In-warehouse picking system and conveying system

Abstract

An in-warehouse picking system and a conveying system, relating to the technical field of warehousing picking. A stereoscopic warehouse comprises a plurality of goods shelves (10), each goods shelf having a multi-layer storage space, goods boxes being placed at storage sites of the storage spaces, and a goods picking apparatus (1) being installed on each goods shelf. According to a current order: each goods picking apparatus drives a first task module to place goods into a docking assembly or a docking box of a goods-carrying robot (105) running at the bottom of each goods shelf, or to retrieve same from the docking assembly or the docking box (4) and put same into the goods boxes (104); each first task module (2) at least comprises a first moving member (13) and a picking mechanism (20); a partition plate (102) having one or more storage sites on the bottommost goods shelf layer is removed from each goods shelf, so as to provide a passage for the goods-carrying robots on the ground; or one or more goods shelf layers (106) are removed from each goods shelf, so as to provide a matching height for supporting the operation of the goods-carrying robots on the ground. The present application mitigates the technical problems of low utilization rate of warehousing spaces, slow goods inflow and outflow speeds, and low sorting efficiency of existing in-warehouse picking systems in the prior art.

Description

In-stock picking systems and transport systems

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application with application number 202310902723.X filed with the China Patent Office on July 21, 2023, entitled “In-warehouse picking system and transmission system”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the technical field of warehouse picking, and in particular to an in-warehouse picking system and a transmission system. Background Art

[0004] Warehousing is the most costly part of logistics. Existing warehousing systems all require the construction of storage bases or storage centers. Modern logistics warehouses store goods in a fixed environment and ship out goods according to SKU, date, sequence and other information under the instructions of logistics orders.

[0005] The existing warehouse-to-sorting process requires cargo to be removed from warehouse shelves by a storage and freight robot, which then delivers the cargo to a sorting platform or sorting system. This traditional storage, transportation, and exchange method occupies a large area, has limited transfer efficiency due to the storage and freight robots, and requires a dedicated sorting system, which is extremely time-consuming and time-consuming.

[0006] Therefore, the existing warehousing and transportation systems not only reduce the efficiency of warehousing entry and exit, insufficient space utilization and high ground costs, but also cannot complete in-stock picking in the warehousing environment.

[0007] Summary of the Invention

[0008] The purpose of this application is to provide an in-warehouse picking system and a transmission system to alleviate the technical problems of low storage space utilization, slow cargo entry and exit speed, and low sorting efficiency in the existing in-warehouse picking system.

[0009] To achieve the above objectives, this application adopts the following technical solutions:

[0010] In a first aspect, the present application provides an in-stock picking system, which is applied to a high-bay warehouse. The high-bay warehouse includes a plurality of shelves, each of which is provided with a multi-layer storage space. Cargo boxes are placed in the storage spaces of the storage space. Cargo picking equipment is installed on the shelves. According to the current order:

[0011] The cargo picking device drives the first task module to place cargo into the docking assembly or docking box of the cargo robot running at the bottom of the shelf, or to take cargo out of the docking assembly or docking box and place it into the cargo box; the first task module includes at least: a first movable part and a picking mechanism;

[0012] The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot;

[0013] Alternatively, the shelf may have one or more shelf layers removed to provide a matching height to support the freight robot to operate on the ground.

[0014] Optionally, the arrangement of the goods picking device on the shelf is specifically implemented as: a first transverse rail, a first column, a first movable member and a connecting mechanism of the first task module, wherein:

[0015] The first transverse rail is fixed to the shelf;

[0016] The first column is vertically arranged on the first transverse track and can slide transversely;

[0017] The first movable member is provided on the first column and can slide along the first column;

[0018] The first movable member is provided with a connecting mechanism of the first task module.

[0019] Optionally, the picking mechanism has: a suction mechanism and / or a picking mechanism;

[0020] The suction mechanism and / or the picking mechanism is connected to the first movable member via the first connecting mechanism;

[0021] The suction mechanism forms contact with the goods through the suction force generated and maintains contact until the goods are placed into the docking assembly or docking box of the freight robot running at the bottom of the shelf; or taken out from the docking assembly or docking box and placed into the cargo box.

