Storage device, warehousing method and ex-warehousing method

Abstract

A storage device, a warehousing method and an ex-warehousing method. The storage device comprises: a goods shelf, which is divided into a goods temporary storage area and a goods storage area, the goods shelf comprising a shelf body, a carrying platform group located in the goods temporary storage area, and a storage platform group located in the goods storage area, wherein at least one carrying platform group is provided, each carrying platform group comprises at least two carrying platforms that are vertically spaced apart, and the storage platform group comprises at least one layer of storage platform; a transport robot, which is adapted to transport material boxes onto the carrying platforms and / or taking out the material boxes from the carrying platforms; a handling robot, which is adapted to transfer the material boxes between the carrying platforms and the storage platform; and a goods storage and retrieval channel, which is located in a vertical projection area of the storage platform. In the goods temporary storage area, in a horizontal direction and / or a vertical direction, several carrying platforms are added as temporary storage sites, so that more material bins can be stored temporarily, thereby fully utilizing the space in the goods temporary storage area.

Description

Warehouse device, warehousing method and de-warehousing method TECHNICAL FIELD

[0001] The present application relates to the technical field of warehousing, in particular to a warehouse device, a warehousing method and a de-warehousing method. BACKGROUND

[0002] The existing warehousing industry mostly uses robots integrated with automatic climbing and moving capabilities to store and transport goods.

[0003] With the increasing of customer warehouse rent year by year, customers have higher requirements for warehouse space utilization and shorter investment recovery period for introducing automated warehouses. In the existing trolley scheme, the trolley needs to lurk below the first storage layer of the shelf to lift and take goods, which results in a higher taking height of the first storage layer of the shelf, and a larger space below the first storage layer of the shelf cannot be effectively utilized, wasting the vertical space of the warehouse. SUMMARY

[0004] Therefore, the technical problem to be solved by the present application is to overcome the defect that the space below the first storage layer of the shelf cannot be effectively utilized, thereby providing a warehouse device, a warehousing method and a de-warehousing method.

[0005] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0006] A warehouse device comprises:

[0007] A shelf provided with a temporary storage area of goods and a storage area of goods, the shelf comprising a shelf body, a group of holding platforms located in the temporary storage area of goods, and a group of storage platforms located in the storage area of goods, each group of holding platforms comprising at least two holding platforms arranged vertically, and the group of storage platforms comprising at least one layer of storage platforms;

[0008] A transport robot having a lifting frame and at least one fork arm body comprising at least two mutually spaced fork arms, the transport robot being adapted to transport a container to the holding platform, and / or the transport robot being adapted to take out the container on the holding platform;

[0009] An access channel of goods, the access channel of goods being located in the vertical projection area of the storage platform, and the access channel of goods being adapted to provide a moving space for the transport robot;

[0010] A transport robot adapted to transfer the container between the holding platform and the storage platform;

[0011] The object-holding platform comprises a cross beam arranged on the shelf body and a longitudinal beam arranged on the cross beam, the longitudinal beam is at least one, and the distance between the two outermost fork arms of the transport robot can accommodate all the longitudinal beams when the transport robot is carrying out the box acquisition or unloading.

[0012] A warehousing method based on the storage device, comprising the following steps:

[0013] Based on the inventory status of each object-holding platform on the shelf, the position of a group of object-holding platforms is determined, and the position of the empty object-holding platform of the group of object-holding platforms is obtained;

[0014] Based on the position of the empty object-holding platform, the position of the transport robot for unloading the box is determined;

[0015] According to the position information between the transport robot and the group of object-holding platforms, a driving route is determined, the driving route comprising a route along the access channel;

[0016] The transport robot is instructed to drive along the driving route to the position of the group of object-holding platforms, and the transport robot is instructed to carry the box to the empty object-holding platform of the group of object-holding platforms.

[0017] A warehousing method based on the storage device, comprising the following steps:

[0018] The position of a group of object-holding platforms on the shelf is determined;

[0019] According to the position information between the transport robot and the group of object-holding platforms, a driving route is determined, the driving route comprising a route along the access channel;

[0020] The transport robot is instructed to drive along the driving route to the position of the group of object-holding platforms;

[0021] The position of the box of the group of object-holding platforms is obtained, and the transport robot is instructed to carry the box away from the object-holding platform.

[0022] The technical scheme of the present application has the following advantages:

[0023] 1. The storage device provided by the present application increases a plurality of object-holding platforms as buffer positions in the horizontal direction and / or in the vertical direction in the temporary storage area, thereby being able to buffer more boxes and fully utilize the space in the temporary storage area. The object-holding platforms can be used as buffer positions for boxes, and can be divided into low buffer positions and high buffer positions according to the positions of the object-holding platforms. The number of buffer positions is increased, the proportion of non-return boxes is improved, and the investment cost of the automated warehouse is reduced.

[0024] 2. The warehouse device provided by the application can simultaneously adapt to the high-position cache position and the low-position cache position of the goods shelf through a transport robot, multiple robots do not need to be arranged under the same transport demand, the number of high-position robots is reduced, and the cost is reduced. When the transport robot is a multi-fork arm transport robot, the number of single-time box handling can be improved, the number of transport robot vehicles is reduced, and the comprehensive handling cost of single box is reduced.

[0025] 3. The warehouse device provided by the application, the cross beam of the object supporting platform is a segmented cross beam, the first cross beam and the second cross beam are spaced apart and arranged on the goods shelf body respectively, and the longitudinal beam is provided with two longitudinal beams arranged on the first cross beam and the second cross beam respectively. When the transport robot obtains or unloads the box, the fork arm of the transport robot is arranged in a staggered manner between the longitudinal beams, the fork arm of the transport robot can be raised or lowered relative to the longitudinal beam, and then the box is lifted or unloaded.

