at a constant height relative to the main body 42.

[0129] In the outbound process, the second predetermined position is higher than the upper surface of the loading section 41, and the step of transferring the goods is, After the conveying equipment 40 reaches the first predetermined position, the fork device 10 is lowered from the second predetermined position until the mounting section 41 contacts the bottom surface of the load. The process includes the step of further lowering the fork device 10 and separating the fork body 1 from the bottom surface of the load. During this process, interference or collision with the main body 42 of the conveying equipment 40 is prevented by continuously detecting, using a distance measuring sensor or a weight sensor, that the downward displacement of the fork device 10 does not exceed a predetermined distance.

[0130] In the receiving process, the second predetermined position is lower than the upper surface of the loading section 41, and the fork device 10 moves to the second predetermined position before the conveying equipment 40 loads the goods and moves to the first predetermined position. The steps for receiving the goods are: The steps include moving the fork device 10 from a second predetermined position until the fork body 1 contacts the bottom surface of the load, The procedure includes the step of further raising the fork device 10 while holding the load, thereby separating the mounting section 41 from the bottom surface of the load.

[0131] In this embodiment, the loading and unloading method has a simpler structure, allowing the use of low-cost transport equipment 40, and the entire cargo transfer process can be achieved simply by the fork device 10 moving in the height direction z, making it easy to control. Furthermore, since the loading section 41 is fixed, cargo can be placed stably, and as the cargo is moved away after the transfer is complete, the center of gravity becomes lower, which is advantageous for increasing the travel speed and improving the efficiency of cargo transfer to the target position.

[0132] In some embodiments, the conveying equipment 40 further includes a main body 42 and a lift mechanism 43, and the mounting section 41 is mounted to the main body 42 so as to be able to move up and down by the lift mechanism 43.

[0133] In the outbound process, the second predetermined position is higher than the upper surface of the loading section 41, and the step of transferring the goods is, After the conveying equipment 40 reaches the first predetermined position, the lift mechanism 43 raises the loading section 41 until the loading section 41 contacts the bottom surface of the load. The process includes and / or the step of further raising the mounting section 41 by the lift mechanism 43, or lowering the fork device 10 from the second predetermined position to detach the fork body 1 from the bottom surface of the load. In the receiving process, the second predetermined position is lower than the upper surface of the loading section 41, and the fork device 10 moves to the second predetermined position before the conveying equipment 40 loads the cargo and moves to the first predetermined position, and the cargo transfer step is, After the conveying equipment 40 reaches the first predetermined position, the lift mechanism 43 lowers the loading section 41 until the fork body 1 contacts the bottom surface of the load. The process includes the step of further lowering the mounting section 41 using the lift mechanism 43, or raising the fork device 10 from the second predetermined position, to detach the mounting section 41 from the bottom surface of the load.

[0134] In this embodiment, the loading and unloading method employs a transport equipment 40 equipped with a lift mechanism 43. By raising and lowering the loading section 41 using the lift mechanism 43, the requirements for transferring goods to and from the forklift 10 can be met, and the requirements for the stopping height of the forklift 10 can be relaxed. Furthermore, since the transport equipment 40 can position the goods at a higher position after loading them, it can be adjusted to the operating height of a human during subsequent manual picking at the station.

[0135] In some embodiments, multiple racks 20 are provided, the multiple racks 20 are spaced apart, and a passage 24 is formed between adjacent racks 20. The step of moving the conveying equipment 40 to a first predetermined position is: As shown in Figure 12, when the length of the fork body 1 is constant, the transport equipment 40 is moved to a first predetermined position located directly below the fork device 10, which is in a second predetermined position inside the passage 24 or outside the rack 20. As shown in Figure 19, if the fork body 1 is extendable and retractable, the transport equipment 40 is moved to a first predetermined position located in a region within the passage 24, outside the rack 20, or below the rack 20, which is offset from the fork device 10 in a second direction y perpendicular to the first direction x, and the fork body 1 is extended in the forward or reverse direction to transfer the goods.