[0022] Optionally, the suction mechanism and / or the picking mechanism includes an extension member, and the extension member is connected to the first movable member via the first connecting mechanism.

[0023] Optionally, the in-stock picking system also includes:

[0024] The fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a connecting mechanism of a second task module;

[0025] When the task module is a push-pull cargo box module, the connection mechanism of the task module is provided with:

[0026] Support structure for push-pull cargo box modules;

[0027] and, a conveying assembly for pushing and pulling the cargo box module;

[0028] The fixed track transmission equipment uses the push-pull cargo box module to pull out the target cargo box at the target storage position of the target shelf, and the picking mechanism of the cargo picking equipment system picks the target cargo in the target cargo box, so that the cargo picking equipment drives the first task module to put the cargo into the docking assembly or docking box of the freight robot running at the bottom of the shelf;

[0029] The push-pull cargo box module pushes the target cargo box back.

[0030] Optionally, the in-stock picking system also includes:

[0031] The fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a second connecting mechanism of the second task module;

[0032] When the task module is a push-pull cargo box module, the connection mechanism of the task module is provided with:

[0033] Support structure for push-pull cargo box modules;

[0034] and, a conveying assembly for pushing and pulling the cargo box module;

[0035] The picking mechanism of the cargo picking equipment system takes the target cargo out of the docking assembly or docking box of the freight robot, the fixed track transmission equipment uses the push-pull cargo box module to pull out the target cargo box on the target storage position of the target shelf, and the picking mechanism places the target cargo into the target cargo box;

[0036] The push-pull cargo box module pushes the target cargo box back.

[0037] Optionally, the in-warehouse picking system further comprises: a second transverse rail fixed to the lower portion of the shelf, the two transverse rails being connected to the first column via a slider;

[0038] The slider moves on the transverse track driven by rollers and / or gears, and the rollers and / or gears are driven by a motor.

[0039] Optionally, the fixed rail transport device disposed on the shelf further comprises: a second upright post and a second movable member, wherein the second upright post is vertically disposed on the transverse rail and can slide transversely;

[0040] The second movable member is provided on the column and can slide along the second column;

[0041] The second movable member is provided with a connecting mechanism of the second task module.

[0042] Optionally, the fixed track transport device disposed on the shelf further includes: a third column, the second task module being disposed between the second column and the third column via the connecting mechanism;

[0043] Drive the second task module to locate at the cargo position or docking position on the shelf.

[0044] Optionally, a synchronous pulley driven by a motor and controllable by a reducer, wherein the synchronous pulley drives a synchronous belt to support the first movable member to move on the slide rail of the first column;

[0045] A synchronous pulley driven by a motor and controlled by a reducer drives a synchronous belt to support the second movable member to move on the slide rail of the second column.

[0046] Optionally, the in-warehouse picking system further includes: an identification module, which can be arranged on the cargo picking device and / or the fixed track transmission device.

[0047] In a second aspect, the present application provides a transmission system comprising the in-warehouse picking system described in any one of the aforementioned embodiments.

[0048] This application can achieve the following beneficial effects:

[0049] In the first aspect, the present application provides an in-warehouse picking system, which is applied to a high-bay warehouse. The high-bay warehouse includes multiple shelves, which are provided with multiple layers of storage space, and cargo boxes are placed in the storage spaces of the storage space. Cargo picking equipment is installed on the shelves. According to the current order: the cargo picking equipment drives the first task module to place the cargo into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or takes the cargo out of the docking assembly or docking box and places it into the cargo box; the first task module includes at least: a first movable part and a picking mechanism; the shelf removes the partitions of one or more storage spaces of the lowest shelf layer to provide a passage for the ground freight robot; or, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to run on the ground.

