Warehousing-based conveying system and intelligent three-dimensional warehousing system

Abstract

A warehousing-based conveying system and an intelligent three-dimensional warehousing system, which are applied to a three-dimensional warehouse. A plurality of rows of multi-layer warehousing racks (10) are provided in the three-dimensional warehouse, each warehousing rack (10) is provided with a plurality of layers of storage spaces (101), cargo containers (104) are placed in warehousing locations (103) of the storage spaces (101), and a track conveying apparatus is mounted on the warehousing racks (10). The apparatus comprises a transverse track (11), a first stand column (12), a first movable member (13) and a connection mechanism (15) for a task module (14), wherein the transverse track (11) is arranged on the racks (10); the first stand column (12) is vertically arranged on the transverse track (11) and can transversely slide; the first movable member (13) is arranged on the first stand column (12) and can slide along the first stand column (12); the connection mechanism (15) for the task module (14) is arranged on the first movable member (13); and the task module (14) is driven by the first movable member (13) to perform storage and retrieval on a cargo container (104) and / or cargo (3), and put or take the cargo container and / or the cargo into or out of a docking component of a transport robot (105) operating at the bottom and / or the top of the warehousing rack (10).

Description

Warehouse-based transmission system and intelligent three-dimensional warehousing system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application number 2024100718716, filed with the China Patent Office on January 17, 2024, entitled “Warehousing-based transmission system and intelligent three-dimensional warehousing system,” the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present invention relates to the field of rapid sorting technology, and in particular to a warehousing-based transmission system and an intelligent three-dimensional warehousing system. Background Art

[0004] 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 and freight robot, which then delivers the cargo to a sorting platform or sorting system. This traditional storage, transportation, and exchange system occupies a large area, has limited transfer efficiency due to the storage and freight robots, and requires a dedicated sorting system, resulting in extremely high time and configuration costs.

[0006] Therefore, the existing warehousing and transportation systems have technical problems such as reduced warehousing entry and exit efficiency, insufficient space utilization and high deployment costs.

[0007] Summary of the Invention

[0008] The embodiments of the present application provide a warehousing-based transmission system and an intelligent three-dimensional warehousing system, which greatly improves the utilization rate of the three-dimensional warehouse and the speed of goods entering and exiting the existing warehousing system, and effectively reduces the deployment cost.

[0009] A warehousing-based transmission system is applied to a three-dimensional warehouse. The three-dimensional warehouse is provided with multiple rows and multiple layers of storage shelves. The storage shelves are provided with multiple layers of storage space, and cargo boxes are placed in the storage positions of the storage space. A rail transmission device is installed on the storage shelves. The device includes:

[0010] The connecting mechanism of the transverse track, the first column, the first movable member and the task module, wherein:

[0011] The transverse track is on the shelf;

[0012] The first column is vertically arranged on the transverse track and can slide transversely;

[0013] The first movable member is provided on the first column and can slide along the first column;

[0014] The first movable member is provided with a connecting mechanism for a task module;

[0015] The task module, driven by the first movable member, stores and retrieves cargo boxes and / or cargo, and places them into or takes them out of the docking assembly of the cargo box robot running at the bottom and / or top of the storage shelf;

[0016] A space is provided under the shelf to provide a space for the freight robot to travel;

[0017] The task module of the track transport equipment can be extended from the top of the high-bay warehouse.

[0018] Optionally, the fulfillment operation surfaces of the storage shelves are all provided with the rail transmission equipment.

[0019] Optionally, a space capable of providing movement for a freight robot is provided under the shelf, which is specifically implemented as follows:

[0020] The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the freight robot;

[0021] 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.

[0022] Optionally, an opening is provided on the top of the high-bay warehouse, and the shape of the opening matches the task module so as to allow the task module to extend and perform contract fulfillment docking actions.

[0023] Optionally, the high-bay warehouse can be split and configured as a mobile high-bay warehouse.