[0026] 4. The warehouse device provided by the application, when the transport robot is not loaded with the box, the fork arm body is located below the object supporting platform, the lifting frame can pass through the space between the first cross beam and the second cross beam, so that the transport robot can pass through the goods shelf, and can freely shuttle in the access channel. When the transport robot completes the acquisition or unloading of the box, the transport robot can directly pass through the cross beam of the object supporting platform, thereby greatly increasing the transport speed and transport efficiency of the box.

[0027] 5. The warehouse device provided by the application can increase the length of the fork arm of the transport robot located in the middle position, so that the fork arm of the transport robot located in the middle position can pass out of the space between the first cross beam and the second cross beam, and then the fork arm body can carry larger boxes. Because the fork arm body in the middle position is increased, the box is not easy to slip off the fork arm body, and the stability of the box transport is ensured.

[0028] 6. The warehousing method provided by the application can accurately and quickly transport the box to the empty position of the object supporting platform group, and when the transport robot is a multi-arm transport robot, multiple boxes can be transported at a time, thereby reducing the number of times of handling.

[0029] 7. The warehousing method provided by the application, when the transport robot moves to the position of the box of the object supporting platform group, the transport robot can accurately detect the state of the box on each object supporting platform, and then the box can be accurately and quickly moved out of the object supporting platform, and when the transport robot is a multi-arm transport robot, multiple boxes can be transported at a time, thereby reducing the number of times of handling. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0031] Fig. 1 is a structural schematic diagram of a rack through which a transport robot of a warehouse device provided by the present application can shuttle freely;

[0032] Fig. 2 is a structural schematic diagram of a transport robot of a warehouse device provided by the present application;

[0033] Fig. 3 is a structural schematic diagram of a transport robot of a warehouse device provided by the present application when the transport robot is loaded with a container;

[0034] Fig. 4 is a side view of a single-cargo-platform transport container of a warehouse device provided by the present application;

[0035] Fig. 5 is a side view of a double-cargo-platform transport container of a warehouse device provided by the present application;

[0036] Fig. 6 is a structural schematic diagram of a rack through which a transport robot of a warehouse device provided by the present application cannot shuttle freely;

[0037] Fig. 7 is a structural schematic diagram of a warehouse system provided by the present application;

[0038] Fig. 8 is a structural schematic diagram of a storage and access channel of a warehouse system provided by the present application;

[0039] Fig. 9 is a storage diagram of a single-cargo-platform of a warehouse device provided by the present application;

[0040] Fig. 10 is a storage diagram of a double-cargo-platform of a warehouse device provided by the present application;

[0041] Fig. 11 is a delivery diagram of a single-cargo-platform of a warehouse device provided by the present application in a first case;

[0042] Fig. 12 is a delivery diagram of a single-cargo-platform of a warehouse device provided by the present application in a second case;

[0043] Fig. 13 is a delivery diagram of a double-cargo-platform of a warehouse device provided by the present application;

[0044] Fig. 14 is a diagram of different states of a double-cargo-platform of a warehouse device provided by the present application.

[0045] Label: 1, shelf, 11, object holding platform, 111, cross beam, 112, longitudinal beam, 12, storage platform, 13, shelf body, 14, adapter support plate; 2, transport robot, 21, fork body, 22, lifting mechanism, 23, lifting frame, 24, AGV car, 25, guide assembly, 26, safety plate, 27, baffle, 28, in-place sensing assembly; 3, box; 4, carrying robot; a, second channel, b, first channel, c, third channel. DETAILED DESCRIPTION

[0046] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art. It should be noted that the present application increases several object holding platforms in the temporary storage area as buffer sites to illustrate the warehouse device of the present application, which is only a preferred embodiment and is not a limitation on the protection scope of the warehouse device.

[0047] The existing warehouse industry mostly uses robots integrated with automatic climbing and moving capabilities to store and transport goods. As customer warehouse rental increases year by year, customers have higher requirements for warehouse space utilization and shorter investment recovery period requirements for introducing automated warehouses.

[0048] A Chinese invention patent with the authorization announcement number CN112193694B discloses a shelf device and a warehouse system. In order to enable the box transport robot to move very smoothly under the first layer storage layer after transporting the box, there is usually a large space between the top of the box and the first layer storage layer. In addition, in the existing car scheme, the car needs to lurk under the temporary storage layer of the first layer storage layer of the shelf to lift the goods, which results in a higher height of the goods in the first layer storage layer of the shelf.

[0049] Both of the above two ways will result in a large space under the first layer storage layer of the shelf that cannot be effectively utilized, wasting the vertical space of the warehouse.

[0050] Based on this, the present application designs a warehouse device, a warehousing method and a de-warehousing method, which increases several object holding platforms as buffer sites in the horizontal direction and / or in the vertical direction in the temporary storage area of the goods, thereby being able to buffer more boxes, fully utilize the space in the temporary storage area under the first layer storage layer, and reduce the investment cost of the automated warehouse.

[0051] Embodiment 1

[0052] The warehouse device of the first aspect of the present application will be described in detail below.

[0053] As shown in FIGS. 1-11, the present embodiment discloses a warehouse device, which comprises a shelf 1, a transport robot 2, a goods access channel and a handling robot 4.

[0054] The shelf 1 is provided with a goods temporary storage area and a goods storage area, and the goods temporary storage area and the goods storage area are arranged in layers. The goods temporary storage area can be located in the middle layer of the shelf 1 or in the lower layer of the shelf 1. Preferably, the goods temporary storage area of the shelf 1 is located in the lower layer of the shelf 1, and the goods storage area is located in the middle layer and the upper layer of the shelf.