[0136] In this embodiment, in a structure where the length of the fork body 1 is constant, the conveying equipment 40 can be positioned in the area directly below the fork device 10, allowing the cargo to be positioned in the intermediate area of ​​the cargo receiving member after the cargo has been transferred. In a structure where the fork body 1 is extendable and retractable, when the conveying equipment 40 is stopped in the area below the rack 20, the support plate 11 of the fork device 10 on the rack 20 can be extended in the reverse direction to enter the area below the rack 20 and transfer the cargo, or the support plate 11 of the fork device 10 on an adjacent rack 20 can be extended in the forward direction to enter the area below the rack 20 and transfer the cargo. With this configuration, even when the conveying equipment 40 is not stopped in the area directly below the fork device 10, the requirement for vertical cargo transfer can be met, and the stopping position of the conveying equipment 40 can be set more flexibly.

[0137] In some embodiments, after the handover of goods is completed, the method of receiving and shipping goods is as follows: In the outbound process, the steps include first moving the transport equipment 40 away from the first predetermined position, then having the fork device 10 perform the subsequent operation, and / or The receiving process further includes the steps of moving the conveying equipment 40 away from the first predetermined position and causing the fork device 10 to perform a receiving operation.

[0138] In this embodiment, in the outbound process, after the conveying equipment 40 places the cargo, the fork body 1 is positioned below the cargo and is therefore held in place by the cargo, preventing it from moving freely. Therefore, by first moving the conveying equipment 40 away from the first predetermined position, the fork device 10 can be moved freely. In the inbound process, after the fork device 10 places the cargo, the fork body 1 is positioned below, but since the conveying equipment 40 and the fork device 10 with the cargo placed on it do not interfere with each other when moving away from each other, the order is not restricted.

[0139] In some embodiments, the conveying equipment 40 further includes a main body 42 and a lift mechanism 43, the mounting section 41 is mounted to the main body 42 so as to be able to move up and down by the lift mechanism 43, and a temporary storage shelf 23 is provided in the area below the rack 20. The method of loading and unloading is as follows: If all conveying equipment 40 is in use, the fork device 10 will place the load on the temporary storage rack 23, and / or The system further includes, if all forklifts 10 are in use, having the conveying equipment 40 retrieve the goods from the temporary storage racks 23.

[0140] Specifically, in the outbound process, the lift mechanism 43 is raised to place the goods on the loading section 41, and after the loading section 41 has placed the goods, it is raised further to detach the goods from the temporary storage shelf 23. In the inbound process, the lift mechanism 43 is lowered to place the goods on the temporary storage shelf 23, and after the temporary storage shelf 23 has placed the goods, it is moved further downward to detach the loading section 41 from the goods.

[0141] In this embodiment, the conveying equipment 40 is equipped with a lift mechanism 43, which raises and lowers the loading section 41 to satisfy the request for transferring goods to and from the temporary storage rack 23. In the loading and unloading process, goods being unloaded from the forklift 10 are transferred to the conveying equipment 40. If the conveying equipment 40 is unavailable or malfunctioning and cannot reach the rack 20, or if the goods are not needed at the current station, the goods can be temporarily stored in the temporary storage rack 23. Goods being loaded from the conveying equipment 40 can be transferred to the forklift 10 for direct loading, or if the forklift 10 is unavailable, the conveying equipment 40 can store the goods in the temporary storage rack 23. This reduces the waiting time and idle time of the conveying equipment 40 and the forklift 10, thereby improving loading and unloading efficiency.

[0142] The inventory control methods described above can all be executed by a controller.

[0143] Furthermore, the Disclosure provides an inbound / outbound control device including memory and a processor. The memory is used to store instructions, and the processor is coupled to the memory and configured to execute the above inbound / outbound method based on the instructions stored in the memory. The processor may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to carry out embodiments of the Disclosure.

[0144] This disclosure also relates to a computer-readable storage medium on which computer instructions are stored, and when the instructions are executed by a processor, the storage method of the above embodiment is realized.

[0145] In some embodiments, the functional unit modules described above can be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, discrete hardware means, or any suitable combination thereof, for performing the functions described in this disclosure.

[0146] The foregoing are merely illustrative examples of the Disclosure and do not limit the Disclosure. Any modifications, equivalents, improvements, etc., made within the spirit and principles of the Disclosure should all be included within the scope of the Disclosure.

