Intelligent warehousing system

Abstract

A smart warehousing system is applicable to multiple items and includes at least one vertical storage device for storing the items, and a transport device. The transport device includes a pick-and-place mechanism and a transport control module signal-connected to the pick-and-place mechanism. The pick-and-place mechanism is designed to be activated when controlled to place or move the items into or out of the at least one vertical storage device, and the transport control module controls the activation of the pick-and-place mechanism. By utilizing the design of the at least one vertical storage device and the transport device, items can be automatically handled, thereby effectively saving labor costs.

Description

Technical Field

[0001] This invention relates to a warehousing system, and more particularly to an intelligent warehousing system. Prior Technology

[0002] Currently, the movement of items such as wafer carriers is mainly done manually, by placing items into or removing them from storage racks. However, moving items manually requires a relatively large amount of labor. Therefore, improving the current methods of handling items such as wafer carriers is one of the research directions for those with general knowledge in this technical field. Summary of the Invention

[0003] Therefore, the object of the present invention is to provide an intelligent warehousing system that can overcome at least one of the disadvantages of the prior art.

[0004] Therefore, the intelligent warehousing system of the present invention is applicable to multiple items and includes at least one vertical storage device and a transportation device.

[0005] The at least one vertical storage facility is suitable for storing the items.

[0006] The transport equipment includes a pick-and-place device and a transport control module connected to the pick-and-place device. The pick-and-place device is adapted to be activated when controlled to place or move the items into or out of the at least one vertical storage equipment. The transport control module is used to control the activation of the pick-and-place device.

[0007] The advantage of this invention is that, by utilizing the design of the at least one vertical storage device and the transportation device, goods can be automatically transported without manual handling, effectively saving labor costs. Simple Explanation of the Diagram

[0008] Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, wherein: Figure 1 is a perspective view illustrating a first embodiment of the intelligent warehousing system of the present invention; Figure 2 is a top view illustrating the first embodiment; Figure 3 is a perspective view illustrating a vertical storage device located on the right side of the first embodiment; Figure 4 is a side view schematic diagram, illustrating that the right side of the vertical storage equipment omits a housing base, while exposing two transmission mechanisms and multiple storage mechanisms located inside the housing base; Figure 5 is a perspective view illustrating the transmission mechanism and storage mechanism of the vertical storage equipment, wherein the storage mechanism is suitable for storing multiple items; Figure 6 is an incomplete exploded perspective view, illustrating that the storage mechanism is suitable for placing the items. Figure 7 is an exploded perspective view illustrating the transmission mechanism and a connecting rod; Figure 8 is a side view illustrating the transmission mechanism and the storage mechanism located on the right side; Figure 9 is a magnified view of a portion of Figure 5; Figure 10 is an incomplete exploded perspective view illustrating one of the storage mechanisms and the transmission mechanism on the right. Figure 11 is an incomplete side view illustrating that the storage mechanism is confined to a first limiting track; Figure 12 is an incomplete side view illustrating that the storage mechanism is confined to a second limiting track; Figure 13 is an incomplete side view illustrating a door panel and a door panel driving mechanism of this embodiment; Figure 14 is a view similar to Figure 13, illustrating that after the door panel is moved upward by the door panel drive mechanism, an opening in the housing is exposed and opened. Figure 15 is a perspective view illustrating a transport device and a material rack of this embodiment; Figure 16 is an incomplete cross-sectional view illustrating a third transport unit of this embodiment; Figure 17 is an incomplete top view, mainly illustrating that one of the robotic arms of the transport equipment is in a reset state; Figure 18 is an incomplete side view, mainly illustrating the robotic arm in the reset state; Figure 19 is a view similar to Figure 17, illustrating the robotic arm in its extended state; Figure 20 is a view similar to Figure 18, illustrating the robotic arm in its extended state; Figure 21 is an incomplete exploded perspective view illustrating the transport equipment and the material rack of the first embodiment; Figure 22 is an incomplete perspective view illustrating a second embodiment of the intelligent warehousing system of the present invention; and Figure 23 is an incomplete top view illustrating the second embodiment. Implementation

[0009] Before the invention is described in detail, it should be noted that similar elements are represented by the same numbers in the following description.

[0010] Referring to Figures 1 and 2, one embodiment of the intelligent warehousing system of the present invention is applicable to multiple items 90 and includes two vertical storage devices 100, a transport device 200, and a storage rack 300.

[0011] The vertical storage equipment 100 extends forward and backward in a first direction X1 and is spaced to the left and right in a second direction X2 that intersects the first direction X1.

[0012] Referring to Figures 3 to 5, each of the vertical storage devices 100 has the same structure. The vertical storage device 100 located on the right is described below.

[0013] The vertical storage equipment 100 is suitable for storing multiple items 90 and includes a housing 1, two transmission mechanisms 2 disposed in the housing 1, a drive module 4 connected to at least one of the transmission mechanisms 2, a linkage shaft 3 connected to the transmission mechanisms 2, multiple storage mechanisms 5, a sensing module 6, a door drive module 7 connected to the housing 1 (as shown in Figure 13), and a storage control module 80. The storage control module 80 is signal-connected to the sensing module 6, the door drive module 7, and the drive module 4.