[0055] The shelf 1 comprises a shelf body 13, a group of holding platforms located in the goods temporary storage area, and a group of storage platforms located in the goods storage area. Each group of holding platforms is provided with at least one group of holding platforms, and each group of holding platforms comprises at least two holding platforms 11 arranged vertically. The group of storage platforms comprises at least one layer of storage platforms 12, which are used as buffer racks of storage boxes to realize the storage of the storage boxes. It should be noted that the group of holding platforms is provided with at least one group, which means that the group of holding platforms can be arranged in one or more groups horizontally on the shelf body, and the group of holding platforms can also be arranged in one or more groups vertically on the shelf body. The horizontal direction refers to the Y direction in FIG. 1, and the vertical direction refers to the X direction in FIG. 1.

[0056] The transport robot 2 is adapted to transport the storage box 3 to the holding platform 11, and / or the transport robot 2 is adapted to take out the storage box 3 on the holding platform 11.

[0057] The goods access channel is located in the vertical projection area of the storage platform 12, and the goods access channel is adapted to provide a moving space for the transport robot 2 to drive the AGV car to automatically access the storage box on the holding platform.

[0058] The above-mentioned warehouse device sets at least one group of holding platforms in the horizontal direction of the goods temporary storage area, fully utilizes the empty space in the horizontal direction of the goods temporary storage area, and each group of holding platforms comprises at least two holding platforms 11 arranged vertically. The group of holding platforms fully utilizes the empty space in the vertical direction of the goods temporary storage area, and the holding platform 11 can be used as a buffer position of the storage box. The buffer positions can be divided into low buffer positions and high buffer positions according to the positions of the holding platforms 11, the number of buffer positions is increased, the proportion of non-return-to-warehouse storage boxes is improved, and the input cost of the automated warehouse is reduced.

[0059] In some embodiments, as shown in FIG. 1, the shelf body 13 comprises a vertical column, a horizontal column, a longitudinal column and a diagonal brace. The vertical column, the horizontal column and the longitudinal column are connected to form a frame structure, and the diagonal brace plays a role in strengthening the connection.

[0060] In some embodiments, as shown in FIG. 2, the transport robot 2 comprises an AGV trolley 24, a lifting frame 23, a lifting mechanism 22, and a fork body 21. The lifting frame 23 is vertically arranged on the AGV trolley 24. The lifting mechanism 22 is arranged on the lifting frame 23. The fork body 21 is provided with at least one, and the fork body 21 is arranged on the lifting mechanism 22 and can be lifted along with the lifting mechanism 22. The top end surface of the fork body 21 is a load platform, which is adapted to be matched with the load platform 11 of the shelf.

[0061] In the present embodiment, when the fork body 21 is provided with one, the transport robot 2 is a single-fork transport robot, and FIGS. 3 and 4 are structural schematic diagrams of the single-fork transport robot transporting the box. When the fork body 21 is provided with more than two, the transport robot 2 is a multi-fork transport robot, and FIG. 5 is a structural schematic diagram of the multi-fork transport robot transporting the box. Whether it is a single-fork transport robot or a multi-fork transport robot, the lifting mechanism can be controlled to lift the fork body 21, and thus the fork body 21 can be controlled to be matched with the buffer position of the load platform 11. The present embodiment can simultaneously match the high buffer position and the low buffer position of the shelf through one transport robot, and in the case of the same transportation demand, multiple robots are not needed, the number of high robots is reduced, and the cost is reduced. When the transport robot 2 is a multi-fork transport robot, the number of boxes carried at a time can be increased, the number of transport robot trolleys can be reduced, and the comprehensive carrying cost of a single box can be reduced.

[0062] In some embodiments, the fork body 21 comprises a fork and an adapter support plate 14. The fork is provided with at least two and is spaced apart from each other. The forks are connected by a connecting rod, and the fork is perpendicular to the connecting rod. The top end surface of each fork is a load platform, and the number of load platforms is at least one, and is preferably two, which can be customized according to actual needs. The adapter support plate 14 is connected with the connecting rod and detachably connected with the lifting mechanism 22. In the present embodiment, the fork body 21 is detachably connected with the lifting mechanism 22, so that the fork body 21 can be arranged at different positions of the lifting mechanism 22 according to needs.

[0063] In some embodiments, as shown in FIG. 2, at least one baffle 27 is arranged on the side of the two outermost forks. In the present embodiment, after the fork body 21 forks the box 3 on the shelf, the left and right sides of the box can be limited by the baffle 27, so that the box is more stable during transportation and is not easy to slide off the fork body 21.

[0064] In some embodiments, at least one limit piece 16 is arranged along the direction of the forklift in the direction of the forklift. In this embodiment, the "direction of the forklift" refers to the front end of the forklift. When the forklift body 21 forks the upper forklift of the shelf, the front side of the forklift can be limited by the limit piece 16, and the limit piece 16 cooperates with the baffle 27, and the rear side of the forklift can be limited by the lifting frame 23, so that the front, rear, left and right of the forklift are all limited, so that the forklift is more stable during transportation and is not easy to slide off the forklift body 21.

[0065] In some embodiments, as shown in FIG. 2, the lifting frame 23 is provided with a position sensing assembly 28 for sensing whether the forklift is moved in place.

[0066] In some embodiments, the AGV 24 is provided with a driving mechanism for realizing the travel control of the transport robot.

[0067] The object platform 11 is arranged according to the forklift structure of the transport robot, and the object platform 11 has various design modes, and the object platform 11 is used as a temporary storage layer plate for temporarily storing the forklift.