[0024] Optionally, an opening is provided at the top of the three-dimensional warehouse and is specifically implemented as follows: the task module extends out of the opening provided at the top of the three-dimensional warehouse, stores and retrieves cargo boxes under the drive of the first movable part, and places the docking assembly of the freight robot running on the top of the storage shelf into the opening.

[0025] 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:

[0026] The connection mechanism of the first transverse track, the first column, the first movable member and the first task module, wherein:

[0027] The first transverse rail is on the shelf;

[0028] The first column is vertically arranged on the first transverse track and can slide transversely;

[0029] The first movable member is provided on the first column and can slide along the first column;

[0030] The first movable member is provided with a connecting mechanism of the first task module.

[0031] Optionally, it further comprises: 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;

[0032] The slider moves on the transverse track driven by rollers and / or gears, and the rollers and / or gears are driven by a motor.

[0033] Optionally, the transport system further comprises: the arrangement of the rail transport device on the shelf further comprises: a second column and a second movable member, the second column being vertically arranged on the transverse rail and capable of sliding transversely;

[0034] The second movable member is provided on the column and can slide along the second column;

[0035] The second movable member is provided with a connecting mechanism of the second task module.

[0036] 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;

[0037] Drive the second task module to locate at the cargo position or docking position on the shelf.

[0038] 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;

[0039] 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.

[0040] Optionally, the transport system further includes: an identification module, which may be provided on the cargo picking device and / or the track transport device.

[0041] Optionally, the freight robot is a freight robot and / or load handling equipment.

[0042] 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, and the lifting device grabs the cargo box or cargo. 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 box or cargo in the high-bay warehouse. The load handling device includes:

[0043] Electronic control equipment, drive and or lifting components,

[0044] a receiving space component for accommodating the cargo box or cargo;

[0045] The lifting assembly is configured to raise and lower the lifting device relative to the receiving space assembly.

[0046] 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.

[0047] Optionally, the task module is a component having one or more tasks such as identification, extraction, playback, and grasping; and the connection mechanism of the task module is connected to different task modules.

[0048] Optionally, the freight robot 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.

[0049] Optionally, the docking position is the position where the second task module and the freight robot complete the transfer of goods from the second task module after storing and retrieving cargo boxes and / or goods from the cargo position of the shelf.

[0050] An intelligent three-dimensional warehousing system includes: one or more of the above-mentioned transmission systems.

[0051] The warehousing-based transmission system provided by the embodiment of the present invention can be set up in an intelligent stereoscopic warehouse, a movable stereoscopic warehouse (such as a standard storage unit such as a freight container), or a customized stereoscopic warehouse for a specific field. The transmission system is provided with a track transmission device and a horizontal track for the movement of the columns. By configuring the storage shelves and modifying the top and bottom shelf layers of the stereoscopic warehouse, an operation channel is provided for the freight robot or sorting robot, which fundamentally solves the problem of waste in the stereoscopic warehouse of the existing warehousing system. At the same time, the storage cargo box is driven by the first movable part to store and retrieve cargo boxes and / or goods, and is placed on the docking assembly of the freight robot running on the top or bottom of the storage shelf. The stored goods / cargo boxes can be coordinated with the freight robot or sorting robot, making it possible to complete cargo warehousing, cargo / cargo box transfer and cargo / cargo box sorting in the stereoscopic warehouse. It greatly improves the utilization rate of the existing intelligent stereoscopic warehouse, the speed of goods entering and exiting, and the sorting efficiency, and effectively reduces the deployment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the specific embodiments of the present invention 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying 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 freight robot in an embodiment of the present application;

[0055] FIG3 is a schematic diagram of the structure of a warehousing-based transmission system in an embodiment of the present application;

[0056] FIG4 is a side view schematic diagram of the structure of a warehousing-based transmission system in an embodiment of the present application;

[0057] FIG5 is a schematic diagram of the structure of the track transmission equipment of the transmission system in an embodiment of the present application;

[0058] FIG6 is a schematic diagram of the structure of a transmission system in an embodiment of the present application;