[0014] The housing 1 includes a main housing 11 and two door panels 12 connected to the main housing 11 and located on the front side of the main housing 11. The main housing 11 has an inner surface 111 that defines a mounting space 112 and a forward-facing opening 113 communicating with the mounting space 112. The door panels 12 can be opened to close the opening 113 of the main housing 11.

[0015] In some embodiments, the number of door panels 12 may be two, three, etc., depending on actual needs. The opening 113 may correspond to the number of door panels 12, and its position may correspond to the door panels 12.

[0016] Referring to Figures 4, 5, and 7, the transmission mechanisms 2 are disposed in the mounting space 112 of the main housing 11 and are arranged at intervals on the left and right sides in a first direction X1. Each transmission mechanism 2 includes a transmission unit 22 mounted on the housing 1, a first limiting unit 23 connected to the transmission unit 22, and a second limiting unit 24 mounted in the housing 1. Since the transmission mechanisms 2 on the left and right sides have similar structures, the following description focuses on the transmission mechanism 2 located on the right side.

[0017] Referring to Figures 4, 7, and 8, the transmission unit 22 includes two sprockets 221 installed in the mounting space 112 of the main housing 11 and spaced vertically apart in the vertical direction T, and a transmission chain 222 mounted on the sprockets 221. The transmission chain 222 can run relative to the main housing 11 in a transmission direction A. The trajectory of the transmission chain 222 includes two first trajectories 223 spaced back-to-back and extending vertically along the vertical direction T, and two second trajectories 224 spaced vertically and connected by arcs to the top and bottom sides of the first trajectories 223 respectively. The transmission direction A can be in the same direction as or opposite to the arrow.

[0018] The first limiting unit 23 includes two limiting rods 231 respectively installed on the main housing 11 and spaced apart in a second direction X2 intersecting the first direction X1, and a plurality of first limiting groups 232 fixedly connected to the transmission chain 222 and spaced apart from each other in the transmission direction A. The transmission chain 222 is located between the limiting rods 231 in the second direction X2.

[0019] Referring to Figures 8 to 10, each of the limiting rods 231 has two opposite sides 233 in the second direction X2, and two first limiting grooves 234 formed on the sides 233 and extending vertically in the vertical direction T (the figures show the first limiting groove 234 on the front side). Each first limiting group 232 includes a rectangular fixing piece 235 fixed to the transmission chain 222 in a locking manner, four guide wheels 236 rotatably mounted on the right side of the fixing piece 235, and a shaft 237 extending to the left from the left side of the guide wheels 236 opposite to the fixing piece 235 (as shown in Figure 9). The guide wheels 236 are in pairs and can roll up and down in their respective first limiting grooves 234 of one of the limiting rods 231, and the guide wheels 236 can collectively and detachably clamp one of the limiting rods 231.

[0020] Therefore, when the transmission chain 222 runs along the first track 223 in the transmission direction A, the first limiting group 232 is driven by the transmission chain 222 to move in the vertical direction T. At this time, by utilizing the design of the guide wheel 236 being able to be limited in the first limiting groove 234, the first limiting group 232 corresponding to the first limiting track 241 is limited to the corresponding limiting rod 231, so as to maintain straight up and down movement in the vertical direction T. Therefore, each first limiting group 232 can be driven by the transmission chain 222 and can be limited to one of the limiting rods 231 when moving in the vertical direction T.

[0021] Referring to Figures 4 and 8, the second limiting unit 24 includes a first limiting track 241 and a second limiting track 242 installed on the inner side 111 of the main housing 11 and located in the setting space 112. The limiting rod 231 is located between the first limiting track 241 and the second limiting track 242 in the second direction X2, and the first limiting track 241 is located behind the limiting rod 231 and in front of the limiting rod 231.

[0022] Referring to Figures 3, 4, and 7, the connecting shaft 3 coaxially connects the bottom sprocket 221 of the right-side transmission mechanism 2 and the bottom sprocket 221 of the left-side transmission mechanism 2. Thus, the transmission chain 222 of the transmission mechanism 2 can run synchronously in the transmission direction A.

[0023] The drive module 4 includes a motor 41 located on the front side of the transmission mechanism 2 on the right side, and a drive unit 42 installed between the motor 41 and the transmission unit 22 of the transmission mechanism 2 on the right side. The drive unit 42 includes a drive wheel 421 that can be coaxially connected to the bottom side of the transmission unit 22 via the connecting shaft 3, and a drive belt 422 set between the drive wheel 421 and the motor 41. The drive belt 422 allows the drive wheel 421 to rotate when driven by the motor 41. Since the sprocket 221 located on the bottom side is coaxially connected to the drive wheel 421, it rotates synchronously with the drive wheel 421.