Claims

1. A fork device (10) for transferring goods to and from a conveying device (40) having a loading section (41), Base (2), Connected to the base (2), spaced apart in a first direction (x), and comprising at least one fork body (1) for placing loads, wherein a vertically penetrating transfer passage (3) is formed in the area between adjacent fork bodies (1) and / or in the area outside the fork bodies (1), and the transfer passage (3) is arranged such that the aforementioned loading portion (41), which is a load receiving member, or the aforementioned loading portion (41) can pass vertically through to allow loads to be placed on the fork body (1), Loading and unloading means arranged to transfer luggage between the fork body (1) and the storage location, A forklift device including a forklift.

2. The mounting section (41) includes at least one mounting surface, and at least one fork body (1) is arranged to alternate with at least one of the aforementioned mounting surfaces when transferring cargo. The fork device according to claim 1.

3. Two fork bodies (1) are provided, and the transfer passage (3) is formed in the region between the two fork bodies (1), and the width of the transfer passage (3) is set to be smaller than the width of the bottom surface of the load so that a load can be placed in the first direction (x). The fork device according to claim 2.

4. In the first direction (x), the width of the transfer passage (3) is greater than the width of the mounting section (41) described above. The fork device according to claim 3.

5. The two fork bodies (1) are movable apart from or toward each other in the first direction (x), and the conveying equipment (40) is able to move away from the fork bodies (1) when the width of the transfer passage (3) is greater than the width of the bottom of the load. The fork device according to claim 3.

6. The fork body (1) is positioned such that there is a gap between it and the aforementioned mounting portion (41) in the first direction (x) when transferring cargo. The fork device according to claim 1.

7. The fork body (1) is provided with at least two forks, and an opening (31) is provided at the end in a second direction (y) perpendicular to the first direction (x), and the opening (31) is positioned to allow the conveying equipment (40) on which the load is placed to move away from the fork body (1). The fork device according to claim 1.

8. Each of the fork bodies (1) includes a fixed portion (12) and a support portion (11), and the support portion (11) is movable in the second direction (y) perpendicular to the first direction (x) with respect to the fixed portion (12). The fork device according to claim 1.

9. The aforementioned insertion / removal means is A mounting member (7) is provided above the fork body (1) and connected to the base (2), A biasing member (8) is provided at the lower part of the mounting member (7) and is arranged to move the luggage from the top or end of the luggage, A lateral movement mechanism (91) is provided on the mounting member (7) and is arranged to move the biasing member (8) in the second direction (y) perpendicular to the first direction (x), The mounting member (7) includes a lifting mechanism (92) provided on the mounting member (7) and arranged to raise and lower the biasing member (8), The fork device according to claim 1.

10. The aforementioned insertion / removal means is Two mounting members (7) are provided on both sides of each of the two fork bodies (1) and connected to the base (2), Two biasing members (8) are provided inside each of the two mounting members (7) and are arranged to move the load from the areas on both sides, The system includes two lateral movement mechanisms (91) provided on each of the two mounting members (7) and arranged to move the corresponding biasing member (8) in the second direction (y) perpendicular to the first direction (x), The fork device according to claim 1.

11. The fork body (1) is provided with a conveying member that is arranged to cooperate with the biasing member (8) to move the load to a predetermined position on the fork body (1) or to remove the load from the fork body (1). The fork device according to claim 9 or 10.

12. Racks (20) arranged for luggage storage, A fork device (10) according to any one of claims 1 to 11, which is movable along the surface of the rack (20) and is arranged to perform loading and unloading operations, A conveying device (40) having a loading section (41) which is a loading receiving member, or a loading section (41) which is arranged to pass vertically through the transfer passage (3) so as to allow a load to be placed on the loading section (41) or the fork body (1), A storage and logistics system that includes this.

13. The loading portion (41) and the fork body (1) are arranged to place the load by bringing the load receiving member into contact with the bottom surface of the load through relative vertical movement. and / or, The loading portion (41) and the fork body (1) are arranged such that, after the load receiving member has placed the load, relative motion causes the loading component, either the loading portion (41) or the fork body (1), to detach from the load. The inventory management system according to claim 12.

14. The conveying equipment (40) further includes a main body (42), and the above-described storage unit (41) has a constant height relative to the main body (42). The fork device (10) is arranged to place the load on the load by bringing the load receiving member into contact with the bottom surface of the load by vertical movement, and to detach the load transport component, the aforementioned loading part (41) or the fork body (1), from the load by vertical movement. The inventory management system according to claim 12.