[0068] In some embodiments, as shown in FIG. 6, the object platform 11 is arranged between two vertical columns. The object platform 11 includes a cross beam 111 and a longitudinal beam 112, the cross beam 111 is arranged on the shelf body, and the longitudinal beam 112 is arranged on the cross beam 111, and the longitudinal beam 112 is provided with at least one. When the transport robot 2 acquires or unloads the forklift, the distance between the two outermost forklifts of the transport robot 2 can accommodate all the longitudinal beams 112, and the forklift of the transport robot 2 can be raised or lowered relative to the longitudinal beam 112, thereby lifting or unloading the forklift. This embodiment is one structure of the object platform 11.

[0069] When the number of longitudinal beams 112 is at least two and the number of forklifts of the forklift body 21 is at least three, the distance between the two outermost longitudinal beams 112 can accommodate all the inner forklifts. For example, when the number of forklifts is four and the number of longitudinal beams 112 is three, the distance between the two outermost longitudinal beams 112 can accommodate the two innermost forklifts. When the number of forklifts is one more than the number of longitudinal beams 112, the distance between the adjacent forklifts can only accommodate one longitudinal beam 112. For example, when the number of forklifts is four and the number of longitudinal beams 112 is three, the two outermost forklifts accommodate three longitudinal beams 112, and each adjacent two longitudinal beams 112 accommodate one forklift, that is, the four forklifts and the three longitudinal beams 112 are in a staggered state. In this embodiment, the distance between the two adjacent longitudinal beams 112 is limited, and the distance between the two outermost forklifts is limited.

[0070] As an alternative embodiment, as shown in FIG. 1, the object supporting platform 11 comprises a cross beam 111 and a longitudinal beam 112, the cross beam 111 comprises a first cross beam and a second cross beam, the first cross beam and the second cross beam are spaced apart and arranged on the shelf body respectively, and the longitudinal beam 112 is arranged in two and arranged on the first cross beam and the second cross beam respectively. When the transport robot 2 carries out the box acquisition or unloading, the fork arms of the transport robot 2 are arranged in a staggered manner between the longitudinal beams 112, and the fork arms of the transport robot 2 can be raised or lowered relative to the longitudinal beams 112, thereby lifting or unloading the box.

[0071] The spacing between the two adjacent longitudinal beams 112 can accommodate at most two fork arms, and the spacing between the two outermost fork arms is greater than the spacing between the two outermost longitudinal beams 112, so that the two outermost fork arms can accommodate all the longitudinal beams 112.

[0072] Further, the spacing between the first cross beam and the second cross beam and the spacing between the two longitudinal beams 112 are both greater than the transverse width of the lifting frame 23. When the transport robot 2 is not loaded with the box, the fork body 21 is located below the object supporting platform 11, and the lifting frame 23 can pass through the spacing between the first cross beam and the second cross beam and the spacing between the two longitudinal beams 112, thereby enabling the transport robot to pass through the shelf and freely shuttle in the access channel. When the transport robot completes the acquisition or unloading of the box, it does not need to return along the original route, but can directly pass through the cross beam of the object supporting platform, greatly increasing the transport speed and efficiency of the box.

[0073] The current fork body moves to the position of the cross beam and touches the cross beam, resulting in a limited length of the fork arms on the fork body. In the embodiment, when the number of fork arms on the fork body 21 is more than three, the length of the fork arms on both sides remains unchanged, and the length of the fork arms in the middle part of the transport robot can be increased, so that the fork arms in the middle part of the transport robot can pass out from the spacing between the first cross beam and the second cross beam, thereby enabling the fork body 21 to carry larger boxes, and because the fork arms in the middle part are increased, the box is less likely to slip off the fork body 21, ensuring the stability of the box transport.

[0074] Further, a limiting member is arranged at the end of the fork arm in the middle part, further enhancing the stability of the box placed on the fork body.

[0075] The above two object supporting platforms 11 are used to carry the box and interact with the transport robot.

[0076] No matter single fork arm transport robot or multi-fork arm transport robot, the fork arm body 21 needs to correspond to the target object carrying platform. When the transport robot 2 is not loaded with the box, that is, when the transport robot 2 needs to transport the box on the object carrying platform 11 out of the warehouse, each fork arm body 21 is located below the corresponding object carrying platform 11, and then the action of controlling the fork arm body 21 to rise is used to realize the acquisition of the box. When the transport robot 2 is loaded with the box, that is, when the transport robot 2 needs to unload the box on the object carrying platform 11, each fork arm body 21 is located above the corresponding object carrying platform 11, and then the action of controlling the fork arm body 21 to descend is used to realize the transfer of the box.

[0077] In some embodiments, the box can be a carton, a plastic box or any material box, and the specific structure and material of the box are not limited here.

[0078] In some embodiments, as shown in FIG. 2, a guide assembly 25 is arranged on the top end surface of the AGV 24. The guide assembly 25 can be telescopic when it touches the beam 111 and returns to the original position when it is separated from the beam 111. The guide assembly 25 is suitable for supporting the box on the fork arm body on the bottom layer. When the AGV 24 moves towards the shelf, the guide assembly 25 touches the beam of the shelf and then moves forward a small distance. At this time, the guide assembly 25 is in a rear pressing state (i.e., the guide assembly is at the lowermost position of the beam). When the fork arm body completes the lifting of the box and the AGV 24 drives away from the position of the shelf, the guide assembly 25 returns to the original state. When the fork arm body on the bottom layer is lowered to the lowest position, the box cooperates with the guide assembly and the protection member of the chassis to stabilize the box.

[0079] It should be noted that the guide assembly 25 touches the beam only when it is empty, that is, when the fork arm body does not carry the box. At this time, the height of the guide assembly 25 is consistent with the height of the beam. During the full load, that is, during the process that the fork arm body carries the box, the guide assembly 25 is higher than the beam. Moreover, the guide assembly is only suitable for single fork arm transport robot in the preferred embodiment, and is not suitable for double fork arm transport robot.