[0050] In the present application, in-warehouse picking is completed by utilizing the cargo picking equipment to dock the freight robot at the bottom of the shelf, or to take the cargo out of the docking assembly or docking box and place it into the cargo box. The cargo picking equipment drives the first task module to place the cargo into the docking assembly or docking box of the freight robot running at the bottom of the shelf, or to take the cargo out of the docking assembly or docking box and place it into the cargo box. The first task module includes at least: a first movable part and a picking mechanism. The cargo picking equipment is provided with a transverse track for the movement of the columns. By configuring the shelves and modifying the shelf layers at the bottom of the storage space, a running channel is provided for the freight robot or sorting robot. This fundamentally solves the problem of waste in existing storage space and makes in-warehouse picking possible in dense shelf scenarios. More importantly, the storage task module can store and retrieve cargo boxes and, driven by the movable parts of the fixed track transmission equipment, place them into or take them out of the docking assembly or docking box of the freight robot running at the bottom of the shelf. The stored cargo / cargo boxes can be coordinated with the freight robot or sorting robot, so that cargo storage, cargo / cargo box transfer, and cargo / cargo box sorting can be smoothly completed in the storage space. This greatly improves the storage space utilization, cargo entry and exit speed, and sorting efficiency of the existing shelf-based in-warehouse picking system.

[0051] In addition, the second aspect of the embodiment of the present application also provides a transmission system, including the in-warehouse picking system provided by the aforementioned first aspect; since the transmission system provided by the embodiment of the present application includes the in-warehouse picking system provided by the first aspect, the transmission system provided by the embodiment of the present application can achieve all the beneficial effects that the in-warehouse picking system provided by the first aspect can achieve. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0053] FIG1 is a schematic diagram of a shelf structure in an embodiment of the present application;

[0054] FIG2 is a schematic structural diagram of a ground freight robot in an embodiment of the present application;

[0055] FIG3 is a schematic diagram of the structure of a storage shelf in an embodiment of the present application;

[0056] FIG4 is a schematic diagram of the structure of multiple ground freight robots in the in-warehouse picking system in an embodiment of the present application;

[0057] FIG5 is a schematic structural diagram of the in-stock picking system in an embodiment of the present application from a first perspective;

[0058] FIG6 is a schematic structural diagram of the in-stock picking system in an embodiment of the present application from a second perspective;

[0059] FIG7 is a schematic structural diagram of the in-stock picking system according to an embodiment of the present application from a third perspective;

[0060] FIG8 is a schematic structural diagram of a fixed track transmission device of the in-stock picking system according to an embodiment of the present application from a fourth perspective;

[0061] FIG9 is a schematic structural diagram of a track transmission device of the in-stock picking system according to an embodiment of the present application from a fifth perspective;

[0062] FIG10 is a schematic structural diagram of the in-stock picking system according to an embodiment of the present application from a sixth perspective;

[0063] FIG11 is a schematic diagram of a partial structure of a shelf in an embodiment of the present application;

[0064] FIG12 is a schematic structural diagram of the transmission system in an embodiment of the present application.

[0065] Icons: 1-Cargo picking equipment; 10-Shelf; 101-Storage space; 102-Partition; 103-Storage location; 104-Cargo box; 105-Ground freight robot; 106-Bottom shelf layer; 11-First transverse track; 12-First column; 13-First movable part; 14-Second task module; 15-First connecting mechanism; 2-First task module; 20-Picking mechanism; 201-Suction mechanism; 21-Second column; 22-Second movable part; 23-Second connecting mechanism; 25-Docking position; 3-Cargo; 30-Fixed track transmission equipment; 31-Transverse track; 32-Motor; 33-Third column; 4-Docking box; 51-Roller; 52-Slider. DETAILED DESCRIPTION

[0066] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0067] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0068] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, its alternative definition and explanation in subsequent drawings is not required.

[0069] In the description of this application, it should be noted that the terms "upper," "lower," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0070] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0071] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0072] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0073] Example 1

[0074] This embodiment provides an in-warehouse picking system, which includes: For the sake of clarity and convenience of explanation, the in-warehouse picking system involved in this specification includes at least: one or more cargo picking equipment, storage shelves and multiple ground freight robots (AGVs).

[0075] Figure 1 shows a structural diagram of a storage rack, a rack 10 (rack), which is used for storage. The rack 10 is provided with a multi-layer storage space 101 (reservation unit), and a cargo box 104 (bin) is placed in a storage position 103 (slot) of the storage space 101. The rack is laterally supported by a partition 102 to provide support for the cargo box 104.

