Transmission system and intelligent three-dimensional warehousing transmission system

Abstract

A transmission system and an intelligent three-dimensional warehousing transmission system, which are used for a three-dimensional warehouse. The three-dimensional warehouse comprises at least a plurality of columns of goods shelves (10), and the goods shelves comprise a first goods shelf section (1001) and a second goods shelf section (1002). The goods shelves are provided with a multi-layer storage space, and goods containers are placed in storage locations of the storage space. The first goods shelf section and the second goods shelf section can be located on the same goods shelf or can be located on goods shelves on two sides of the same roadway. The first goods shelf section and the second goods shelf section can be provided with task modules (1003, 1004), among which at least one task module can access a plurality of locations of containers in an adjacent goods shelf section, and the task modules can be a sorting task module or a retrieval and transmission task module. Thus, the utilization of warehousing space for existing goods shelf transmission systems is achieved, the complexity of deployment and maintenance for high-altitude warehousing is reduced, and the investment costs for deployment are greatly reduced.

Description

Conveyor system and intelligent three-dimensional storage and conveyor system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application number 2023118606335 filed with the China Patent Office on December 29, 2023, entitled “Transmission System and Intelligent Three-dimensional Warehousing and Transmission System,” the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present disclosure relates to the technical field of automated warehousing and transportation, and in particular to a transportation system and an intelligent three-dimensional warehousing and transportation 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 an environmentally friendly manner and carry out fulfillment and delivery according to SKU, date, sequence and other information under the instructions of logistics orders.

[0005] Existing warehouse-to-sorting systems require cargo to be removed from warehouse shelves by a storage freight robot, which then delivers the cargo to a sorting platform or sorting system. Traditional warehouse heights are often limited to 10 meters. As warehouses reach higher heights, warehouse transfer and exchange efficiency is limited by the height, and specialized, customized conveyor or picking systems are required, resulting in high deployment complexity and configuration costs.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a transmission system and an intelligent three-dimensional warehousing and transmission system, which can improve the storage space utilization, cargo entry and exit speed, and sorting efficiency of the existing transmission system, and greatly reduce the investment cost of warehousing deployment.

[0008] A transmission system is used for a high-bay warehouse, which includes at least multiple rows of shelves, and the shelves include: a first shelf section and a second shelf section, the shelves are provided with multiple layers of storage space, and cargo boxes are placed in the storage locations of the storage space; the first shelf section and the second shelf section can be on the same shelf, or can be on shelves on both sides of the same aisle; the first shelf section and the second shelf section can be equipped with task modules, wherein at least one of the task modules can access multiple box locations in adjacent shelf sections; the task modules can be picking task modules or access and transmission task modules.

[0009] Optionally, the system further includes:

[0010] The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for a ground freight robot; or, the shelf removes one or more shelf layers to provide a matching height to support the freight robot to operate on the ground.

[0011] Optionally, the aisle direction of the multiple rows of shelves in this system is recorded as the x-axis, the direction perpendicular to the ground and the x-axis is recorded as the y-axis, and the height direction of the shelf is recorded as the z-axis.

[0012] Optionally, the setting of the adjacent shelf segments is specifically implemented as: two shelf segments in the z-axis direction of the same shelf; or two shelf segments in the y-axis direction on both sides of the aisle.

[0013] Optionally, the system further comprises: an extension module, which is slidably mounted on a movable part of the task module so that the task module can be extended in the z-axis direction to access more bins in adjacent shelf segments.

[0014] Optionally, the extension module is one or more laminate sliders, and the extension distance is obtained by lamination.

[0015] Optionally, access to multiple bins in adjacent shelf segments is achieved through rail transport equipment, including:

[0016] The arrangement of the rail transport device on the shelf is specifically implemented as follows: a connecting mechanism between the first transverse rail, the first column, the first movable member, and the second task module;

[0017] When the task module is a container access module, the connection mechanism of the second task module is provided with:

[0018] A support structure for accessing the container module; and a conveyor assembly for accessing the container module;

[0019] The first shelf section and the second shelf section can be equipped with task modules, wherein at least one of the task modules can access multiple box locations in the adjacent shelf section. Specifically, the storage and retrieval box module installed on the track transmission equipment of the first shelf section can access one or more storage locations at the end of the second shelf section in the z-axis direction, or can access one or more storage locations in the second shelf section in the y-axis direction.

[0020] Optionally, the cargo picking device is used to place the cargo into a docking assembly or docking box of a cargo 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 arrangement of the cargo picking device on the shelf is specifically implemented as follows:

[0021] The connection mechanism between the first transverse track, the first column, the first movable member and the first task module, wherein:

[0022] The first transverse track is on the shelf; the first column is vertically arranged on the first transverse track and can slide transversely; the first movable part is arranged on the first column and can slide along the first column; the first movable part is provided with a connecting mechanism of the first task module.

[0023] Optionally, the system further includes: a second transverse rail, which is located at 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 rail driven by rollers and / or gears, and the rollers and / or gears are driven by a motor.