15. The fork device (10) further includes a distance measuring sensor, which is positioned to detect the lowering height of the fork device (10) so that after the loading section (41) has placed the load during the loading process, the lowering height of the fork body (1) does not exceed a predetermined distance. Or, The conveying equipment (40) further includes a weight sensor, which is provided on the aforementioned storage unit (41) and is configured to detect changes in the weight of the aforementioned storage unit (41) so as to stop the descent of the fork device (10) when the weight change after the aforementioned storage unit (41) contacts the bottom surface of the cargo reaches a predetermined weight during the retrieval process. The inventory management system according to claim 14.

16. The conveying equipment (40) further includes a main body (42) and a lift mechanism (43), the above-described loading portion (41) is mounted on the main body (42) so as to be able to move up and down by the lift mechanism (43), the lift mechanism (43) is arranged to move up and down so as to bring the loading receiving member into contact with the bottom surface of the load and to place the load on it, and / or to move up and down so as to detach the above-described loading portion (41) or the fork body (1), which are loading components, from the load. The inventory management system according to claim 12.

17. The conveying equipment (40) further includes a main body (42) and a lift mechanism (43), the above-described storage unit (41) is mounted on the main body (42) so as to be able to move up and down by the lift mechanism (43), a temporary storage shelf (23) is provided in the area below the rack (20), and the conveying equipment (40) transfers goods to and from the temporary storage shelf (23). The lift mechanism (43) is arranged to raise and lower to bring the loading receiving member, the aforementioned loading section (41) or the temporary storage shelf (23), into contact with the bottom surface of the load and to place the load on it, and to raise and lower the loading component, the aforementioned loading section (41) or the temporary storage shelf (23), away from the load. The inventory management system according to claim 12.

18. The two fork bodies (1) are able to move apart from or towards each other in the first direction (x), and are arranged so that in the outbound process, after the loading portion (41) has placed the load, it moves apart from each other to detach from the load, and in the inbound process, it moves closer to each other to place the load. The inventory management system according to claim 12.

19. Multiple racks (20) are provided, the multiple racks (20) are installed at intervals, a passage (24) is formed between adjacent racks (20), and the fork device (10) is provided on the outside of the racks (20) and is movable along the outer surface of the racks (20). The length of the fork body (1) is constant, and the conveying equipment (40) is positioned to stop within the passage (24) or outside the rack (20) in the area directly below the fork device (10), or the fork body (1) is extendable and retractable, and the conveying equipment (40) is positioned to stop within the passage (24), outside the rack (20), or below the rack (20) in an area offset from the fork device (10), and the cargo is transferred by extending the fork body (1) in the forward or reverse direction. The inventory management system according to claim 12.

20. The fork body (1) is provided with at least two forks, each having an opening (31) at its end in the second direction (y), and the conveying equipment (40) is arranged to enter the transfer passage (3) through the opening (31) before the transfer of goods, and to leave the transfer passage (3) through the opening (31) after the transfer of goods. The inventory management system according to any one of claims 12 to 19.

21. A first identification code (61) is provided at a first predetermined location on the ground, The transport equipment (40) further includes a first imaging member (62) provided on the transport equipment (40) and positioned to photograph the first identification code (61) to position the transport equipment (40), The inventory management system according to any one of claims 12 to 19.

22. A second identification code (71) is provided at a second predetermined position on the rack (20), The fork device (10) further includes a second imaging member (72) provided on the fork device (10) and arranged to photograph the second identification code (71) to position the fork device (10) in a first direction (x) and a height direction (z). The inventory management system according to any one of claims 12 to 19.

23. A method for receiving and shipping goods using a storage receiving and shipping system according to any one of claims 12 to 22, Moving the transport equipment (40) to the first predetermined position, The fork device (10) is moved to a second predetermined position on the rack (20), The loading section (41) is passed perpendicularly to the transfer passage (3), and the cargo is placed on the loading receiving member, which is either the loading section (41) or the fork body (1), to facilitate the transfer of the cargo. A method of receiving and shipping goods, including methods for doing so.

24. The steps to ensure the delivery of the package are: By moving the aforementioned mounting portion (41) and the fork body (1) relative to each other in the vertical direction, the load receiving member is brought into contact with the bottom surface of the load and the load is placed on it. After the load receiving member places the load on it, the loading portion (41) and the fork body (1) are moved relative to each other to detach the loading portion (41) or the fork body (1), which are loading components, from the load, including, The method for receiving and dispatching goods according to claim 23.