[0076] 2 , multiple AGVs 105 can dock cargo boxes and cargo.

[0077] Referring to Figure 3, a cargo picking device 1 is installed on the shelf, and the cargo picking device 1 drives the first task module 2 to place the cargo 3 into the docking assembly or docking box 4 of the ground freight robot 105 running at the bottom of the shelf 10, or take it out from the docking assembly or docking box 4 and place it into the cargo box 104; the first task module 2 includes at least: a first movable part 13 and a picking mechanism 20.

[0078] The arrangement of the goods picking device 1 on the shelf 10 is specifically implemented as follows:

[0079] The connection mechanism of the first transverse rail 11, the first column 12, the first movable member 13 and the first task module 2, wherein:

[0080] The first transverse rail 11 is fixed to the shelf 10;

[0081] It should be noted that the first transverse rail 11 is fixed on the beam or column of the shelf 10. When the shelf is laterally long, the transverse rail needs to be fixed with the help of the beam and column of the single rack, and extend to the adjacent shelf beam.

[0082] The first upright post 12 is vertically arranged on the first transverse track 11 and can slide transversely;

[0083] The first upright post 12 slides along the first transverse track 11 to enable the first movable member 13 to be positioned in each column of the shelf.

[0084] The first movable member 13 is disposed on the first column 12 and can slide along the first column 12;

[0085] The above arrangement enables the first movable member 13 to move laterally and longitudinally, thereby enabling the first movable member 13 to be positioned at each tier of the shelf.

[0086] The first movable member 13 is provided with a first connecting mechanism 15 of the first task module 2;

[0087] Driven by the first movable member 13, the first task module 2 utilizes the picking mechanism to store and retrieve goods 3, places them into and runs the docking assembly or docking box of the ground freight robot 105 at the bottom of the shelf;

[0088] It should be noted that in the present application, the bottom partitions of the storage shelves are removed. Here, the partitions represent the components that provide storage space support for different types of storage shelves, as well as surrounding components such as beams that provide stability for the layers. Removing the partitions to provide matching heights actually requires blocking the surrounding components that block the ground freight robot from running on the ground. The partitions are not limited to the materials and styles set in the storage shelves, and support the ground freight robot to run on the ground and complete the docking action. The bottom partitions between adjacent columns of the storage shelves are removed to form the docking position 25 of the ground freight robot. It should be noted that the bottom partitions of the shelves include the partitions themselves and fixed beams, thereby providing space for the ground freight robot to move.

[0089] More specifically, the picking mechanism has: a suction mechanism 201 and / or a picking mechanism, and the suction mechanism 201 and / or the picking mechanism (not shown) can be connected through the first connecting mechanism 15 of the first task module, that is: an extension component of the suction mechanism 201 and / or the picking mechanism, and the extension component can be a multi-segment robotic arm with freedom, connected to the first movable part 13, wherein the suction mechanism 201 can form and maintain contact with the goods through the suction force generated until the goods 3 are placed in the docking assembly or docking box of the freight robot running at the bottom of the shelf, or taken out from the docking assembly and placed in the cargo box.

[0090] Referring to Figure 4, the setting in this embodiment realizes that when the sorting and / or storage and retrieval of goods are completed, the stored and retrieved goods can be connected through the ground freight robot 105, and the goods can be transferred, sorted, and delivered to the destination cargo location or sorting location, or the transportation location where the sorting is completed.

[0091] The shelf removes the partitions 102 of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot 105;

[0092] The shelf removes one layer or the bottom shelf layer 106 to provide a matching height to support the ground freight robot 105 to operate on the ground.

[0093] FIG4 also shows the aisle where the ground freight robot 105 walks on the ground between two shelves.

[0094] 5 , a fixed track transport device 30 is also shown, and its arrangement on the shelf is specifically implemented as follows: a first transverse track 11 , a first column 12 , a first movable member 13 , and a connecting mechanism of a second task module 14 ;

[0095] Referring to the situation in Figure 5, when the first task module 2 and / or the second task module 14 are both installed on the first transverse track, the first column, and the first movable part, the connecting mechanism of the first task module and the connecting mechanism of the second task module can be integrated to drive the first task module to sort goods and drive the second task module to store cargo boxes.