[0080] In some embodiments, the transport robot 2 further comprises a protection member, which comprises a safety plate 26 arranged on the AGV 24. The safety plate 26 can block both sides of the box, which can effectively prevent the possibility of the box from overturning.

[0081] In some embodiments, the transport robot 2 moves along the access channel by using a two-dimensional code navigation method or a slam navigation method. The two-dimensional code navigation method uses a two-dimensional code as a position identifier to determine the position of the transport robot by scanning and analyzing the two-dimensional code. The principle of the slam navigation method is to realize the perception and understanding of the environment by using the sensors and algorithms of the transport robot, so as to realize autonomous navigation.

[0082] In some embodiments, the lifting mechanism 22 on the transport robot 2 is a segmented lifting mechanism, i.e., the number of fork arm bodies is divided into a corresponding number of lifting mechanisms. Taking the number of fork arm bodies as two as an example, the lifting mechanism is divided into a first lifting mechanism and a second lifting mechanism, the first lifting mechanism controls the lifting of the first fork arm body, and the second lifting mechanism controls the lifting of the second fork arm body. When the upper fork arm body is picking, the second lifting mechanism at the upper layer is lifted; when the lower fork arm body is picking, the first lifting mechanism at the lower layer is lifted. The lifting mechanism can be a belt lifting mechanism, a chain lifting mechanism, a column lifting mechanism, etc.

[0083] In some embodiments, when the transport robot is applied to a high-density shelf, two shelves 1 are provided, a lane is formed between the two shelves 1, and a lifting robot (not shown in the drawings) capable of moving along the lane is arranged in the lane. The lifting robot can carry the bin on the storage platform of the shelf down and can deliver the bin to the transport robot to realize the output of the bin, and the lifting robot can also carry the bin delivered by the transport robot to the storage platform to realize the storage of the bin.

[0084] In some embodiments, as shown in FIG. 7, the transport robot 4 is used in cooperation with the warehouse device, and the transport robot 4 is suitable for transferring the bin between the object receiving platform 11 and the storage platform 12. The transport robot includes a lifting mechanism and an access mechanism, and the lifting mechanism can drive the access mechanism to lift.

[0085] When the object receiving platform group is provided with multiple groups, if the transport robot 2 does not have a determined travel path, multiple transport robots 2 simultaneously moving can easily cause a collision accident. In order to solve the technical problem, in some embodiments, as shown in FIG. 8, the access channel includes a first channel b and a second channel a perpendicular to each other. The first channel b is located in the vertical projection area of the object receiving platform 11 and is parallel to the longitudinal beam 112. The second channel a is located in the vertical projection area of the non-object receiving platform 11 and is parallel to the transverse beam 111. In this embodiment, the travel paths of the first channel b and the second channel a are specifically planned, which can meet the needs of orderly movement of each transport robot 2 when the object receiving platform group is provided with multiple groups. It should be noted that when the object receiving platform group is provided with one group, the transport robot can also travel according to the paths of the first channel b and the second channel a.

[0086] In some embodiments, the access goods channel further comprises a third channel c, the third channel c is located in the vertical projection area of the storage platform 12, and the third channel is used to connect the first channel b and the second channel a. The third channel c is not limited in shape, and can be in a variety of forms such as a straight line, an inclined line, a curve, or a polyline. The driving path of the transport robot 2 along the third channel c can be in a variety of forms such as a straight line, an inclined line, a curve, or a polyline.

[0087] In some embodiments, when the object supporting platform group is provided in multiple groups, the second channel and / or the third channel can be planned and set according to the preset running state information of each transport robot 2. The preset running state information of the transport robot 2 includes but is not limited to the moving position information and the moving speed information of the transport robot 2. In addition, the second channel and / or the third channel can also be planned and adjusted according to the actual running state information of the transport robot 2 during the actual running of the transport robot 2.

[0088] Embodiment 2

[0089] The specific embodiments of the present application will be described in detail below in combination with the warehousing method of the second aspect of the present application.

[0090] The embodiment discloses a warehousing method, which is based on the storage device of the first aspect and comprises the following steps:

[0091] S1. Based on the storage state of each object supporting platform 11 on the goods shelf, a object supporting platform group position is determined, and the position of the object supporting platform empty position of the group of object supporting platforms is obtained. The "storage state" refers to whether the object supporting platform 11 of the goods shelf is stored with a bin.

[0092] S2. Based on the position of the object supporting platform empty position, the position of the transport robot 2 for placing the bin is determined. For example, the bottom layer of the object supporting platform is in an empty position state, when the transport robot is a multi-fork arm transport robot, the bin is placed on the bottom layer of the fork arm body, and when the transport robot is a single-fork arm transport robot, the bin can be placed directly on the fork arm body. Correspondingly, when the empty position state of the object supporting platform changes, and when the transport robot is a multi-fork arm transport robot, the position of the bin will change accordingly.

[0093] S3. The driving route is determined according to the position information between the transport robot 2 and the object supporting platform group, and the driving route includes the route along the access goods channel.

[0094] S4. The transport robot 2 is instructed to drive to the object supporting platform group position along the driving route, and the transport robot 2 is instructed to carry the bin to the object supporting platform empty position of the object supporting platform group.

[0095] When the transport robot 2 travels along the travel route to the position of the load-bearing platform group, it uses a QR code navigation method or a SLAM navigation method to ensure the accuracy of the travel.