[0024] Optionally, the system also includes: the arrangement of the rail transmission equipment on the shelf also includes: a second column and a second movable part, the second column is vertically arranged on the transverse track and can slide transversely; the second movable part is arranged on the column and can slide along the second column; the second movable part is provided with a connecting mechanism for the second task module.

[0025] Optionally, the arrangement of the rail transport device on the shelf further includes: a third column, the second task module being arranged between the second column and the third column via the connecting mechanism;

[0026] Drive the second task module to locate at the cargo position or docking position on the shelf.

[0027] Optionally, the system is driven by a motor and can be controlled by a synchronous pulley via 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;

[0028] 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.

[0029] Optionally, the system further includes: an identification module, which can be provided on the cargo picking device and / or the track transmission device.

[0030] Optionally, the freight robot is a ground freight robot AGV.

[0031] Optionally, a freight robot and / or a load handling device is provided on the top of the high-bay warehouse. The load handling device is provided in conjunction with a lifting device. The lifting device grabs the cargo boxes or goods. The load handling device is configured to move on the top of the high-bay warehouse and is configured to lift and move the cargo boxes or goods in the high-bay warehouse. The load handling device includes:

[0032] Electrical control equipment and drive and / or lifting components, receiving space components for accommodating the cargo box or cargo;

[0033] The lifting assembly is configured to raise and lower the lifting device relative to the receiving space assembly.

[0034] Optionally, a freight robot AGV walking surface can be deployed on the top of the high-bay warehouse, and / or the arrangement is based on a first set of parallel rails and a second set of parallel rails, wherein the second set of parallel rails extends transversely to the first set on a basically horizontal plane to form a grid structure containing multiple grid spaces.

[0035] Optionally, the freight robot described in this system is a warehousing robot, comprising: a mobile base, a stand vertically arranged on the mobile base, and a storage and retrieval device arranged on the stand and capable of vertical lifting.

[0036] An intelligent three-dimensional storage and transmission system includes: one or more transmission systems.

[0037] The transmission system provided by the embodiments of the present application is used in a high-density warehouse. Task modules are installed on shelf segments within the warehouse, and these task modules are used to access multiple bin locations on adjacent shelf segments. The task modules can be picking task modules or storage and retrieval task modules. The task modules can slide on transverse rails and columns, and cooperate with extension modules to enable the task modules to reach storage locations outside the shelf segment within the high-density warehouse, thereby supporting the fulfillment of high-density warehouses. Furthermore, the rail transmission equipment, driven by the movable parts, stores and retrieves cargo boxes, and places or removes them from the docking assembly or docking box of a freight robot operating at the bottom of the shelf. The stored cargo / cargo boxes can then be coordinated with the freight robot or sorting robot, allowing cargo storage, cargo / cargo box transfer, and cargo / cargo box sorting to be smoothly completed within the storage space. This improves the storage space utilization of existing shelf transmission systems, reduces the complexity of deployment and maintenance of high-density warehouses, and significantly reduces deployment investment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] FIG1 is a schematic diagram of a shelf structure in an embodiment of the present application;

[0040] FIG2 is a schematic structural diagram of a freight robot in an embodiment of the present application;

[0041] FIG3 is a schematic diagram of the structure of a transmission system in an embodiment of the present application;

[0042] FIG4 is a schematic diagram of the structure of a transmission system in an embodiment of the present application;

[0043] FIG5 is a schematic diagram of the front view structure of the transmission system in an embodiment of the present application;

[0044] FIG6 is a side view schematic diagram of the transmission system in an embodiment of the present application;

[0045] FIG7 is a schematic diagram of the structure of a storage rack rail transmission device in an embodiment of the present application;

[0046] FIG8 is a schematic structural diagram of a storage rack rail transmission device in an embodiment of the present application;

[0047] FIG9 is a schematic structural diagram of a storage rack rail transmission device in an embodiment of the present application;

[0048] FIG10 is a schematic diagram of a partial structure of a shelf in a transmission system according to an embodiment of the present application;

[0049] FIG11 is a schematic structural diagram of a cargo picking device in an embodiment of the present application;

[0050] FIG12 is a schematic structural diagram of a transmission system in an embodiment of the present application;

[0051] FIG13 is a schematic structural diagram of a transmission system in an embodiment of the present application;

[0052] FIG14 is a schematic structural diagram of a transmission system in an embodiment of the present application;

[0053] FIG15 is a schematic structural diagram of a transmission system in an embodiment of the present application;

[0054] Figure 16 is a structural diagram of the intelligent three-dimensional warehousing and transportation system in an embodiment of the present application. DETAILED DESCRIPTION

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, not all of them. Generally, the components of the embodiments of the present disclosure described and shown in the drawings herein can be arranged and designed in various different configurations.

[0056] Therefore, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the present disclosure as claimed, but merely represents selected embodiments of the present disclosure. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort shall fall within the scope of protection of the present disclosure.

[0057] 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, it does not need to be further defined or explained in subsequent drawings.

[0058] In the description of this disclosure, it should be noted that the terms "upper," "lower," "vertical," "horizontal," "inner," and "outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or 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 disclosure 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 disclosure. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0059] 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.

[0060] It should also be noted that, in the description of this disclosure, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on the specific circumstances.