[0096] Referring to Figure 6, in another case, when the first task module and / or the second task module are both installed on the first transverse track, the first column, and the first movable part, the connecting mechanism of the first task module and the connecting mechanism of the second task module are set separately and cooperated according to the current task.

[0097] When the task module is a push-pull container module, it at least includes:

[0098] Support structures for pushing and pulling cargo box modules, such as loading and unloading racks;

[0099] And, a conveying component for pushing and pulling the cargo box module, such as a conveyor belt. Of course, the conveyor belt needs to be driven by a conveyor motor;

[0100] The fixed track transmission equipment uses the push-pull cargo box module to pull out the target cargo box at the target storage position of the target shelf, and the picking mechanism of the cargo picking equipment system picks the target cargo in the target cargo box, so that the cargo picking equipment drives the first task module to put the cargo into the docking assembly or docking box of the freight robot running at the bottom of the shelf;

[0101] Alternatively, the picking mechanism of the cargo picking equipment system takes the target cargo out of the docking assembly or docking box of the freight robot, the fixed track transmission equipment uses the push-pull cargo box module to pull out the target cargo box on the target storage position of the target shelf, and the picking mechanism places the target cargo into the target cargo box;

[0102] The push-pull cargo box module pushes the target cargo box back.

[0103] In actual application, however, as mentioned above, the connection mechanism of the task module is a basic structure that can be connected with different task modules. If it is other task modules, the connector is set according to the specific function of the task module, but it is not limited to this.

[0104] It should be noted that, in conjunction with Figures 1-5, in this embodiment, by modifying the bottom shelf layer of the shelf configuration, and cooperating with the cargo picking equipment 1 and the ground freight robot 105 or the sorting robot (not shown), the problem of low efficiency in cargo / cargo box transfer and sorting on existing shelf storage is fundamentally solved, and the application scenarios of the shelves are expanded, so that cargo warehousing, cargo / cargo box transfer and cargo / cargo box sorting can be completed within the storage space, thereby greatly improving the storage space utilization, cargo entry and exit speed, and sorting efficiency of the existing shelf in-warehouse picking system.

[0105] Referring to Figure 7, a warehouse picking system is shown. Based on the illustrations in Figures 1 and 6 and their corresponding descriptions, in Figure 7, another transverse rail 31 is fixed to the lower part of the shelf 10 and can be supported by rollers driven by a motor 32 (marked in Figure 9) installed at the lower part of the first column 12 to roll on the transverse rail 31.

[0106] It should be noted that the roller is an optional solution. In practice, gears, or a combination of gears and rollers, are used to achieve the movement of the column on the beam. Therefore, when using gears as a transmission method, they need to be coordinated with a toothed chain to complete the movement. The specific method can refer to the existing technology. In the case of a combination of gears and rollers, the gears and the toothed chain are engaged and transmitted, driving the roller to move, thereby achieving the movement of the column on the beam. More optionally, the motor 32 drives the roller to operate the component, which can be achieved by wired means (cables, flexible conductive materials, wear-resistant wires) or wireless means, such as a method that supports operation after charging a lithium battery, etc. The specific method is not limited.

[0107] Based on the diagrams and explanations in Figures 5-6, Figures 8 and 9 show:

[0108] The fixed rail transport device 30 disposed on the shelf further includes: a second column 21 and a second movable member 22, wherein the second column 21 is vertically disposed on the first transverse rail 11 and can slide transversely; the second movable member 22 is disposed on the second column 21 and can slide along the second column;

[0109] The second movable member 22 is provided with a second connecting mechanism 23 of the second task module 14;

[0110] The second task module 14 is disposed between the first column 12 and the second column 21 via a second connecting mechanism 23;

[0111] The first movable member and the second movable member drive the second task module 14 to be positioned at the cargo position or the docking position on the shelf 10 .

[0112] The docking position can be understood as the position where the second task module 14 and the ground freight robot 105 complete the transfer of goods from the second task module 14 after storing and retrieving cargo boxes and / or goods from the cargo position on the shelf.