[0024] In some embodiments, depending on actual needs, the drive module 4 can also be connected to the transmission mechanism 2, simultaneously driving the transmission chain 222 of the transmission mechanism 2, thus omitting the connecting shaft 3. Since there are many ways in which the drive module 4 drives the transmission mechanism 2, and these methods are familiar to those skilled in the art, they will not be elaborated upon here.

[0025] Referring to Figures 4, 6, 9, and 10, each storage mechanism 5 is connected to the first limiting group 232 of the transmission mechanism 2, such that the storage mechanisms 5 are spaced apart from each other in the transmission direction A. Each storage mechanism 5 includes a storage rack 51 extending left and right in the first direction X1, two mounting blocks 52 (symmetrical left and right, one shown in Figure 10) mounted on the storage rack 51, and two limiting groups 53 (symmetrical left and right, one shown in the figure) mounted on the storage rack 51. In this embodiment, the number of storage mechanisms 5 is 13. The structure of each storage mechanism 5 is described below.

[0026] The storage rack 51 includes a frame 511 extending left and right in the first direction X1, and two side portions 512 connected to the frame 511 and spaced apart from each other in the first direction X1. The frame 511 includes a plurality of storage spaces 513 suitable for storing corresponding items 90, and a plurality of retrieval openings 514 respectively communicating with the storage spaces 513. Each storage space 513 also has a first notch 515 located at the bottom edge and extending vertically. The opening 113 of the housing 1 allows at least one of the retrieval openings 514 of at least one of the storage mechanisms 5 to be exposed. In this embodiment, the opening 113 of the housing 1 exposes the corresponding retrieval opening 514 of one of the storage mechanisms 5.

[0027] The storage spaces 513 are arranged in an array in the first direction X1 and the second direction X2. The storage spaces 513 are arranged in rows in the first direction X1 and in two columns in the vertical direction T, forming a double-layer design. In this example, each storage shelf 51 has 14 storage spaces 513.

[0028] In some embodiments, the storage space 513 is arranged only along the first direction X1 and is a single-layer design.

[0029] The mounting block 52 located on the right side of the frame 511 is used as an example. The mounting blocks 52 are respectively disposed on the side portion 512, and each mounting block 52 has an insertion slot 521. The axis 237 of each of the first limiting groups 232 is rotatably inserted into the corresponding insertion slot 521. Thus, the storage mechanism 5 is connected to the transmission mechanism 2 in a spaced-apart manner in the transmission direction A, and can be driven by the transmission mechanism 2 to move relative to the housing 1 in the transmission direction A, and can rotate relative to the first limiting groups 232.

[0030] Referring to Figures 8, 10, and 11, the limiting group 53 located on the right side of the frame 511 will be used as an example. Each limiting group 53 includes a first limiting block 531 and a second limiting block 532 respectively installed on the corresponding side portion 512. In each limiting group 53, the first limiting block 531 is movably limited to the first limiting track 241 of the corresponding transmission mechanism 2, or the second limiting block 532 is movably limited to the second limiting track 242 of the corresponding transmission mechanism 2. Thus, the limiting group 53 is movably limited to the corresponding second limiting unit 24.

[0031] In this embodiment, the height H1 of the first limiting block 531 of each limiting group 53 measured upward from the bottom edge of the corresponding side 512 is higher than the height H2 of the second limiting block 532 measured upward from the bottom edge of the corresponding side 512, and the distance D1 between the first limiting block 531 and the retrieval port 514 is greater than the distance D2 between the second limiting block 532 and the retrieval port 514.

[0032] Because in each of the limiting groups 53, the first limiting block 531 is movably limited to the first limiting track 241 of the corresponding transmission mechanism 2, or the second limiting block 532 is movably limited to the second limiting track 242 of the corresponding transmission mechanism 2, and each storage mechanism 5 is rotatably connected to the first limiting group 232, each storage mechanism 5 can be maintained in a horizontal state and driven by the transmission mechanism 2. During the movement along the transmission direction A, it does not tilt relative to the housing 1 and can maintain the forward-facing state of the retrieval port 514.

[0033] In each second limiting unit 24, the path of the first limiting track 241 includes: the area in the movement trajectory of the first limiting block 531 of the corresponding limiting group 53 that does not interfere with the transmission unit 22 and the first limiting unit 23 when the storage mechanism 5 moves along the transmission direction A and maintains a horizontal state. The path of the second limiting track 242 includes: the area in the movement trajectory of the second limiting block 532 of the corresponding limiting group 53 that does not interfere with the transmission unit 22 and the first limiting unit 23 when the storage mechanism 5 moves along the transmission direction A and maintains a horizontal state.

[0034] Referring to Figures 3 and 6, the sensing module 6 includes multiple sensing units 60, each electrically connected to the storage control module 80. Each sensing unit 60 includes a sensor 61 located in the mounting space 112 of the housing 1, and multiple sensing elements 62 corresponding to the sensor 61 at a position in the first direction X1. The sensors 61 of the sensing unit 60 are spaced apart on the left and right sides in the first direction X1. In each sensing unit 60, the sensing elements 62 are respectively disposed in the storage space 513 of the storage mechanism 5, for example, but not limited to, connected to the inside of the storage shelf 51. Therefore, taking the leftmost sensor 61 in Figure 3 as an example, it can read the sensing element 62 located in the leftmost storage space 513 and generate a sensing signal.