[0059] FIG7 is a schematic diagram of the structure of the rail transmission equipment of the warehousing-based transmission system in an embodiment of the present application;

[0060] FIG8 is a schematic structural diagram of a rail transmission device of a warehousing-based transmission system in an embodiment of the present application;

[0061] FIG9 is a schematic structural diagram of a rail transmission device of a warehousing-based transmission system in an embodiment of the present application;

[0062] FIG10 is a schematic diagram of a partial structure of a shelf in a warehousing-based transmission system according to an embodiment of the present application;

[0063] FIG11 is a schematic structural diagram of a cargo picking device in an embodiment of the present application;

[0064] FIG12 is a schematic structural diagram of a warehousing-based transmission system in an embodiment of the present application;

[0065] FIG13 is a schematic structural diagram of a warehousing-based transmission system in an embodiment of the present application;

[0066] FIG14 is a schematic structural diagram of a warehousing-based transmission system in an embodiment of the present application;

[0067] FIG15 is a schematic structural diagram of a warehousing-based transmission system in an embodiment of the present application;

[0068] Figure 16 is a structural diagram of the intelligent three-dimensional warehousing and transportation system in an embodiment of the present application. DETAILED DESCRIPTION

[0069] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0070] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0071] 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.

[0072] In the description of the present invention, 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 the present invention 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 the present invention. 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.

[0073] 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.

[0074] In the description of the present invention, it should also be noted that, 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 the above terms in the present invention based on the specific circumstances.

[0075] The embodiments of the present application provide a warehousing-based transmission system, which greatly improves the utilization rate of the three-dimensional warehouse and the speed of goods entering and exiting the existing warehousing system, and effectively reduces the deployment cost.

[0076] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0077] For the sake of clarity and convenience, the warehouse-based transportation system involved in this specification at least includes: warehouse shelves and multiple freight robots.

[0078] Figure 1 shows a structural diagram of a storage rack, a rack 10 (rack), configured for storage, wherein 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, and the rack is laterally supported by a partition 102 to provide support for the cargo box 104.

[0079] It should be noted that racks are generally assembled from columns, beams, and shelves. An independent set of shelves has two columns and several beams (shelves). If several sets are assembled into a row, then 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 of shelves, so it is called an attached shelf (or sub-shelf).

[0080] It should be noted that the high-bay warehouse can be a standard warehouse, a dense high-bay warehouse, a high-density high-bay warehouse, a customized high-bay warehouse, or a container unit. The high-bay warehouse can be split or mobile. When the high-bay warehouse is continuously connected, it can be expanded into a mobile storage, transportation, and sorting plant.

[0081] 2 , multiple freight robots 105 can dock cargo boxes and / or cargo.

[0082] 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, an autonomous mobile robot. The specific form is not limited, and reference may be made to FIG2 :

[0083] A freight robot and / or load handling equipment is provided on the top of the three-dimensional 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 three-dimensional warehouse and is configured to lift and move the cargo box or cargo in the three-dimensional warehouse. The load handling equipment includes:

[0084] Electronic control equipment, drive and or lifting components,

[0085] a receiving space component for accommodating the cargo box or cargo;

[0086] The lifting assembly is configured to raise and lower the lifting device relative to the receiving space assembly.

[0087] 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.

[0088] In addition, the freight robot 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, that is, a cargo robot with a movable high stand.

[0089] Referring to Figures 3-4, an opening 5 is provided on the top 18 of the three-dimensional warehouse, or a walking surface for deploying a freight robot 105 on the top of the three-dimensional warehouse, and / or an arrangement 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 substantially horizontal plane to form a grid structure comprising a plurality of grid spaces. The opening 5 provided on the top of the three-dimensional warehouse can be a grid unit in the grid structure. The walking surface is referred to as a storage upper platform, and the specific form of the walking surface is not limited to the embodiment.

[0090] 4 , an opening 5 is provided on the top of the high-bay warehouse, and the shape of the opening 5 matches the task module 14 .