[0113] In this embodiment, a large-scale shelf system requires a more stable rail transmission device. To this end, two upper and lower transverse rails are provided on the rail assembly to fully fix the first column 12 and the second column 21, so that tasks such as pushing, pulling, docking and sorting of goods / cargo boxes can be carried out reliably.

[0114] It should be noted that in the embodiments of Figures 1-9 and 10, the ground freight robot is a robot operating on the bottom floor of the shelf. As a feasible embodiment, the ground freight robot can be an AGV (Automated Guided Vehicle), also commonly known as an AGV cart; or an AMR (Autonomous Mobile Robot).

[0115] And for the sake of full disclosure, the ground freight robot can be a freight robot or a sorting robot in the disclosed text: the ground freight robot performs path planning under the control of the server, or the ground freight robot performs autonomous path planning, and is provided with a plane-moving component and a docking component that supports the pushing and pulling of cargo boxes. In order to improve transportation efficiency, the ground freight robot can run directly on the ground directly below the shelf, and can cooperate with the storage shelf to remove the bottom partition. The goods are driven by the movable parts of the task module and placed on the docking component of the ground freight robot. The ground freight robot can be a freight robot or a sorting robot. The above coordination enables cargo warehousing, cargo / cargo box transfer and cargo / cargo box sorting to be completed within the storage space.

[0116] As a feasible method, similar principles, the movement of the movable part on the slide rail of the column can be shown in the following figure. The more specific electric control method is not limited and is not specifically shown in the figure.

[0117] A synchronous pulley driven by the motor 32 and controlled by a speed reducer, the synchronous pulley drives a synchronous belt to support the first movable member to move on the slide rail of the first column;

[0118] A synchronous pulley driven by the motor 32 and controlled by a speed reducer drives a synchronous belt to support the second movable member to move on the slide rail of the second column.

[0119] The above settings can not only accurately locate the position between the task module and the cargo box, but also greatly improve the storage space utilization, cargo in and out speed, and sorting efficiency of the existing in-warehouse picking system.

[0120] Referring to FIG11 , a partial view of the in-stock picking system is shown, including:

[0121] In this embodiment, Figure 1 shows the connection structure between the first transverse rail 11 and the first column 12 and the second column 21. Referring to Figure 3, the movement of the slider 52 on the transverse rail 31 can be achieved by driving the slider 52 with the roller 51. The first column 12 and the second column 21 are mounted on the fixed position of the slider 52, and the roller 51 contacts the transverse rail 31 to achieve smooth movement.

[0122] The above setting may be one implementation method and is not limited thereto.

[0123] Referring to Figure 12, an in-warehouse picking system is shown, in which the fixed track transmission equipment arranged on the shelf also includes: a third column 33, and the second task module 14 is arranged between the second column 21 and the third column 33 through a connecting mechanism; driving the second task module 14 to be positioned at the cargo position or docking position on the shelf 10.

[0124] In conjunction with Figures 1-11, in this embodiment, the fixed track conveyor and the cargo picking device are respectively installed on different columns. In large, densely populated warehouses, such as warehouses storing more than 100,000 cartons and with a throughput of 5,000 cartons per hour, multiple fixed track conveyor and cargo picking devices can be installed on the same shelf to accommodate high-volume order requirements. When the fixed track conveyor and cargo picking device system work together, for example, when order delivery is required, for example, item X or a certain SKU (Stock Keeping Unit, the basic unit for measuring inventory in and out) for order A needs to be shipped, the fixed track conveyor uses the second task module, namely, the push-pull container module, to pull the target container out of the target shelf at the target storage location, allowing item X to be picked up by the suction mechanism 201 and / or picking mechanism of the cargo picking device system. Before pickup, an identification module is required to identify item X or the SKU. The identification module can be installed on the cargo picking device and / or the fixed track conveyor. The recognition module can be arranged on the cargo picking device and / or the fixed track transmission device. The recognition module can be a monocular camera, a laser camera or a depth of field camera.

[0125] After the above picking process is completed, the identification module is used to accurately locate the X goods or a certain SKU specified in the order, and the goods picking device is used to place the X goods or a certain SKU specified in the order into the docking position of the ground freight robot. The ground freight robot will then drive to the next docking position or workstation.