[0035] Referring to Figures 3 and 6, the sensing module 6 includes multiple sensing units 60, each electrically connected to the storage control module 80. Each sensing unit 60 includes a sensor 61 located in the mounting space 112 of the housing 1, and multiple sensing elements 62 corresponding to the sensor 61 at a position in the first direction X1. The sensors 61 of the sensing unit 60 are spaced apart on the left and right sides in the first direction X1. In each sensing unit 60, the sensing elements 62 are respectively disposed in the storage space 513 of the storage mechanism 5, for example, but not limited to, connected to the inside of the storage shelf 51. Therefore, taking the leftmost sensor 61 in Figure 3 as an example, it can read the sensing element 62 located in the leftmost storage space 513 and generate a sensing signal.

[0036] In this embodiment, the sensor 61 is a light blocker, and the sensing element 62 is a reading tag. The sensor 61 corresponds to the sensing element 62 in its respective storage space 513. When the reading tag of the sensing element 62 is detected by utilizing the fact that the light is not blocked by the corresponding item 90, it indicates that no item 90 is placed in the storage space 513 corresponding to the sensing element 62. At this time, the sensor 61 generates a sensing signal indicating that the light is not blocked and transmits it to the storage control module 80.

[0037] In some embodiments, each of the sensors 61 may be, but is not limited to, at least one of a light blocker, a light reflector, a weight sensor, and a piezoelectric sensor. The sensors 61 may also be respectively disposed in the storage spaces 513 of the storage shelf 51, with the number corresponding to the storage spaces 513, and the sensing element 62 may be omitted. Therefore, each sensing unit 60 may include at least one of the light blocker, the light reflector, the weight sensor, and the piezoelectric sensor.

[0038] In some embodiments, when each sensor 61 includes a light reflector, it generates a sensing signal indicating that light is not reflected when no item 90 is placed in the corresponding storage space 513. In some embodiments, when each sensor 61 includes a weight sensor 61, it generates a sensing signal indicating that the item 90 is not supported and the weight is below a predetermined level when no item 90 is placed in the corresponding storage space 513. In some embodiments, when each sensor 61 includes a piezoelectric sensor 61, it generates a sensing signal indicating that the item 90 is not supported and there is no piezoelectric effect when no item 90 is placed in the corresponding storage space 513.

[0039] Referring to Figures 3, 13, and 14, the door drive module 7 includes a door drive motor 71 signal-connected to the storage control module 80 and disposed on the inner side 111 of the main housing 11; a driven wheel 72 spaced below the door drive motor 71; a transmission belt 73 disposed between the door drive motor 71 and the driven wheel 72; and a connector 74 fixedly connected to the transmission belt 73. The top side of the door panel 12 is fixedly connected to the connector 74. Thus, when the door drive motor 71 operates, it can drive the door panel 12 upward to expose the opening 113 (as shown in Figure 14), or drive the door panel 12 downward to close the opening 113 (as shown in Figure 13).

[0040] Referring to Figures 3, 4, and 6, the storage control module 80 is triggered upon receiving the sensing signal. It controls the drive module 4 to transport the corresponding storage mechanism 5 to the position of the corresponding door panel 12, and controls the door panel drive module 7 to move the door panel 12, allowing the retrieval opening 514 of the storage mechanism 5 corresponding to the sensing signal to be exposed through the opening 113. The storage control module 80 can be a central processing unit (CPU) for executing program instructions, processing data, and controlling system operation. The storage control module 80 can be a desktop processor, server processor, embedded processor, or a processor used in mobile phones or tablets.

[0041] When using the vertical storage equipment 100, the storage control module 80 is triggered when it receives a sensing signal generated by one of the sensors 61, controlling the drive module 4 to operate, so that the transmission chain 222 of the transmission mechanism 2 drives the storage mechanism 5 to move in the transmission direction A. Referring to Figures 8, 11, and 12, during the operation of the storage mechanism 5, when the guide wheel 236 of the first limiting group 232 is limited to the corresponding limiting rod 231, the first limiting block 531 of the limiting group 53 of the storage mechanism 5 will be simultaneously located in the first limiting track 241 of the corresponding transmission mechanism 2, or the second limiting block 532 will be simultaneously located in the second limiting track 242 of the corresponding transmission mechanism 2. Each storage mechanism 5 is simultaneously limited by the first limiting unit 23 and the second limiting unit 24, and remains tilted when moving in the transmission direction A, so that the retrieval port 514 remains facing forward.

[0042] More specifically, in the storage mechanism 5 located at the rear (right side in Figure 9) in the second direction X2, a mounting block 52 inserted into the corresponding axis 237 and the first limiting block 531 are used, while during movement, the limiting rod 231 located at the rear and the corresponding first limiting track 241 are simultaneously limited. In the storage mechanism 5 located at the front (left side in Figure 9) in the second direction X2, a mounting block 52 inserted into the corresponding axis 237 and the second limiting block 532 are used, while during movement, the limiting rod 231 located at the front and the corresponding second limiting track 242 are simultaneously limited.