[0091] For the sake of clarity and sufficient disclosure, the present invention refers to FIG5 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 FIG3-4. Therefore, the transmission device disclosed in the present invention does not limit the scope of the invention. As an example, the track transmission device disclosed in the present invention includes: a connecting mechanism of a transverse track 11, a first column 12, a first movable member 13 and a task module 14, wherein:

[0092] The transverse rail 11 is on the shelf 10;

[0093] It should be noted that the transverse rail 11 is on the beam or column of the shelf 10. When the length of the shelf beam is long, the transverse rail needs to rely on the beam and column of the single rack and extend to the adjacent shelf beam.

[0094] The first upright post 12 is vertically arranged on the transverse track 11 and can slide transversely;

[0095] The upright posts 12 slide in the transverse direction of the transverse rails, so that the first movable member 13 can be positioned in each column of the storage shelf.

[0096] The first movable member 13 is disposed on the first column 12 and can slide along the first column 12;

[0097] 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.

[0098] The first movable member 13 is provided with a connecting mechanism 15 of the task module 14;

[0099] The task module 14 is driven by the first movable part 13 to store and retrieve cargo boxes and / or cargo, and put them into the docking assembly of the freight robot 105 running at the bottom 16 and / or top of the storage shelf, or take them out from the docking assembly.

[0100] 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.

[0101] When the task module is a cargo box storage and retrieval module, a supporting structure for the cargo box storage and retrieval module, such as a loading and unloading rack;

[0102] 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.

[0103] However, if it is another task module, the connector is configured according to the specific function of the task module, and is not limited to this. This configuration enables the task module to complete a sorting and / or storage and retrieval action, and then the storage and retrieval box and / or goods can be connected by the freight robot 105 to transfer, sort, and deliver the goods to the destination location or sorting location, or even the transportation location after sorting is completed.

[0104] A space is provided under the shelf to provide a space for the freight robot to travel;

[0105] 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.

[0106] The task module of the track transport equipment can be extended from the top of the high-bay warehouse.

[0107] Referring to Figure 6, an opening is provided on the top of the high-rise warehouse, and the shape of the opening matches the task module so as to provide the task module with the ability to extend and perform contract docking. The task module stores and retrieves goods under the drive of the first movable part 13, and is placed through the opening into the docking assembly of the freight robot 105 running on the top 18 of the shelf 10.

[0108] The storage shelves, rack rails, and ground-based freight robots comprise the Flying Box System. To meet the needs of high-volume transport in a three-dimensional warehouse environment, the Flying Box System integrates rails with existing storage shelves. These rails, combined with ground-based or overhead freight robots, precisely locate shelves and boxes, leveraging different task modules to pull and return boxes, accurately identify, and precisely sort goods. Controlled by servers and the execution logic for cargo storage, retrieval, and sorting, the Flying Box System revolutionizes the flow and sorting of goods in traditional warehouses, delivering an exceptionally smooth and efficient experience.

[0109] Therefore, in this embodiment, the transmission system is equipped with rail transmission equipment and transverse tracks for the movement of columns. By configuring the storage shelves and modifying the top and bottom shelves of the three-dimensional warehouse, a running channel is provided for freight robots or sorting robots. This fundamentally solves the problem of waste in existing three-dimensional warehouses. By coordinating the stored goods / cargo boxes with freight robots or sorting robots, it is possible to complete cargo storage, cargo / cargo box transfer, and cargo / cargo box sorting in the three-dimensional warehouse. This greatly improves the utilization rate of existing intelligent three-dimensional warehouses, the speed of cargo entry and exit, and the sorting efficiency.

[0110] Referring to FIG7 , a storage rack rail transmission device is shown, comprising:

[0111] Based on the diagram and description of FIG6 , the transmission device further includes: a second column 21 and a second movable member 22 , wherein the second column 21 is vertically disposed on the transverse track 11 and can slide transversely;

[0112] The second movable member 22 is provided on the second column 21 and can slide along the second column;

[0113] The second movable member 22 is provided with a connecting mechanism 23 of the task module 14;

[0114] The task module 14 is disposed between the first column 12 and the second column 21 via the connecting mechanism 23;

[0115] 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 shelf 10 .