[0126] In another embodiment, one or more shelves are included, and the structure and working principle of the shelves are referred to Figures 1-12. The shelves can be configured in-warehouse picking equipment, and / or fixed track transmission equipment. During operation, they are installed on one or more shelves, and can support independent operation under the control chip and software instructions or coordinated operation with built-in warehouse management software on the server side. At the same time, the one or more shelves can be ordinary shelves or precision shelves, and are not limited to shelf height and ground flatness. In addition, the present application also discloses an in-warehouse picking system, which is configured as the in-warehouse picking system of Figure 6 and multiple ground freight robots 105. Based on this setting, the efficiency of storage, transportation and sorting of goods 3 can be greatly improved, and it can adapt to the rapid transportation and transmission technology requirements in various warehousing scenarios.

[0127] In summary:

[0128] The in-warehouse picking system provided by the embodiment of the present application utilizes the cargo picking equipment 1 to complete in-warehouse picking by using the docking assembly of the freight robot at the bottom of the shelf 10, or taking out the cargo 3 from the docking assembly or docking box 4 and placing it into the cargo box 104. The cargo picking equipment 1 drives the first task module 2 to place the cargo 3 into the docking assembly or docking box 4 of the freight robot running at the bottom of the shelf 10, or taking it out from the docking assembly or docking box 4 and placing it into the cargo box 104; the first task module 2 includes at least: a first movable part 13 and a picking mechanism 20. The cargo picking device 1 is provided with a first transverse track 11 for movement of the uprights. By configuring the shelves 10 and modifying the shelf layers at the bottom of the storage space, a running channel is provided for a freight robot or a sorting robot. This fundamentally solves the problem of existing storage space waste and enables in-stock picking in densely packed shelves 10 scenarios. More importantly, the storage task module can access cargo boxes 104 and, driven by the movable parts of the fixed track transmission device 30, insert or remove cargo boxes 104 into or from the docking assembly or docking box 4 of the freight robot operating at the bottom of the shelf 10. This allows the stored cargo 3 / cargo box 104 to cooperate with the freight robot or the sorting robot, allowing the storage, transfer, and sorting of cargo 3 / cargo box 104 to be smoothly completed in the storage space. This significantly improves the storage space utilization, cargo 3 entry and exit speed, and sorting efficiency of the existing shelf 10 in-stock picking system.

[0129] Example 2

[0130] This embodiment provides a transmission system, which includes the in-warehouse picking system provided by any optional implementation manner in Example 1.

[0131] Since the transmission system provided in this embodiment includes the in-warehouse picking system described in Example 1, the transmission system provided in this embodiment can achieve all the beneficial effects that can be achieved by the in-warehouse picking system in Example 1. Its specific structure and achievable effects can be obtained by referring to the various optional or optional implementation methods in Example 1.

[0132] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referenced to each other; the above embodiments in this specification are only used to illustrate the technical solutions of this application, rather than to limit it; although the application has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. Industrial Applicability

[0133] The present application provides an in-warehouse picking system and a transmission system, which alleviate the technical problems of low storage space utilization, slow cargo entry and exit speed, and low sorting efficiency in the existing in-warehouse picking system; and achieves a significant improvement in the storage space utilization, cargo entry and exit speed, and sorting efficiency of the existing shelf in-warehouse picking system.

Claims

1. A system for picking in warehouse, characterized in that: Applied to a stereoscopic warehouse, the stereoscopic warehouse includes a plurality of shelves, the shelves are provided with multi-layer storage space, and cargo boxes are placed in the storage space, and cargo picking equipment is installed on the shelves. According to the current order: The cargo picking device drives the first task module to put the cargo into the docking assembly or docking box of the cargo robot running at the bottom of the shelf, or take the cargo out of the docking assembly or docking box and put it into the cargo box; The first task module at least includes: a first movable part and a picking mechanism; The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the ground freight robot; Alternatively, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

2. The in-stock picking system according to claim 1, characterized in that: The arrangement of the goods picking device on the shelf is specifically implemented as: a first transverse track, a first column, a first movable member and a first connecting mechanism of the first task module, wherein: The first transverse rail is fixed to the shelf; The first upright post is vertically arranged on the first transverse track and can slide transversely; The first movable member is disposed on the first column and can slide along the first column; The first movable member is provided with a first connecting mechanism of the first task module.