[0096] During the process of instructing the transport robot 2 to move the material box to an empty position on the loading platform of the loading platform group:

[0097] S41. When the transport robot 2 is a single-fork arm transport robot, as shown in FIG9 , based on the position of the empty space on the object-carrying platform, determine whether the fork arm body 21 of the transport robot 2 is raised or lowered.

[0098] When the fork arm body 21 of the transport robot 2 corresponds to the empty space on the loading platform, the fork arm body 21 of the transport robot 2 is instructed to be higher than the longitudinal beam 112 and the transport robot 2 is moved into position, and the fork arm body 21 of the transport robot 2 is instructed to move down to a position not higher than the longitudinal beam 112, and the material box is transported to the empty space on the loading platform.

[0099] When the fork arm body 21 of the transport robot 2 does not correspond to the empty space on the loading platform, the lifting mechanism 22 of the transport robot 2 is instructed to drive the fork arm body 21 to rise and fall, and then the fork arm body 21 of the transport robot 2 is instructed to move up to a position higher than the longitudinal beam 112 and move the transport robot 2 into place, and the fork arm body 21 of the transport robot 2 is instructed to move down to a position not higher than the longitudinal beam 112, and the material box loaded on the transport robot 2 is moved to the empty space on the loading platform.

[0100] S42. When the transport robot 2 is a multi-fork transport robot, as shown in Figure 10, instruct the fork arm body 21 of the transport robot 2 to move up to a position higher than the longitudinal beam 112 and move the transport robot 2 into position, instruct the fork arm body 21 of the transport robot 2 to move down to a position not higher than the longitudinal beam 112, and move the material box loaded on the transport robot 2 to an empty space on the loading platform.

[0101] After the transport robot 2 transports the material box to the empty space on the loading platform of the loading platform group, the process also includes the following steps:

[0102] When the crossbeam 111 is a segmented crossbeam: instruct the fork arm body 21 of the transport robot 2 to move down to a position below the crossbeam 111 and the longitudinal beam 112, instruct the transport robot 2 to pass through the crossbeam 111 in the X direction or in the -X direction, so that the transport robot 2 leaves the temporary storage area of ​​the shelf 1; or instruct the transport robot 2 to return along the original route;

[0103] When the crossbeam 111 is an integrated crossbeam: instruct the transport robot 2 to return along the original driving route.

[0104] As shown in the right two images of FIG. 14, taking the transport robot 2 as a double-fork robot and the lifting mechanism as a segmented lifting mechanism as an example, the object receiving platform 11 on the shelf is divided into two layers, i.e., a first object receiving platform and a second object receiving platform, and the first object receiving platform is located below the second object receiving platform. When picking up the upper layer, i.e., the fork body on the upper layer is filled with a box, the box needs to be transported to the second object receiving platform, the upper fork body can be controlled to be lifted and moved above the second object receiving platform (at this time, the upper fork body is moved to a height position of 700 mm), and then the upper fork body is lowered to release the box to the second object receiving platform. When picking up the lower layer, i.e., the fork body on the lower layer is filled with a box, the box needs to be transported to the second object receiving platform, the lower fork body and the upper fork body can be controlled to be lifted, and the lower fork body is moved above the second object receiving platform (at this time, the lower fork body is moved to a height position of 700 mm), and then the lower fork body is lowered to release the box to the second object receiving platform.

[0105] Embodiment 3

[0106] The specific embodiments of the present application will be described in detail below in combination with the delivery method of the third aspect of the present application.

[0107] The embodiment discloses a delivery method, which is based on the warehouse device of the first aspect, and in the empty state of the transport robot, a box is taken from a shelf. The method comprises the following steps:

[0108] S10. Determine the position of a set of object receiving platforms on the shelf. When only one set of object receiving platforms is arranged on the shelf, the set of object receiving platforms can be directly determined; when multiple sets of object receiving platforms are arranged on the shelf, a certain set of object receiving platforms can be selected as the object to be transported.

[0109] S20. Determine the travel route according to the position information between the transport robot 2 and the set of object receiving platforms, and the travel route comprises the route along the access channel.

[0110] S30. Direct the transport robot 2 to travel along the travel route to the position of the set of object receiving platforms.

[0111] S40. Obtain the position of the box of the set of object receiving platforms, and direct the transport robot 2 to transport the box away from the object receiving platform.

[0112] The position of the box of the set of object receiving platforms can be obtained by a sensor arranged on the transport robot 2.

[0113] During the process of directing the transport robot 2 to transport the box away from the object receiving platform:

[0114] S401. When the transport robot 2 is a single-fork transport robot, as shown in FIGS. 11 and 12, the state of the captured bin is captured, and based on the position of the bin on the support platform, it is determined whether the fork body 21 of the transport robot 2 is lifted.

[0115] When the fork body 21 of the transport robot 2 does not correspond to the bin on the support platform, the lifting mechanism 22 of the transport robot 2 is instructed to lift the fork body 21. For example, the support platform 11 of the shelf is divided into two layers, i.e., a first support platform and a second support platform, and the first support platform is located below the second support platform. When the bin is on the second support platform (i.e., the second layer support platform) of the shelf, the single support platform (fork body) is lifted to correspond to the height of the second support platform. Since the support platform is a fork structure, the actual support platform needs to be lower than the lowest height of the support platform. The fork body 21 of the transport robot 2 is instructed to move to a position below the longitudinal beam 112, and then the transport robot 2 is instructed to move into position. The fork body 21 of the transport robot 2 is instructed to move up to a position above the longitudinal beam 112 to move the bin away. After adjusting the posture of the support platform, the transport vehicle starts to move towards the support platform. When the guide on the vehicle body touches the cross beam of the shelf, the vehicle body is moved forward by a small distance, about a few centimeters. At this time, the guide assembly is in a rear pressing state, i.e., the guide assembly is at the lowest position of the cross beam (touching state, the height of the guide assembly and the cross beam is the same). When the guide assembly is below the cross beam, the support platform lifts the bin on the second support platform to move the bin away from the second support platform by a certain distance. Then, the vehicle body drives away from the support platform area. Finally, after the support platform is lowered to the lowest height, the bin is fixed by cooperating with the protection member of the guide assembly and the chassis, and the bin out-of-shelf operation is completed.