[0043] After the first limiting group 232 disengages from the rear limiting rod 231, the first limiting group 232 continues to rotate downwards. Simultaneously, when the first limiting block 531 disengages from the first limiting track 241 (as shown in Figure 11), the second limiting block 532 enters the second limiting track 242 (as shown in Figure 12). Therefore, the storage mechanism 5 can remain stable during its movement in the transmission direction A. Similarly, when the first limiting group 232 disengages from the front limiting rod 231, the first limiting group 232 rotates upwards. And simultaneously, when the second limiting block 532 disengages from the first limiting track 241, the first limiting block 531 enters the first limiting track 241, again maintaining the storage mechanism 5 from tilting when moved by the transmission chain 222.

[0044] Referring to Figures 3, 4, and 6, when the storage space 513 of the storage mechanism 5, corresponding to the sensing signal generated by the sensor 61, moves to the position corresponding to the opening 113, the storage control module 80 controls the door drive module 7 to move the door 12 upward to open the corresponding opening 113. At this time, the item 90 can be placed in the empty storage space 513.

[0045] In this embodiment, the storage mechanism 5 is controlled to move to the position corresponding to the opening 113 by setting a predetermined time (e.g., a predetermined number of seconds). In other embodiments, the storage mechanism 5 can also be controlled to move to the position corresponding to the opening 113 by setting the running distance of the transmission chain 222. In some embodiments, when there are multiple sensing signals, the storage control module 80 can control the storage space 513 corresponding to the sensing signal to move to the position corresponding to the opening 113 in sequence. Since there are many and known ways to control the storage mechanism 5 to move to the position of the opening 113, and these are not the focus of this case, they will not be described in detail here.

[0046] Referring to Figures 2, 15 and 16, the transport equipment 200 includes a transport device 8, a pick-and-place device 9 disposed on the transport device 8, and a transport control module 96 connected to the transport device 8 and the pick-and-place device.

[0047] The conveying device 8 includes a first conveying unit 81 extending forward and backward in the first direction X1, a second conveying unit 82 disposed on the first conveying unit 81 and extending left and right in the second direction X2, and a third conveying unit 83 disposed on the second conveying unit 82 and extending up and down in the vertical direction T that is transverse to the first direction X1 and the second direction X2.

[0048] The first conveying unit 81 includes a front-to-back extending first limiting track 811, a first mounting base 812 movable and limited within the first limiting track 811, and a first transmission assembly 813 connected to the first mounting base 812. The first transmission assembly 813 is activated when controlled, driving the first mounting base 812 to move back and forth relative to the first limiting track 811. It may include a motor signal-connected to the transport control module 96, and a transmission component that may include at least one of a gear, chain, rack, rod, or screw connected between the motor and the first mounting base 812. Since there are many embodiments of the first transmission assembly 813, and they are familiar to those skilled in the art, they will not be described in detail here.

[0049] The second conveying unit 82 includes a second limiting rail 821 fixedly mounted on the first mounting base 812 and extending laterally, a second mounting base 822 movable laterally and limited by the second rail, and a second transmission assembly 823 connected to the second mounting base 822. The second transmission assembly 823 can be activated when controlled, driving the second mounting base 822 to move back and forth relative to the second limiting rail 821. It may include a motor signal-connected to the transport control module 96, and a transmission component that may include at least one of a gear, chain, rack, rod, or screw connected between the motor and the second mounting base 822. Since there are many embodiments of the second transmission assembly 823, and they are familiar to those skilled in the art, they will not be described in detail here.

[0050] The third conveying unit 83 includes a third transmission assembly 831 mounted on the second mounting base 822 and extending vertically, and a third mounting base 832 movably positioned within the third transmission assembly 831. The third transmission assembly 831 can be controlled to start, thereby driving the third mounting base 832 to move vertically relative to the second mounting base 822. It may include a motor 833 signal-connected to the transport control module 96, two gears 834 connected between the motor and the third mounting base 832, and a belt 835 mounted on the gears 834. The third mounting base 832 can be fixedly mounted on the belt 835. In some embodiments, the third transmission assembly 831 may also include the motor 833 and a transmission mechanism including at least one of a gear, chain, rod, and screw. In some embodiments, there may be multiple gears 834, for example, an idler gear. Since there are many implementations of the third transmission group 831, and they are familiar to those skilled in the art, they will not be described in detail here.

[0051] Therefore, the first conveying unit 81 is signal-connected to the automatic transport control module and can drive the second conveying unit 82 to move back and forth in the first direction X1 when controlled. The second conveying unit 82 is signal-connected to the transport control module 96 and can be activated when controlled to drive the third conveying unit 83 to move left and right in the second direction X2. The third conveying unit 83 is signal-connected to the transport control module 96 and can be activated when controlled to drive the pick-and-place device 9 to move up and down in the vertical direction T.