3. The in-stock picking system according to claim 2, characterized in that: The picking mechanism comprises: a suction mechanism and / or a picking mechanism; The suction mechanism and / or the picking mechanism is connected to the first movable member via the first connecting mechanism; The suction mechanism forms contact with the goods through the suction force generated and maintains contact until the goods are placed into the docking assembly or docking box of the freight robot running at the bottom of the shelf; or taken out from the docking assembly or docking box and placed in the cargo box.

4. The in-stock picking system according to claim 2, characterized in that: The suction mechanism and / or the picking mechanism comprises an extension member, and the extension member is connected to the first movable member through the first connection mechanism.

5. The in-stock picking system according to any one of claims 1 to 4, characterized in that: Also includes: The fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a second connecting mechanism of a second task module; When the task module is a push-pull cargo box module, the connection mechanism of the task module is provided with: Support structure for push-pull cargo box modules; and, a conveying assembly for pushing and pulling the cargo box module; The fixed track transmission equipment uses the push-pull cargo box module to pull out the target cargo box at the target storage position of the target shelf, and the picking mechanism of the cargo picking equipment system picks the target cargo in the target cargo box to achieve the desired The cargo picking device drives the first task module to put the cargo into the docking assembly or docking box of the cargo robot running at the bottom of the shelf; The push-pull cargo box module pushes the target cargo box back.

6. The in-stock picking system according to any one of claims 1 to 4, characterized in that: Also includes: The fixed track transmission equipment is specifically implemented on the shelf as follows: a first transverse track, a first column, a first movable member, and a second connecting mechanism of a second task module; When the task module is a push-pull cargo box module, the connection mechanism of the task module is provided with: Support structure for push-pull cargo box modules; and, a conveying assembly for pushing and pulling the cargo box module; The picking mechanism of the cargo picking equipment system takes the target cargo out of the docking assembly or docking box of the cargo robot, the fixed track transmission equipment uses the push-pull cargo box module to pull out the target cargo box on the target storage position of the target shelf, and the picking mechanism puts the target cargo into the target cargo box; The push-pull cargo box module pushes the target cargo box back.

7. The in-stock picking system according to any one of claims 2 to 6, characterized in that: Also includes: A second transverse rail, which is fixed to the lower part of the shelf, and the two transverse rails are connected to the first column through a slider; The slider moves on the transverse track driven by rollers and / or gears, and the rollers and / or gears are driven by a motor.

8. The in-stock picking system according to claim 7, characterized in that: The fixed track transmission device disposed on the shelf further includes: a second column and a second movable member, wherein the second column is vertically disposed on the transverse track and can slide transversely; The second movable member is disposed on the column and can slide along the second column; The second movable member is provided with a second connecting mechanism of the second task module.

9. The in-stock picking system according to claim 7, characterized in that: The fixed track transmission device disposed on the shelf further includes: a third column, The second task module is disposed between the second column and the third column through the second connecting mechanism; Drive the second task module to be positioned at the cargo position or docking position on the shelf.

10. The in-stock picking system according to claim 7, characterized in that: A synchronous pulley driven by a motor and controllable by a reducer drives a synchronous belt to support the first movable member to move on the slide rail of the first column, and drives a synchronous belt to support the second movable member to move on the slide rail of the second column.

11. The in-stock picking system according to claim 7, characterized in that: Also includes: An identification module, which can be arranged on the cargo picking device and / or the fixed track transmission device.

12. The in-stock picking system according to any one of claims 1 to 12, characterized in that: Also includes: A freight robot and / or a ground freight robot, wherein the freight robot and / or the ground freight robot is provided with a planar moving component and a docking component or a docking box, wherein the docking component or the docking box is used to support the pushing and pulling of the cargo box and the cargo.

13. The in-stock picking system according to claim 12, characterized in that: Also includes: The ground freight robot performs path planning under the control of the server; or, The ground freight robot performs autonomous path planning.

14. A transmission system, characterized in that: A warehouse picking system comprising any one of claims 1 to 13.

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