[0116] When the fork body 21 of the transport robot 2 corresponds to the bin on the support platform, the transport robot 2 is instructed to move into position and move the bin away. For example, the bin is on the first support platform (i.e., the first layer support platform), and the default state of the support platform on the vehicle body is the posture corresponding to the first support platform, and no adjustment is needed.

[0117] S402. When the transport robot 2 is a multi-fork transport robot, as shown in FIG. 13, the fork body 21 of the transport robot 2 is instructed to move to a position below the longitudinal beam 112 and the transport robot 2 is instructed to move into position. The fork body 21 of the transport robot 2 is instructed to move up to a position above the longitudinal beam 112 to move the bin away. That is, when the transport robot moves to the target position, the state of the captured bin is captured. Regardless of whether the bin is on the first support platform, the second support platform, or the first support platform and the second support platform, the default state of the double support platform is the posture corresponding to the first support platform and the second support platform, respectively, and no adjustment is needed.

[0118] As shown in the left two figures of Fig. 14, taking the double-fork-arm robot as an example, the two fork-arm bodies need to be lowered so that the fork-arm bodies are lower than the object receiving platform (at this time, the lower fork-arm body moves to a height position of 200 mm) and enter the buffer position, and then the two fork-arm bodies are raised to lift the material box. When the fork-arm bodies are moved out of the object receiving platform, the fork-arm bodies are lowered to the lowest position (at this time, the lower fork-arm body moves to a height position of 250 mm) and exit the buffer position.

[0119] Obviously, the above embodiments are merely exemplary and are not intended to limit the embodiments. Based on the above description, those skilled in the art can make other different forms of changes or modifications. Here, it is not necessary and impossible to exhaust all the embodiments. The obvious changes or modifications derived therefrom are still within the protection scope of the present application.

Claims

1. A storage device, characterized in that: include: A shelf (1), wherein the shelf (1) is provided with a cargo temporary storage area and a cargo storage area, the shelf (1) comprises a shelf body, a cargo receiving platform group located in the cargo temporary storage area, and a storage platform group located in the cargo storage area, wherein at least one cargo receiving platform group is provided, each cargo receiving platform group comprises at least two cargo receiving platforms (11) arranged at intervals in an upper and lower direction, and the storage platform group comprises at least one layer of storage platforms (12); A transport robot (2), the transport robot (2) having a lifting frame (23) and at least one fork arm body (21), the fork arm body (21) comprising at least two fork arms spaced apart from each other, the transport robot (2) being suitable for transporting a material box (3) to a loading platform (11), and / or the transport robot (2) being suitable for removing a material box (3) from the loading platform (11); A cargo storage and retrieval channel, the cargo storage and retrieval channel being located within the vertical projection area of ​​the storage platform (12), the cargo storage and retrieval channel being suitable for providing a moving space for the transport robot (2); A handling robot (4), the handling robot (4) being adapted to transfer material boxes between a loading platform (11) and a storage platform (12); The material-carrying platform (11) comprises a crossbeam (111) and a longitudinal beam (112), wherein the crossbeam (111) is arranged on the shelf body, and the longitudinal beam (112) is arranged on the crossbeam (111), at least one longitudinal beam (112) is provided, and when the transport robot (2) is performing material box acquisition or material box unloading, the distance between the two outermost forks of the transport robot (2) can accommodate all the longitudinal beams (112).

2. The storage device according to claim 1, characterized in that: The transport robot (2) comprises: AGV (24); A lifting frame (23), wherein the lifting frame (23) is arranged on the AGV trolley (24); A lifting mechanism (22) is provided on a lifting frame (23); the fork arm body (21) is provided on the lifting mechanism (22) and can be raised and lowered following the lifting mechanism (22); the top surface of the fork arm body (21) is a loading platform, and the loading platform is suitable for matching with the loading platform (11) of the shelf.

3. The storage device according to claim 1, characterized in that: The cargo storage and retrieval channel includes a first channel and a second channel perpendicular to each other; The first channel is located within the vertical projection area of ​​the object-carrying platform (11) and is parallel to the longitudinal beam (112); The second channel is located within the vertical projection area of ​​the non-supporting platform (11) and is parallel to the crossbeam (111).

4. The storage device according to claim 3, characterized in that: The storage and retrieval channel also includes a third channel; The third channel is located within the vertical projection area of ​​the storage platform (12); The third channel is used to connect the first channel and the second channel.

5. The storage device according to claim 1, characterized in that: When the number of the longitudinal beams (112) is at least two and the number of the fork arms of the fork arm body (21) is at least three, the distance between the two outermost longitudinal beams (112) can accommodate all inner fork arms.

6. The storage device according to claim 1, characterized in that: When the number of fork arms of the fork arm body (21) is one more than the number of longitudinal beams (112), the distance between adjacent fork arms can only accommodate one longitudinal beam (112).

7. The storage device according to claim 1, characterized in that: The crossbeam (111) is a segmented crossbeam, comprising a first crossbeam and a second crossbeam, wherein the first crossbeam and the second crossbeam are spaced apart and are respectively arranged on the shelf body, and two longitudinal beams (112) are provided and are respectively arranged on the first crossbeam and the second crossbeam.