[0052] Referring to Figures 15 to 18, the pick-and-place device 9 includes a rotating seat 92 mounted on the third mounting base 832, a robotic arm 93 disposed on the rotating seat 92 and adapted to transport the article 90, a rotating seat transmission assembly 94 signal-connected to the rotating seat 92 and the transport control module 96, and a robotic arm drive assembly 95 signal-connected to the robotic arm 93 and the transport control module 96. The rotating seat transmission assembly 94 may include a rotary motor 941 and a transmission assembly (not shown) connected between the rotary motor 941 and the robotic arm 93, and can be controlled to rotate, thereby driving the rotating seat 92 to rotate relative to the third mounting base 832, so that the robotic arm 93 also rotates relative to the rotating seat 92. Since there are many and well-known embodiments of the transmission assembly, and it is not the focus of this case, it will not be described in detail here.

[0053] The robotic arm 93 may be, but is not limited to, a three-section form, and includes a first arm 931 connected to the rotating base 92, a second arm 932 connected to the first arm 931, and a pick-and-place member 933 located on the third arm. One end of the first arm 931 is swayably connected to the rotating base 92, and one end of the second arm 932 is swayably connected to the other end of the first arm 931. The pick-and-place member 933 is swayably connected to the other end of the second arm 932. The robotic arm drive assembly 95 may include a robotic arm motor 951 signal-connected to the transport control module 96, and a transmission assembly (not shown) connecting the robotic arm motor 951 and the robotic arm 93. The transmission assembly may include at least one of a gear, belt, chain, or linkage. Thus, when the robotic arm motor 951 is running, the transmission assembly can drive the robotic arm 93 to swing, horizontally extend, and retract.

[0054] Since the transmission component is familiar to those skilled in the art and is not the focus of this case, it will not be described in detail here.

[0055] Referring to Figures 17 to 20, in this embodiment, the robotic arm drive assembly 95 can drive the robotic arm 93 to switch between an extended state (as shown in Figures 19 and 20) and a reset state (as shown in Figures 17 and 18) when it is controlled to operate. The top view length of the robotic arm 93 in the extended state is greater than the top view length in the reset state.

[0056] Referring to Figures 2, 15 to 17, and 19, the transport control module 96 is signal-connected to the first transmission group 813, the second transmission group 823, the third transmission group 831, the rotating seat transmission assembly 94, and the robotic arm drive assembly 95, and can respectively control the activation of the first transmission group 813, the second transmission group 823, the third transmission group 831, the rotating seat transmission assembly 94, and the robotic arm drive assembly 95. This enables the first transmission group 813 to drive the second conveying unit 82 to move back and forth in the first direction X1; the second transmission group 823 to drive the third conveying unit 83 to move left and right in the second direction X2; the third transmission group 831 to drive the pick-and-place device 9 to move up and down in the vertical direction T; the rotating motor 941 to start and operate, driving the rotating seat 92 to rotate; and the robotic arm drive assembly 95 to start and operate, driving the robotic arm 93 to switch between the extended state and the reset state.

[0057] Therefore, the pick-and-place device 9 can be activated by the transport control module 96 to place or move the item 90 into or out of the vertical storage equipment 100. The transport control module 96 can be a central processing unit (CPU) for executing program instructions, processing data, and controlling system operation. The transport control module 96 can be a desktop processor, server processor, embedded processor, or a processor for mobile phones or tablets.

[0058] Therefore, by using the signal connection of the conveying device 8 to the transport control module 96, and being controlled to start, the picking and placing device 9 can move back and forth in the first direction X1, move left and right in the second direction X2, and move up and down in the vertical direction T. Secondly, by using the signal connection of the picking and placing device 9 to the transport control module 96, and being activated when controlled, the robotic arm 93 is driven to rotate by the rotating seat 92, and can extend forward and retract to return to its original position.

[0059] The rack 300 is located between the vertical storage devices 100 and can store items 90 taken from the vertical storage devices 100, or is suitable for storing items 90 to be placed into the vertical storage devices 100. The rack 300 includes a plurality of storage spaces 97 for storing the items 90. The storage spaces 97 are arranged in an array on a vertical plane. Specifically, the rack 300 has a plurality of storage bases 98 corresponding to the bottom edge of the storage spaces 97 and having a second notch 981. When the robotic arm 93 is in the extended state, the third mounting base 832 moves upward, causing the robotic arm 93 to rise slightly, so that the picking and placing parts 933 of the robotic arm 93 can pass through the second notch 981 from bottom to top and support the corresponding item 90.