[0061] The following describes some embodiments of the present disclosure 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.

[0062] The embodiments of the present disclosure provide a transmission system that improves the storage space utilization, cargo entry and exit speed, and sorting efficiency of the existing transmission system, and greatly reduces the investment cost of storage deployment.

[0063] First, it's important to understand that warehouse interior heights are typically categorized into different levels based on storage capacity and design. These levels are primarily determined by the warehouse's design, the type of racking or other handling equipment used, and the type of goods being stored. Here are some common warehouse height classifications:

[0064] Low-Bay warehouse: Generally less than 6 meters in height. This type of warehouse is suitable for manual handling or the use of basic forklifts.

[0065] Medium-Bay: Usually between 6 and 12 meters high, suitable for forklifts and some automated storage systems.

[0066] High-Bay Warehouses: These warehouses are more than 12 meters tall, sometimes reaching 20 meters or more. They are often used with highly automated storage and retrieval systems (AS / RS) to maximize space utilization.

[0067] Ultra-High-Bay: This is a less common type of warehouse that can exceed 30 meters in height. These warehouses rely heavily on highly automated and sophisticated logistics management systems.

[0068] Traditional warehouses are often only 10 meters high. When warehouses reach higher heights, i.e., reaching high-rise or even super-high-rise standards, warehouse transmission and exchange efficiency is limited by the height, and specialized, customized transmission or picking systems are required, resulting in high deployment complexity and configuration costs. To address this issue, the present disclosure discloses a transmission system.

[0069] For the sake of clarity and convenience, the transmission system involved in this specification at least includes: storage shelves and multiple freight robots.

[0070] Figure 1 shows a structural diagram of a storage rack, a rack 10 (rack), 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.

[0071] It should be noted that racks are generally assembled from columns, beams, and shelves. An independent set of shelves has two columns and multiple beams (shelves). If several sets are assembled into a row, while the first set requires two columns, the others can share one column with the preceding set. This saves space and reduces costs. For example, two independent sets of shelves require four columns, but if they are arranged into a row, only three columns are needed. The second set of shelves is attached to the first set, so it is called an attached shelf (or sub-shelf).

[0072] On this basis, the coordinate system in this disclosure is clarified: the aisle direction of the multiple rows of shelves is recorded as the x-axis, the direction perpendicular to the ground and the x-axis is recorded as the y-axis, and the height direction of the shelf is recorded as the z-axis.

[0073] 2 , multiple freight robots 105 can dock cargo boxes and / or cargo.

[0074] As an achievable embodiment, the freight robot may be an AGV, i.e., an Automated Guided Vehicle, also commonly referred to as an AGV; or an AMR, i.e., an Autonomous Mobile Robot. The specific form is not limited, as shown in FIG2 :

[0075] A freight robot and / or load handling equipment is provided on the top of the high-bay warehouse. The load handling equipment is provided in conjunction with a lifting device. The lifting device grabs the cargo box or cargo. The load handling equipment is configured to move on the top of the high-bay warehouse and is configured to lift and move the cargo box or cargo in the high-bay warehouse. The load handling equipment includes:

[0076] Electrical control equipment and drive and / or lifting components, receiving space components for accommodating the cargo box or cargo;

[0077] The lifting assembly is configured to raise and lower the lifting device relative to the receiving space assembly.

[0078] A freight robot AGV walking surface can be deployed on the top of the high-bay warehouse, and / or the arrangement is based on a first set of parallel tracks and a second set of parallel tracks, wherein the second set of parallel tracks extends transversely to the first set on a basically horizontal plane to form a grid structure containing multiple grid spaces.

[0079] In addition, the freight robot is a warehousing robot, comprising: a mobile base and a stand vertically arranged on the mobile base, and a storage and retrieval device arranged on the stand and capable of vertical lifting, that is, a cargo robot with a movable high stand.

[0080] 3 , the shelf 10 includes: a first shelf section 1001 and a second shelf section 1002 ;

[0081] The first shelf segment 1001 and the second shelf segment 1002 may be located on the same shelf, or may be located on shelves 10 on both sides of the same aisle;

[0082] The first shelf segment 1001 and the second shelf segment 1002 may be equipped with task modules 1003 and 1004, wherein at least one of the task modules may access multiple bins in adjacent shelf segments;

[0083] The task module can be a picking task module or an access and transmission task module.

[0084] It should be noted that the setting of the adjacent shelf segments is specifically implemented as follows:

[0085] Two shelf segments on the same shelf in the z-axis direction; or two shelf segments on both sides of the aisle in the y-axis direction.

[0086] Referring to 3, the first shelf segment 1001 and the second shelf segment 1002 are located on the same side of the same shelf. After the task module 1003 is installed, the first shelf segment 1001 can reach one or more bin positions at the upper end of the second shelf.