25. The conveying equipment (40) further includes a main body (42), and the above-described storage unit (41) has a constant height relative to the main body (42). In the outbound process, the second predetermined position is higher than the upper surface of the previously described placement section (41), and the step of receiving the goods is, After the conveying equipment (40) reaches the first predetermined position, the fork device (10) is lowered from the second predetermined position until the aforementioned mounting part (41) contacts the bottom surface of the load. This includes further lowering the fork device (10) to detach the fork body (1) from the bottom surface of the load, and / or, In the receiving process, the second predetermined position is lower than the upper surface of the previously described placement section (41), and moving the fork device (10) to the second predetermined position is performed before the conveying equipment (40) places the cargo and moves to the first predetermined position, and the step of transferring the cargo is, The fork device (10) is raised from the second predetermined position until the fork body (1) contacts the bottom surface of the load. This includes further raising the fork device (10) while holding the load, thereby separating the aforementioned support portion (41) from the bottom surface of the load, The method for receiving and dispatching goods according to claim 23.

26. The conveying equipment (40) further includes a main body (42) and a lift mechanism (43), and the aforementioned mounting section (41) is mounted to the main body (42) so as to be able to move up and down by the lift mechanism (43). In the outbound process, the second predetermined position is higher than the upper surface of the previously described placement section (41), and the step of receiving the goods is, After the conveying equipment (40) reaches the first predetermined position, the lift mechanism (43) raises the aforementioned mounting portion (41) until the aforementioned mounting portion (41) contacts the bottom surface of the load. The lift mechanism (43) further raises the aforementioned mounting portion (41), or lowers the fork device (10) from the second predetermined position, thereby detaching the fork body (1) from the bottom surface of the load. and / or, In the receiving process, the second predetermined position is lower than the upper surface of the previously described placement section (41), and moving the fork device (10) to the second predetermined position is performed before the conveying equipment (40) places the cargo and moves to the first predetermined position, and the step of transferring the cargo is, After the conveying equipment (40) reaches the first predetermined position, the lift mechanism (43) lowers the aforementioned mounting section (41) until the fork body (1) contacts the bottom surface of the load. This includes further lowering the aforementioned mounting portion (41) using the lift mechanism (43), or raising the fork device (10) from the second predetermined position to detach the aforementioned mounting portion (41) from the bottom surface of the load, The method for receiving and dispatching goods according to claim 23.

27. Multiple racks (20) are provided, and the multiple racks (20) are installed at intervals, and a passage (24) is formed between adjacent racks (20), and the step of moving the conveying equipment (40) to the first predetermined position is, When the length of the fork body (1) is constant, the conveying equipment (40) is moved to the first predetermined position located directly below the fork device (10) in the second predetermined position, either within the passage (24) or outside the rack (20). If the fork body (1) is extendable and retractable, the conveying equipment (40) is moved to the first predetermined position located in the passage (24), outside the rack (20), or below the rack (20), in a region offset from the fork device (10) in a second direction (y) perpendicular to the first direction (x), and the fork body (1) is extended in the forward or reverse direction to transfer the cargo. The method for receiving and dispatching goods according to claim 23.

28. After the handover of goods is complete, the aforementioned method of receiving and shipping goods is as follows: In the outbound process, first the conveying equipment (40) is moved away from the first predetermined position, and then the fork device (10) is made to perform the subsequent operation, and / or The process of receiving goods further includes moving the conveying equipment (40) away from the first predetermined position and causing the fork device (10) to perform a receiving operation. The method for receiving and dispatching goods according to claim 23.

29. The transport equipment (40) further includes a main body (42) and a lift mechanism (43), the storage unit (41) described above is mounted on the main body (42) so as to be able to move up and down by the lift mechanism (43), a temporary storage shelf (23) is provided in the area below the rack (20), and the loading and unloading method is, If all of the aforementioned transport equipment (40) are in use, the fork device (10) will be used to place the cargo on the temporary storage rack (23), and / or If all of the fork devices (10) are in use, the transport equipment (40) will be used to retrieve the goods from the temporary storage rack (23), further comprising: The method for receiving and dispatching goods according to claim 23.

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