[0060] Referring to Figures 2, 15, and 21, when using this intelligent warehousing system, the transport control module 96 first controls the transport device 8 to move the picking and placing device 9 to a predetermined position, for example, in front of the storage rack 300, and controls the robotic arm 93 of the picking and placing device 9 to switch to the extended state (as shown in Figure 19), so that the picking and placing device 933 is located below the predetermined second notch 981; then, the third mounting base 832 of the transport device 8 is controlled to move the robotic arm 93 slightly upward to support the corresponding item 90, and then the robotic arm 93 is controlled to switch to the reset state. Referring to Figures 2, 14, 15, and 18, the transport control module 96 controls the transport device 8 to move the pick-and-place device 9 to another predetermined position (e.g., the retrieval port 514 of the vertical storage equipment 100, as shown in Figure 14). Then, the rotating seat 92 is controlled to rotate, and the robotic arm 93 is rotated to face the corresponding vertical storage equipment 100. Referring to Figures 6, 16, 19, and 20, the robotic arm 93 is first controlled to switch to the extended state (as shown in Figures 19 and 20), and then the third mounting seat 832 of the transport device 8 is controlled to drive the robotic arm 93 to descend slightly. The first notch 515 allows the robotic arm 93 to pass through from top to bottom, placing the corresponding item 90 downward into the corresponding storage space 513.

[0061] Referring to Figures 2, 16, and 21, in other cases, when the predetermined item 90 is retrieved from the vertical storage equipment 100 and placed on the shelf 300, the extended robotic arm 93 pushes the corresponding item 90 upwards through the first notch 515, thus supporting the item 90 located in the vertical storage equipment 100. Then, the robotic arm 93 is controlled to return to its reset state, and rotated by the rotating seat 92. The conveying device 8 then moves the pick-and-place device 9 to a predetermined position in front of the shelf 300, and then passes it downwards through the predetermined second notch 981 of the shelf 300 (as shown in Figure 21), completing the movement of the item 90.

[0062] In some embodiments, the number of vertical storage devices 100 may be one, and it may be located on the left or right side of the transport device 200, which can also place the items 90 into or remove them from the vertical storage device 100.

[0063] Referring to Figures 22 and 23, a second embodiment of the intelligent warehousing system of the present invention is shown. This second embodiment is similar to the first embodiment, except that in this second embodiment, the number of vertical storage devices 100 is 2N, where N is a positive integer, and the number of vertical storage devices 100 is an even number. The vertical storage devices 100 are located on opposite sides of the transport equipment 200 in the second direction X2, and are arranged front and rear in the first direction X1, and can be arranged in pairs in the second direction X2 to form an array. In this embodiment, the number of vertical storage devices 100 is 6, and N is 3.

[0064] In other embodiments, the value of N can be, but is not limited to, 1, 2, 3, 4..., depending on actual needs, for example, depending on the number of the vertical storage equipment 100 that can be set in the setting area.

[0065] In detail, N of the vertical storage devices 100 are arranged on the left side of the transport equipment 200, and the other N are arranged on the right side of the transport equipment 200. The N vertical storage devices 100 located on the left side of the transport equipment 200 are arranged side by side, and the other N vertical storage devices 100 located on the right side of the transport equipment 200 are arranged side by side. In the second direction X2, each vertical storage device 100 on the left corresponds to each vertical storage device 100 on the right.

[0066] In this way, the transport equipment 200 can be used in conjunction with 2N vertical storage equipment 100s, and can move to the predetermined vertical storage equipment 100 to perform the picking and placing of the items (as shown in Figure 4, number 90), thereby improving the flexibility of the smart warehousing system in terms of setting location.

[0067] In some embodiments, there are multiple vertical storage devices 100, which are respectively arranged on the left and right sides of the transport device 200.

[0068] In summary, the intelligent warehousing system of the present invention, utilizing the design of the vertical storage equipment 100 and the transportation equipment 200, can automatically place items 90 into the storage space 513 of the storage rack 51 without manual handling, which is very convenient and saves labor costs. Furthermore, the picking and placing device 9 can be driven by the conveying device 8 to move back and forth, left and right, and up and down, and the rotating seat 92 of the picking and placing device 9 drives the robotic arm 93 to swing, and the robotic arm 93 can extend and return to its original position, which provides a relatively high degree of flexibility in moving the items 90, thus effectively achieving the purpose of the present invention.

[0069] However, the above description is merely an embodiment of the present invention and should not be construed as limiting the scope of the present invention. Any simple equivalent changes and modifications made in accordance with the scope of the patent application and the contents of the patent specification shall still fall within the scope of the patent of the present invention.