[0087] When the task module transfers the target cargo box A, when the target cargo box is located on a higher shelf layer of the high-meter shelf, the task module 1003 on the first shelf segment 1001 extracts the target cargo box A and descends to the lower end of the first shelf segment 1001. At this time, the z-axis height of the target cargo box A corresponds to the upper end of the second shelf segment 1002. Then, the task module 1003 of the first shelf segment can actually place the target cargo box A at the target box position B at the upper end of the second shelf segment 1002. When the target cargo box A participates in the fulfillment of the warehouse, the target cargo box A can be directly extracted from the target box position by the task module 1004 of the second shelf segment 1002.

[0088] Referring to Figure 4, the first shelf section 1001 and the second shelf section 1002 are located on both sides of the aisle. After the task module 1003 is installed, the first shelf section 1001 can reach one or more box positions at the upper end of the second shelf; when the task module transfers the target cargo box A, when the target cargo box is located on a higher shelf layer of the high-meter shelf, the task module 1003 on the first shelf section 1001 extracts the target cargo box A and descends to the lower end of the first shelf section 1001. At this time, the z-axis height of the target cargo box A corresponds to the upper end of the second shelf section 1002. Then, the task module 1003 of the first shelf section can actually place the target cargo box A at the target box position B at the upper end of the second shelf section 1002. When the target cargo box A participates in the fulfillment of the warehouse, the target cargo box A can be directly extracted from the target box position by the task module 1004 of the second shelf section 1002.

[0089] In the picking scenario, the task module 1003 on the first shelf segment 1001 extracts the target cargo box A and descends to the lower end of the first shelf segment 1001. At this time, the target cargo box A is located at the upper end of the second shelf segment 1002. When the target cargo box A participates in the fulfillment picking and outbound delivery, the target cargo D of the target cargo box A can be directly extracted from the target box position by the task module 1004 that can complete the picking on the second shelf segment 1002.

[0090] Referring to Figure 5, it shows the task module 1003 in the first shelf section 1001, which extracts the target cargo box A. If it needs to be lowered to the upper end of the second shelf section 1002 to have more cargo spaces (in the z-axis direction), the extension module C in the figure can be used. The extension module C can be in the form of a superimposed slider, or a telescopic column, or an extension section extending from the column. The superimposed slider is used as an example here. With the help of the length of the superimposed slider, the task module 1003 of the first shelf section 1001 can move to the upper end of the second shelf section 1002 to have more cargo spaces in the z-axis direction, thereby achieving the convenient use of high-meter-long shelves to retrieve cargo from high-rise and allocate slow-moving cargo spaces.

[0091] It should be emphasized here that the extension module C can be stacked in multiple layers, connected in multiple sections, released in multiple sections, etc. according to actual needs to obtain a longer travel distance and access more bins in the z-axis direction. This is applied to the embodiments corresponding to Figures 3 and 4.

[0092] It should be further explained that the first shelf section 1001, the second shelf end 1002, and the extension module C are all set according to actual application requirements. The examples listed in the embodiments of the present disclosure are only used to illustrate the full disclosure and working principles, and do not mean that the position and number of the first shelf section 1001, the second shelf end 1002, and the extension module C are limited because of the examples.

[0093] For the sake of clarity and sufficient disclosure, this disclosure refers to FIG6 to illustrate the structure of the track transmission device in the transmission system. However, it should be noted that in different transmission systems, different transmission devices can be adapted to achieve the technical solutions of FIG3 to FIG5. Therefore, the transmission device disclosed in this disclosure does not limit the scope of the invention. As an example, referring to FIG6, the track transmission device disclosed in this disclosure includes: a connecting mechanism between a transverse track 11, a first column 12, a first movable member 13, and a task module 14, wherein:

[0094] The transverse rail 11 is on the shelf 10;

[0095] It should be noted that the transverse track 11 is on the beam or column of the shelf 10. When the length of the shelf beam is long, the transverse track needs to rely on the beam and column of the single shelf (rack) and extend to the adjacent shelf beam.

[0096] The first column 12 is vertically arranged on the transverse track 11 and can slide transversely;

[0097] The upright post 12 slides laterally along the transverse track to position the first movable member 13 in each column of the storage shelf.

[0098] The first movable member 13 is disposed on the first column 12 and can slide along the first column 12;

[0099] The first movable member 13 is configured to move laterally and longitudinally, thereby enabling the first movable member 13 to be positioned at each tier of the shelf.

[0100] The first movable member 13 is provided with a connecting mechanism 15 of the task module 14;

[0101] The task module 14 is driven by the first movable member 13 to store and retrieve cargo boxes and / or cargo, and place them into the docking assembly of the cargo robot 105 running at the bottom 16 of the storage shelf.

[0102] This setting ensures that when the task module completes a sorting and / or access action, it can connect the access cargo box and / or goods through the freight robot 105, and transfer, sort, and deliver the goods to the destination cargo location or sorting location, or even the transportation location where the sorting is completed.

[0103] The task module 14 can be a component with one or more tasks such as identification, extraction, playback, and grasping. The task module 14 is positioned to the storage slot of the shelf under the drive of the first movable part 13. At the same time, the connection mechanism of the task module is a basic structure that can be connected with different task modules.

[0104] When the task module is a container storage and retrieval module, the supporting structure of the container storage and retrieval module, such as a loading and unloading rack;

[0105] Also, the conveying components for storing and retrieving the cargo box module, such as a conveying belt, of course, the conveying belt needs to be driven by a conveying motor.