[0116] 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 the task module 14 takes the cargo boxes and / or goods from the cargo position of the shelf.

[0117] 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.

[0118] 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 shelf 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 sliders.

[0119] The slider moves on the transverse track driven by the roller, and the roller is driven by a motor.

[0120] 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.

[0121] 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, connecting and sorting cargo boxes / cargo can be carried out reliably.

[0122] 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), also commonly known as an AGV cart; or an AMR (Autonomous Mobile Robot), the specific form of which is not limited. Please refer to Figure 2 for an illustration:

[0123] A freight robot and / or load handling equipment is provided on the top of the three-dimensional 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 three-dimensional warehouse and is configured to lift and move the cargo box or cargo in the three-dimensional warehouse. The load handling equipment includes:

[0124] Electronic control equipment, drive and or lifting components,

[0125] a receiving space component for accommodating the cargo box or cargo;

[0126] The lifting assembly is configured to raise and lower the lifting device relative to the receiving space assembly.

[0127] 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.

[0128] In addition, the freight robot 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, that is, a cargo robot with a movable high stand.

[0129] 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 floor 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.

[0130] 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.

[0131] 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;

[0132] 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.

[0133] 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.

[0134] Referring to FIG10 , a partial view of a storage rack rail transmission device is shown, including:

[0135] In this embodiment, Figure 9 shows the connection structure between the transverse rail 11 and the first column 12 and the second column 21. Referring to Figure 10, the first column 12 and the second column 21 can be realized by driving the slider 52 on the transverse rail 31 by the roller 51. The first column 12 and the second column 21 are both sleeved with the slider 52, and the roller 51 contacts the transverse rail 31 to achieve smooth movement.

[0136] The above setting may be one implementation method and is not limited thereto.

[0137] 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.

[0138] The arrangement of the goods picking device 1 on the shelf 10 is specifically implemented as follows:

[0139] The connection mechanism between the transverse track 11, the first column 12, the first movable member 13 and the first task module 2, wherein:

[0140] The transverse rail 11 is on the shelf 10;

[0141] It should be noted that the transverse rail 11 is on the beam or column of the shelf 10. When the shelf is laterally longer, the transverse rail needs to rely on the beam and column of the single rack and extend to the beam of the adjacent rack.

[0142] The first upright post 12 is vertically arranged on the transverse track 11 and can slide transversely;

[0143] The upright posts 12 slide along the transverse rails 11 to enable the first movable member 13 to be positioned in each column of the shelf.

[0144] The first movable member 13 is disposed on the first column 12 and can slide along the first column 12;

[0145] 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.

[0146] The first movable member 13 is provided with a connecting mechanism 15 of the first task module 2;

[0147] 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;

[0148] It should be noted that, in the solution of the present invention, 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 the surrounding components that provide stability for the beams. Removing the partitions to provide matching heights actually requires blocking the surrounding components that block the freight robot from running on the ground, and the partitions are not limited to the materials and styles set in the storage shelves. They support the 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 freight robot. It should be supplemented that the bottom partitions of the shelves include the partitions themselves and the beams, thereby providing space for the freight robot to move.

[0149] 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 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.

[0150] 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.

[0151] 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;

[0152] 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.

[0153] FIG12 also shows the aisle where the freight robot 105 walks on the ground between two shelves.

[0154] 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 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.

[0155] 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 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.

[0156] When the task module is a container storage and retrieval module, it at least includes:

[0157] Support structures for storing and retrieving container modules, such as loading and unloading racks;

[0158] 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;

[0159] 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;

[0160] 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;

[0161] The storage and retrieval container module pushes the target container back.

[0162] 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.

[0163] 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.

[0164] It should be noted that in this embodiment, by modifying the bottom shelf layer of the shelf configuration, and cooperating with the cargo picking equipment 1 and 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.