[0070] 100: Vertical Storage Equipment 1: Shell 11:Main shell 111: Inner side 112: Setting Space 113: Opening 12: Door panel 200: Transportation equipment 2: Transmission mechanism 22: Transmission Unit 221: Chain Gear 222: Drive chain 223: First Trajectory 224: Second Trajectory 23: First limiting unit 231: Limiting rod 232: First limit group 233: Side view 234: First limiting rail groove 235: Fixing plate 236: Guide wheel 237: Axis 24: Second limiting unit 241: First limit track 242: Second limit track 300: Material rack 3: Connecting shaft 4: Drive module 41: Motor 42: Driving Unit 421: Drive wheel 422: Drive the belt 5: Storage facilities 51: Storage Shelf 511: Frame 512: Side 513: Storage Space 514: Retrieval port 515: First Gap 52: Mounting Block 521: Insert slot 53: Limiting group 531: First limit block 532: Second limit block 6: Sensing Module 60: Sensing Unit 61: Sensor 62: Sensing device 7: Door Segment Drive Module 71: Door panel drive motor 72: Driven wheel 73: Transmission belt 74: Connector 80: Warehouse Control Module 8: Transport device 81: First Conveying Unit 811: First limit track 812: First mounting bracket 813: First transmission group 82: Second Conveying Unit 821: Second limit track 822: Second mounting bracket 823: Second transmission group 83: Third Conveying Unit 831: Third Transmission Group 832: Third mounting bracket 833: Motor 834: Gear 835: Belt 90: Items 9: Pick-up and drop-off device 92: Rotating seat 93: Robotic Arm 931: First Arm 932: Second Arm 933: Picking up and placing items 94: Rotating seat transmission assembly 941: Rotating motor 95: Robotic arm drive components 951: Robotic Arm Motor 96: Transportation Control Module 97: Material storage space 98: Material placement base 981: Second Gap X1: First direction X2: Second direction T: Upright direction A: Direction of transmission H1: Height H2: Height D1: Spacing D2: Spacing

Claims

1. A smart warehousing system suitable for multiple items, comprising: at least one vertical storage device for storing the items; and a transport device including a pick-and-place device and a transport control module signal-connected to the pick-and-place device, the pick-and-place device being activated when controlled to place or move the items into or out of the at least one vertical storage device, the transport control module being used to control the activation of the pick-and-place device, wherein... The number of vertical storage devices is 2N, and the vertical storage devices are located on two opposite sides of the transport equipment and arranged in a first direction, where N is a positive integer.

2. The intelligent warehousing system as described in claim 1, wherein, The transport equipment also includes a transport device on which the pick-and-place device is mounted. The transport device is signal-connected to the transport control module and is used to start when controlled, thereby moving the pick-and-place device. The transport control module is used to control the start of the transport device.

3. The intelligent warehousing system as described in claim 2, wherein, The conveying device includes a first conveying unit extending in a first direction, a second conveying unit disposed on the first conveying unit and extending in a second direction intersecting the first direction, and a third conveying unit disposed on the second conveying unit and extending in an upright direction intersecting the first and second directions. The pick-and-place device is mounted on the third conveying unit. The first conveying unit is signal-connected to the transport control module and can be activated when controlled, thereby moving the second conveying unit in the first direction. The second conveying unit is signal-connected to the transport control module and can be activated when controlled, thereby moving the third conveying unit in the second direction. The third conveying unit is signal-connected to the transport control module and can be activated when controlled, thereby moving the pick-and-place device in the upright direction.

4. The intelligent warehousing system as described in claim 3, wherein, The pick-and-place device includes a rotating base of the third conveying unit and a robotic arm disposed on the rotating base and adapted to transport the item.

5. The intelligent warehousing system as described in claim 4, wherein, The robotic arm of the pick-and-place device is connected to the transport control module and can be controlled to switch between an extended state and a reset state. The length of the robotic arm in the extended state is greater than the length in the reset state.

6. The intelligent warehousing system as described in claim 5, wherein, The pick-and-place device also includes a rotating seat transmission assembly connected to the transport control module, which can be controlled to drive the rotating seat to rotate, thereby driving the robotic arm to rotate.

7. The intelligent warehousing system as described in claim 6, wherein, Each of the vertical storage devices includes a retrieval port and a plurality of storage racks. Each storage rack includes a plurality of storage spaces that can be exposed through the retrieval port and are respectively suitable for storing the item. Each storage space has a first notch located at the bottom edge for the robotic arm to pass through and support the corresponding item or place the corresponding item into the corresponding storage space.

8. The intelligent warehousing system as described in claim 7 further includes a rack suitable for storing the items taken from the vertical storage equipment, or suitable for storing the items to be placed into the vertical storage equipment.

9. The intelligent warehousing system as described in claim 1, wherein, Each of the vertical storage devices includes a housing, two transmission mechanisms disposed in the housing and spaced apart in the first direction, each transmission mechanism including a transmission unit installed in the housing, the transmission unit including two sprockets spaced apart in the vertical direction, a transmission chain disposed on the sprockets and capable of running relative to the housing in a transmission direction, a drive module connected to at least one of the transmission mechanisms and capable of driving the transmission chain of the transmission unit, and a plurality of storage mechanisms suitable for storing the items, the storage mechanisms being connected to the transmission mechanisms in a spaced-apart manner in the transmission direction, so as to be driven by the transmission mechanisms to move relative to the housing in the transmission direction.

10. The intelligent warehousing system as described in claim 9, wherein, Each of the vertical storage devices further includes a drive shaft connecting the transmission mechanism, wherein the drive module includes a motor and a drive unit installed between the motor and the transmission unit of one of the transmission mechanisms, the drive unit including a drive wheel connected to one of the sprockets of the transmission unit and a drive belt disposed between the drive wheel and the motor.

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