[0106] However, if it is other task modules, the connectors are set according to the specific functions of the task modules, but are not limited thereto.

[0107] Through the above embodiment, the storage rack is equipped with transverse tracks for the movement of the columns. The movable parts installed on the columns drive the task modules to complete actions such as identifying and retrieving cargo boxes. This device fundamentally solves the problem of wasted storage space in existing storage systems and avoids the need for freight robots or sorting robots to maintain excessive counterweights or excessively high storage floor requirements to complete storage transfer or storage sorting operations.

[0108] Referring to FIG7 , a storage rack rail transmission device is shown, comprising:

[0109] Based on the diagram and description of FIG6 , the transmission device further includes: a second column 21 and a second movable member 22 , the second column 21 being vertically disposed on the transverse track 11 and being capable of sliding transversely;

[0110] The second movable member 22 is disposed on the second column 21 and can slide along the second column;

[0111] The second movable member 22 is provided with a connecting mechanism 23 of the task module 14;

[0112] The task module 14 is disposed between the first column 12 and the second column 21 via the connecting mechanism 23;

[0113] The first movable member 13 and the second movable member 22 drive the task module 14 to be positioned at the cargo position 24 or the docking position 25 on the storage shelf 10 .

[0114] The docking position 25 is the position where the task module 14 and the freight robot complete the transfer of goods from the task module 14 after taking the cargo boxes and / or goods from the cargo position of the shelf.

[0115] The bottom partitions of the storage shelves are removed to provide a matching height to support the ground freight robot to run on the ground and complete the docking action, and the bottom partitions between adjacent columns of the storage shelves are removed to form the docking position 25 of the ground freight robot.

[0116] Referring to FIG8 , a storage rack rail transmission device is shown. Based on the illustrations in FIG1 and FIG2 and their corresponding descriptions, in FIG8 , another transverse rail 31 is provided at the lower portion of the storage rack 10 . Both the transverse rail 11 and the other transverse rail 31 can be connected to the first column 12 and the second column 21 via a slider.

[0117] The slider moves on the transverse track driven by a roller which is driven by a motor.

[0118] It should be noted that the roller is a preferred solution, and in fact, gears, or a combination of gears and rollers are used to realize the movement of the column on the beam. Then, when using gears as a transmission method, it is necessary to cooperate with a toothed chain to complete the movement. The specific method can refer to the existing technology, and when the gears and rollers are combined, the gears and the toothed chain are engaged and transmitted to drive the roller to move, thereby realizing the movement of the column on the beam. Furthermore, the motor drives the roller to make the component run, which can be achieved by wired means (cables, flexible conductive materials, wear-resistant wires), or by wireless means, such as lithium batteries, etc., which support operation after charging. The specific method is not limited.

[0119] 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 support the first column 12 and the second column 21, so that tasks such as taking out and returning cargo boxes / cargo, docking and sorting can be carried out reliably.

[0120] It should be noted that in the embodiments of Figures 6-8, the freight robot is a freight robot operating on the bottom floor or on top of the storage shelves. As an achievable embodiment, the freight robot can be an AGV (Automated Guided Vehicle), commonly also called an AGV; or an AMR (Autonomous Mobile Robot). The specific form is not limited, and can be seen in Figure 2:

[0121] A freight robot and / or load handling equipment is provided on the top of the high-bay warehouse. The load handling equipment is provided in conjunction with a lifting device. The lifting device grabs the cargo box or cargo. The load handling equipment is configured to move on the top of the high-bay warehouse and is configured to lift and move the cargo box or cargo in the high-bay warehouse. The load handling equipment includes:

[0122] Electrical control equipment and drive and / or lifting components, receiving space components for accommodating the cargo box or cargo;

[0123] The lifting assembly is configured to raise and lower the lifting device relative to the receiving space assembly.

[0124] A ground freight robot AGV walking surface can be deployed on the top of the high-bay warehouse, and / or the arrangement is based on a first set of parallel tracks and a second set of parallel tracks, wherein the second set of parallel tracks extends transversely to the first set on a basically horizontal plane to form a grid structure containing multiple grid spaces.

[0125] In addition, the freight robot is a warehousing robot, comprising: a mobile base and a stand vertically arranged on the mobile base, and a storage and retrieval device arranged on the stand and capable of vertical lifting, that is, a cargo robot with a movable high stand.

[0126] Optionally, the ground freight robot performs path planning under server control, or autonomously, and is equipped with a planar moving component and a docking component to support the storage and placement of cargo boxes. To improve transportation efficiency, the ground freight robot can operate directly on the ground where storage shelves are located, and can cooperate with the storage shelves to remove the bottom partitions. The cargo box, driven by movable parts, places the cargo boxes and / or cargo to be accessed onto the docking component of the freight robot. The ground freight robot can be a freight robot or a sorting robot. The above coordination makes it possible to complete cargo warehousing, cargo box / cargo transfer, and cargo box / cargo sorting in the storage space.

[0127] 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.