[0165] For the sake of full disclosure, the freight robot can be a freight robot or a sorting robot in the disclosed text: the freight robot performs path planning under the control of the server, or the freight robot performs autonomous path planning, and is provided with a plane-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 run 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, a freight robot with a bracket or a retractable bracket, 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.

[0166] The above settings can all be used as disclosed in the present invention 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.

[0167] Referring to Figure 15, a transmission system is shown, in which the rail 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.

[0168] In this embodiment, the rail conveyor and the cargo picking device are mounted on separate columns. In large, densely populated warehouses, such as warehouses storing over 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 systems work together, for example, if order A requires shipment of item X or a specific SKU (Stock Keeping Unit) to be shipped, the rail conveyor uses the second task module, 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. Prior to pickup, an identification module is required to identify the cargo X or SKU. This identification module can be mounted on the cargo picking device and / or the rail conveyor. The identification module can be a monocular camera, a laser camera, or a depth-of-field camera.

[0169] After the above picking process is completed, the identification module is used to accurately locate the goods, and the goods picking equipment is used to place 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.

[0170] In another embodiment, one or more shelves are included. The structure and operating principle of the shelves are shown in Figures 11-15. The shelves can be configured with warehouse picking equipment and / or rail conveyor equipment. During operation, the rail conveyor equipment is installed on one or more shelves, and the fulfillment operation surface of the storage shelves is equipped with the rail conveyor equipment, including but not limited to the direction of the aisle, or even perpendicular to the aisle.

[0171] It 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 there are no restrictions on shelf height or ground flatness. In addition, the present invention also discloses a transmission system, which is configured as the transmission system of Figure 16 and multiple freight robots 105. Based on this configuration, the efficiency of cargo storage, transportation, and sorting can be further improved, adapting to the rapid transfer and transmission technology requirements in various warehousing scenarios.

[0172] 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 various embodiments can be referred to each other; the above embodiments in this specification are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that: it is still possible to modify the technical solutions recorded in the aforementioned embodiments, or to replace some or all of the technical features therein with equivalents; 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 the present invention. Industrial Applicability

[0173] By adopting the above solution, storage shelves can be set up in a variety of warehouses. The transmission system is equipped with track transmission equipment and horizontal tracks for the movement of columns. By configuring the storage shelves and modifying the top and bottom shelf layers of the three-dimensional warehouse, an operation channel is provided for freight robots or sorting robots, which fundamentally solves the problem of waste in the three-dimensional warehouse of the existing storage system. At the same time, the storage boxes are driven by the first movable part to store and retrieve boxes and / or goods, and are placed on the docking components of the freight robots running on the top or bottom of the storage shelves. The stored goods / cargo boxes can be coordinated with freight robots or sorting robots, making it possible to complete cargo storage, cargo / cargo box transfer and cargo / cargo box sorting in the three-dimensional warehouse. It greatly improves the utilization rate of existing intelligent three-dimensional warehouses, the speed of goods entering and exiting, and the sorting efficiency, and effectively reduces the deployment cost, making it more practical.

Claims

1. A warehousing-based transmission system, characterized in that, Applied to a stereoscopic warehouse, wherein multiple rows and multiple layers of storage shelves are arranged in the stereoscopic warehouse, wherein the storage shelves are provided with multiple layers of storage space, and cargo boxes are placed in the storage positions of the storage space, and a track transmission device is installed on the storage shelves, wherein the device comprises: A connecting mechanism between the transverse track, the first column, the first movable member and the task module, wherein: The transverse track is on the shelf; The first column is vertically arranged on the 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 task module; The task module, driven by the first movable member, stores and retrieves cargo boxes and / or cargo, and puts them into the docking assembly of the cargo box robot running at the bottom and / or top of the storage shelf, or takes them out from the docking assembly; A space capable of providing movement for the freight robot is provided under the shelf; The task module of the track transport equipment can be extended from the top of the high-rise warehouse.

2. The transmission system based on warehousing according to claim 1, characterized in that, The fulfillment operation surface of the storage shelves is provided with the track transmission equipment.