[0128] 9 , a synchronous pulley driven by a motor 41 and controlled by a reducer drives a synchronous belt 42 to support the first movable member to move on the slide rail of the first column;

[0129] A synchronous pulley driven by a motor 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.

[0130] 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 entry and exit speed, and sorting efficiency of the existing warehousing system.

[0131] Referring to FIG10 , a partial view of a storage rack rail transmission device is shown, including:

[0132] In this embodiment, Figure 5 shows the connection structure between the transverse rail 11 and the first column 12 and the second column 21. Referring to Figure 10, the movement of the slider 52 on the transverse rail 31 can be achieved by the roller 51. The first column 12 and the second column 21 are positioned in the position where the slider 52 is sleeved, and the roller 51 contacts the transverse rail 31 to achieve smooth movement.

[0133] The above setting may be one implementation method and is not limited thereto.

[0134] Referring to Figure 11, 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 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.

[0135] The arrangement of the goods picking device 1 on the shelf 10 is specifically implemented as follows:

[0136] The connection mechanism between the transverse track 11, the first column 12, the first movable member 13 and the first task module 2, wherein:

[0137] The transverse rail 11 is on the shelf 10;

[0138] It should be noted that the transverse rail 11 is on the beam or column of the shelf 10. When the shelf is transversely longer, the transverse rail needs to rely on the beam and column of the single shelf (rack) and extend to the adjacent shelf beam.

[0139] The first column 12 is vertically arranged on the transverse track 11 and can slide transversely;

[0140] The upright post 12 slides along the transverse track 11 to position the first movable member 13 in each column of the shelf.

[0141] The first movable member 13 is disposed on the first column 12 and can slide along the first column 12;

[0142] The first movable member 13 is configured to move laterally and longitudinally, thereby enabling the first movable member 13 to be positioned at each tier of the shelf.

[0143] The first movable member 13 is provided with a connecting mechanism 15 of the first task module 2;

[0144] Driven by the first movable member 13, the first task module 2 utilizes the picking mechanism to store and retrieve goods 3, and places and operates the docking assembly or docking box of the freight robot 105 at the bottom of the shelf;

[0145] It should be noted that in the present disclosure, the bottom partition of the storage shelf is removed. Here, the partition represents the components that provide storage space support for different types of storage shelves, as well as the surrounding components that provide stability for the beams. Removing the partition to provide a matching height actually requires blocking the surrounding components that block the freight robot from running on the ground, and the partition is not limited to the setting material and style in the storage shelf. It supports the freight robot to run on the ground and complete the docking action. The bottom partition between the adjacent columns of the storage shelf is removed to form the docking position 25 of the freight robot. It should be supplemented that the bottom partition of the shelf includes the partition itself and the beam, thereby providing space for the freight robot to move.

[0146] More specifically, the picking mechanism has: a suction mechanism 201 and / or a picking mechanism, the suction mechanism 201 and / or the picking mechanism (not shown) can be connected through the connecting mechanism 15 of the first task module, that is, an extension component of the suction mechanism 201 and / or the picking mechanism, the extension component can be a multi-segment robotic arm with a degree of freedom, connected to the first movable part 13, wherein the suction structure 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.

[0147] 12 , the configuration in this embodiment enables the cargo to be stored and retrieved by docking with the freight robot 105 when the sorting and / or accessing actions are completed, and the cargo can be transferred, sorted, and delivered to the destination cargo location or sorting location or the transport location where the sorting is completed.

[0148] The shelf removes the partitions 102 of one or more storage spaces on the bottom shelf layer to provide a passage for the freight robot 105;

[0149] The shelf removes one or more shelf layers 106 to provide a matching height to support the freight robot 105 to operate on the ground.

[0150] FIG12 also shows the aisle where the freight robot 105 walks on the ground between two shelves.

[0151] Referring to the situation in Figure 13, when the first task module 2 and / or the second task module 14 are both installed on the first transverse rail, 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.

[0152] Referring to Figure 14, in another case, when the first task module and / or the second task module are both installed on the first transverse rail, 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.

[0153] When the task module is a container storage and retrieval module, it at least includes:

[0154] Support structures for storing and retrieving container modules, such as loading and unloading racks;

[0155] And, a conveying component for storing and retrieving the cargo box module, such as a conveyor belt. Of course, the conveyor belt needs to be driven by a conveyor motor;

[0156] The rail transport device uses the storage and retrieval container module to pull out the target container at the target storage location of the target shelf, and the picking mechanism of the cargo picking device system picks the target cargo in the target container, so that the cargo picking device drives the first task module to place the cargo into the docking assembly or docking box of the cargo robot running at the bottom of the shelf;

[0157] 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 track transport device uses the cargo box storage and retrieval module to pull out the target cargo box on the target storage location of the target shelf, and the picking mechanism places the target cargo into the target cargo box;

[0158] The storage and retrieval container module pushes the target container back.

[0159] It should be noted here that the access module of the storage and access box task module 14 can realize the storage and access operations of cargo boxes that are densely arranged, adjacent to each other or have a hooked relationship in the three-dimensional warehouse. For example, in the depth direction (y-axis), the access arm of the storage and access box task module is used to realize the storage and access of one of the multiple cargo boxes.