3. The transmission system based on warehousing according to claim 1, wherein A space is provided under the shelf to provide a space for the freight robot to move, which is specifically implemented as follows: The shelf removes the partitions of one or more storage spaces on the bottom shelf layer to provide a passage for the 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.

4. The warehousing-based transmission system according to any one of claims 1 and 2, characterized in that An opening is provided on the top of the stereoscopic warehouse, and a shape of the opening matches the task module so as to allow the task module to extend and perform contract fulfillment docking actions.

5. The transmission system based on warehousing according to claim 3, characterized in that, The three-dimensional warehouse can be disassembled or can be a mobile three-dimensional warehouse.

6. The transmission system based on a warehouse according to claim 3, characterized in that, An opening is provided at the top of the three-dimensional warehouse and is specifically implemented as follows: the task module extends out of the opening provided at the top of the three-dimensional warehouse, stores and retrieves cargo boxes under the drive of the first movable part, and places the docking component of the freight robot running on the top of the storage shelf into the opening.

7. The warehousing-based transmission system according to claim 1, 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: A connection mechanism between the first transverse track, the first column, the first movable member and 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.

8. The warehousing-based transmission system according to any one of claims 6 and 7, characterized in that Also includes: A second transverse rail, which is located at the lower part of the shelf, and 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.

9. The warehousing-based transmission system according to claim 8, wherein, 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; A connection mechanism of the second task module is provided on the second movable member.

10. The warehousing-based transmission system according to claim 9, wherein, The arrangement of the rail transfer device on the shelf further includes: a third column, The second task module is arranged between the second column and the third column through the connection mechanism; Drive the second task module to be positioned at the storage location or the transfer position on the shelf.

11. The warehousing-based transfer system according to claim 9, wherein A synchronous pulley driven by a motor and controllable through 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; A synchronous pulley driven by a motor and controllable through a speed reducer, the synchronous pulley drives a synchronous belt to support the second movable member to move on the slide rail of the second column.

12. The transmission system based on warehousing according to claim 7, wherein, It further includes: An identification module, which can be arranged on the goods picking device and / or the rail transfer device.

13. The warehousing-based transmission system according to claim 1, wherein, The freight robot is a freight robot and / or a load handling device.

14. The warehousing-based transmission system according to any one of claims 1 or 13, characterized in that, A freight robot and / or a load handling device is arranged on the top of the automated warehouse. The load handling device is arranged in cooperation with a lifting device. The lifting device grabs the cargo box or goods. The load handling device is arranged to move on the top of the automated warehouse and is configured to lift and move the cargo box or goods in the automated warehouse. The load handling device includes: An electric control device, a drive and / or a lifting component, A receiving space component for accommodating the cargo box or goods; The lifting component is configured to lift and lower the lifting device relative to the receiving space component.

15. The warehousing-based transmission system according to any one of claims 1 or 14, characterized in that, An AGV walking surface for a freight robot can be deployed on the top of the automated warehouse, and / or, a first set of parallel tracks and a second set of parallel tracks are arranged. The second set of parallel tracks extends transversely to the first set on a substantially horizontal plane, forming a grid structure including a plurality of grid spaces.

16. The warehousing-based transmission system according to any one of claims 1-6, characterized in that, The task module is a component with one or more tasks such as identification, extraction, playback, grabbing, etc.; the connection mechanism of the task module is connected to different task modules.

17. The warehousing-based transmission system according to any one of claims 1-16, characterized in that, The freight robot is a warehousing robot, including: a moving base, a vertical frame arranged on the moving base, and a storage device arranged on the frame and capable of vertical lifting and lowering.

18. The warehousing-based transmission system according to claim 10, characterized in that, The transfer position is the position where the second task module completes the transfer of goods from the second task module to the freight robot after storing and retrieving the cargo box and / or goods from the storage location on the shelf.

19. An intelligent three-dimensional storage system, characterized in that, It includes: One or more transfer systems according to any one of claims 1-18.

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