[0160] In actual application, however, as mentioned above, the connecting mechanism of the task module is a basic structure that can be connected with different task modules. If it is other task modules, the connecting parts are set according to the specific functions of the task modules, but it is not limited to this.

[0161] It should be noted that in this embodiment, by modifying the bottom shelf layer of the shelf configuration, and cooperating the cargo picking equipment 1 with the freight robot 105 or the sorting robot (not shown), the problem of low efficiency in cargo / cargo box transfer and sorting in 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 transmission system.

[0162] For the sake of full disclosure, the freight robot can be a freight robot or a sorting robot in a publicly available document: the freight robot performs path planning under the control of a server, or the freight robot performs autonomous path planning, and is provided with a planar moving component and a docking component that supports the storage and placement of cargo boxes. In order to improve transportation efficiency, the freight robot can operate directly on the ground directly below the shelf, and can cooperate with the storage shelf to remove the bottom partition. The cargo is placed on the docking component of the freight robot under the drive of the movable parts of the task module. The freight robot can be a ground freight robot or a freight robot or sorting robot with a bracket or a retractable bracket. The above coordination enables cargo warehousing, cargo / cargo box transfer, and cargo / cargo box sorting to be completed within the storage space.

[0163] The above settings can all be used as disclosed in this disclosure to 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 transmission system.

[0164] Referring to Figure 15, a transmission system is shown. The rail transmission equipment set on the shelf also includes: a third column 33, and the second task module 14 is set 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.

[0165] In this embodiment, the rail conveyor and the cargo picking device are installed on different columns. In large, densely populated warehouses, such as warehouses storing more than 100,000 cartons and handling 5,000 cartons per hour, multiple rail conveyor and cargo picking devices can be installed on the same shelf to accommodate high-volume order requirements. For example, when the rail conveyor and cargo picking system work together, for example, if order A's item X or a certain SKU (Stock Keeping Unit) needs to be shipped, the rail conveyor uses the second task module, namely, the cargo box storage and retrieval module, to pull the target cargo box out of the target shelf at the target storage location, allowing the cargo X to be picked up by the suction mechanism 201 and / or the picking mechanism of the cargo picking system. Before picking up, an identification module is required to identify the cargo X or SKU. This identification module can be installed on the cargo picking device and / or the rail conveyor. This identification module can be installed on the cargo picking device and / or the rail conveyor. The recognition module can be a monocular camera, a laser camera or a depth-of-field camera.

[0166] After the above picking process is completed, the recognition module is used to accurately locate and the cargo picking device places the X goods or a certain SKU indicated in the order into the docking position of the freight robot. The freight robot will then drive to the next docking position or workstation.

[0167] In another embodiment, one or more shelves are included, and the structure and working principle of the shelves are shown in Figures 11 to 15. The shelves can be configured in warehouse picking equipment and / or rail 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 in shelf height and ground flatness. In addition, the present disclosure also discloses a transmission system, which is configured as the transmission system of Figure 16 and multiple freight robots 105. Based on this setting, the efficiency of cargo storage, transportation and sorting can be further improved, and it can adapt to the rapid transportation and transmission technology requirements in various warehousing scenarios.

[0168] In summary:

[0169] The transmission system provided by the embodiments of the present application is used in high-density warehouses. Within the shelves of the warehouse, task modules are installed on shelf segments, and these task modules are used to access multiple bin locations on adjacent shelf segments. These task modules can be picking task modules or storage and retrieval transmission task modules. Through the cooperation of transverse rails, sliding on columns, and extension modules, these task modules can enable the storage task modules to reach storage locations outside the shelf segment within the high-density warehouse, thereby supporting the fulfillment of high-density warehouses. Furthermore, through the motion of the track transmission equipment, cargo boxes are stored and retrieved, and placed into or removed from the docking assembly or docking box of a freight robot operating at the bottom of the shelf. The stored cargo / cargo boxes can then be coordinated with the freight robot or sorting robot, allowing cargo storage, cargo / cargo box transfer, and cargo / cargo box sorting to be smoothly completed within the storage space. This improves the storage space utilization of existing shelf transmission systems, reduces the complexity of deployment and maintenance of high-density warehouses, and significantly reduces deployment investment costs.

[0170] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0171] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations. Industrial Applicability

[0172] By adopting the above solution, the storage space utilization rate of the existing shelf transmission system can be realized, the complexity of deployment and maintenance of high-meter storage can be reduced, and the deployment investment cost can be greatly reduced.

Claims

1. A transmission system, characterized in that, Used in a stereoscopic warehouse, the stereoscopic warehouse comprises at least a plurality of rows of shelves, the shelves comprising: a first shelf section and a second shelf section, the shelves are provided with multiple layers of storage space, and cargo boxes are placed in the storage positions of the storage space; The first shelf section and the second shelf section may be located on the same shelf, or may be located on shelves on both sides of the same aisle; The first shelf segment and the second shelf segment may be equipped with task modules, wherein at least one of the task modules is configured to access a plurality of bins in an adjacent shelf segment; The task module is a picking task module or an access and transmission task module.

2. The transmission system according to claim 1, wherein Also includes: 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.

3. The transmission system according to claim 1 or 2, characterized in that The aisle direction of the multiple rows of shelves is recorded as the x-axis, the direction perpendicular to the ground and the x-axis is recorded as the y-axis, and the height direction of the shelves is recorded as the z-axis.

4. The transmission system according to claim 3, characterized in that, The setting of the adjacent shelf segments is specifically implemented as: two shelf segments in the z-axis direction of the same shelf; or two shelf segments in the y-axis direction on both sides of the aisle.

5. The transmission system according to any one of claims 1-4, characterized in that, Also includes: An extension module is slidably mounted on a movable part of the task module so that the task module can be extended in the z-axis direction to access more bins in an adjacent shelf segment.

6. The transmission system according to claim 5, characterized in that, The extension module is one or more laminate sliders, and the extension distance is obtained by lamination setting.

7. The transmission system according to claim 5, characterized in that, The extension module is in the form of a telescopic column, or in the form of an extension section extending from the column.

8. The transmission system according to any one of claims 1-7, characterized in that, Access to multiple bins in adjacent shelf segments is achieved through track transport equipment, including: The track transmission equipment is specifically implemented on the shelf as follows: a connection mechanism between the first transverse track, the first column, the first movable member, and the second task module; When the task module is a cargo box storage and retrieval module, the connection mechanism of the second task module is provided with: A support structure for a storage and retrieval box module; and a conveyor assembly for the storage and retrieval box module; The first shelf section and the second shelf section may be equipped with task modules, wherein at least one of the task modules may access multiple storage locations of an adjacent shelf section, which may be specifically implemented as follows: a cargo box storage and retrieval module of a track transmission device installed on the first shelf section may access one or more storage locations at the end of the second shelf section in the z-axis direction, or may access one or more storage locations of the second shelf section in the y-axis direction.

9. The transmission system according to claim 8, wherein The cargo picking device is used to place the cargo into the docking assembly or docking box of the cargo 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 arrangement of the cargo picking device on the shelf is specifically implemented as follows: The first transverse track, the first column, the first movable member and the connecting mechanism of the first task module, wherein: The first transverse track is on 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 connecting mechanism of the first task module.

10. The transmission system according to claim 8 or 9, characterized in that, The first transverse rail is arranged on the crossbeam or column of the shelf so as to extend to the crossbeam of an adjacent shelf through the crossbeam or column of the shelf.

11. The transmission system according to any one of claims 8-10, characterized in that, Also includes: A second transverse rail, which is at the lower part of the shelf, Two transverse rails are connected to the first upright column via sliders; The slider moves on the transverse track driven by rollers and / or gears, and the rollers and / or gears are driven by a motor.

12. The transmission system according to any one of claims 8-11, characterized in that, Also includes: The arrangement of the rail transport device on the shelf further includes: a second column and a second movable member, wherein the second column is vertically arranged on the transverse rail 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 connecting mechanism of the second task module.

13. The transmission system according to claim 12, wherein The arrangement of the rail transport device on the shelf also includes: a third column, The second task module is arranged between the second column and the third column through the connecting mechanism; Drive the second task module to be positioned at the cargo position or docking position on the shelf.

14. The transmission system according to claim 12 or 13, characterized in that: A synchronous pulley driven by a motor and controlled 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; A synchronous pulley driven by a motor and controllable by a reducer drives a synchronous belt to support the second movable member to move on the slide rail of the second column.

15. The transmission system according to any one of claims 1-14, characterized in that, Also includes: The identification module can be arranged on the picking task module or the access and transmission task module.

16. The transmission system according to claim 2 or 9, characterized in that, The freight robot is a ground freight robot AGV.

17. The transmission system according to claim 2 or 9, characterized in that, The freight robot is a sorting robot.

18. The transmission system according to any one of claims 1-17, characterized in that, A freight robot and / or a load handling device is arranged on the top of the stereoscopic warehouse. The load handling device is arranged in conjunction with a lifting device. The lifting device grabs the cargo box or cargo. The load handling device is arranged to move on the top of the stereoscopic warehouse and is configured to lift and move the cargo box or cargo in the stereoscopic warehouse. The load handling device includes: Electronic control equipment and drive and / or lifting components, a receiving space component for accommodating the cargo box or cargo; The lifting assembly is configured to raise and lower the lifting device relative to the receiving space assembly.

19. The transmission system according to any one of claims 1-18, characterized in that, A ground freight robot AGV walking surface can be deployed on the top of the high-rise warehouse, and / or the arrangement is based on a first group of parallel tracks and a second group of parallel tracks, wherein the second group of parallel tracks extends transversely to the first group on a basically horizontal plane to form a grid structure containing multiple grid spaces.

20. The transmission system according to claim 2 or 9, characterized in that The freight robot is a storage robot, comprising: a mobile base, a stand vertically arranged on the mobile base, and a storage and retrieval device arranged on the stand and capable of vertical lifting.

21. An intelligent three-dimensional warehousing and transmission system, characterized in that, include: One or more transmission systems according to any one of claims 1-20.

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