8. The storage device according to claim 7, characterized in that: The spacing between the first cross beam and the second cross beam and the spacing between the two longitudinal beams (112) are both greater than the transverse width of the lifting frame (23), so that the transport robot (2) can pass through the spacing between the first cross beam and the second cross beam and the spacing between the two longitudinal beams (112).

9. The storage device according to claim 7, characterized in that: When the number of forks on the fork arm body (21) is more than three, the length of the fork arm in the middle is greater than the length of the fork arms on both sides, and the fork arm in the middle can pass through the gap between the first crossbeam and the second crossbeam.

10. The storage device according to claim 1, characterized in that: When the transport robot (2) is not loaded with a material box, each fork arm body (21) is located below each corresponding object-carrying platform (11); When the transport robot (2) loads a material box, each fork arm body (21) is located above each corresponding object-carrying platform (11).

11. The storage device according to any one of claims 1 to 10, characterized in that: A guide assembly (25) is provided on the top surface of the transport robot (2). The guide assembly (25) can be extended and retracted when in contact with the crossbeam (111) and can return to its original position when out of contact with the crossbeam (111). The guide assembly (25) is suitable for supporting a material box on the fork arm body located on the bottom layer.

12. A warehousing method, characterized in that: The method is carried out based on the storage device according to any one of claims 1 to 11, comprising the following steps: Based on the inventory status of each material receiving platform (11) on the shelf, determining the position of a material receiving platform group, and obtaining the position of the material receiving platform vacancy of the material receiving platform group; Based on the position of the empty space on the loading platform, determine the position of the transport robot (2) for unloading the material box; Determining a driving route based on position information between the transport robot (2) and the cargo-carrying platform group, wherein the driving route includes a route along a cargo storage and retrieval channel; The transport robot (2) is instructed to travel along the travel route to the position of the object-carrying platform group, and the transport robot (2) is instructed to carry the material box to an empty position on the object-carrying platform of the object-carrying platform group.

13. The warehousing method according to claim 12, characterized in that: During the process of instructing the transport robot (2) to transport the material box to the empty position of the loading platform of the loading platform group: When the transport robot (2) is a single-fork arm transport robot, it is determined whether the fork arm body (21) of the transport robot (2) is raised or lowered based on the position of the empty space on the loading platform; when the fork arm body (21) of the transport robot (2) corresponds to the empty space on the loading platform, the fork arm body (21) of the transport robot (2) is instructed to move up to a position higher than the longitudinal beam (112) and move the transport robot (2) into position, and the fork arm body (21) of the transport robot (2) is instructed to move down to a position not higher than the longitudinal beam (112) to transport the material box to the loading platform. On the empty space of the platform; when the fork arm body (21) of the transport robot (2) does not correspond to the empty space of the loading platform, the lifting mechanism (22) of the transport robot (2) is instructed to drive the fork arm body (21) to move up and down, and then the fork arm body (21) of the transport robot (2) is instructed to move up to a position higher than the longitudinal beam (112) and move the transport robot (2) into position, and the fork arm body (21) of the transport robot (2) is instructed to move down to a position not higher than the longitudinal beam (112), and move the material box loaded on the transport robot (2) to the empty space of the loading platform; When the transport robot (2) is a multi-fork arm transport robot, the fork arm body (21) of the transport robot (2) is instructed to move upward to a position higher than the longitudinal beam (112) and move the transport robot (2) into position, and the fork arm body (21) of the transport robot (2) is instructed to move downward to a position not higher than the longitudinal beam (112) and move the material box loaded on the transport robot (2) to an empty space on the loading platform.

14. The warehousing method according to claim 12 or 13, characterized in that: After the transport robot (2) transports the material box to an empty space on the cargo platform of the cargo platform group, the transport robot (2) also includes the step of leaving the cargo temporary storage area of ​​the shelf (1): When the crossbeam (111) is a segmented crossbeam: instruct the fork arm body (21) of the transport robot (2) to move down to a position lower than the crossbeam (111) and the longitudinal beam (112), instruct the transport robot (2) to pass through the crossbeam (111) along the X direction or along the -X direction, so that the transport robot (2) drives away from the temporary storage area of ​​the goods on the shelf (1); or instruct the transport robot (2) to return along the original route; When the crossbeam (111) is an integrated crossbeam: instructing the transport robot (2) to return along the original route of the travel.

15. A method for releasing goods from a warehouse, characterized in that: The method is carried out based on the storage device according to any one of claims 1 to 11, comprising the following steps: Determine the position of a platform group on the shelf; Determining a driving route based on position information between the transport robot (2) and the cargo-carrying platform group, wherein the driving route includes a route along a cargo storage and retrieval channel; Instructing the transport robot (2) to travel along the travel route to the location of the object-carrying platform group; The position of the material box of the object-carrying platform group is obtained, and the transport robot (2) is instructed to move the material box away from the object-carrying platform.

16. The method for releasing goods from storage according to claim 15, characterized in that: The driving route is divided into a driving route passing through the shelf and a normal driving route based on structural information of the crossbeam (111) on the shelf (1); The process of instructing the transport robot (2) to travel along the travel route to the position of the object-carrying platform group further includes the steps of: When the crossbeam (111) is a segmented crossbeam: based on the route of traveling through the shelf, the fork arm body (21) of the transport robot (2) is instructed to move down to a position lower than the crossbeam (111) and the longitudinal beam (112), and the transport robot (2) is instructed to move along the -X direction through the crossbeam (111), so that the transport robot (2) drives into the temporary storage area of ​​the goods on the shelf (1); or based on the normal route, the transport robot (2) is instructed to move along the X direction and drive into the temporary storage area of ​​the goods on the shelf (1); When the crossbeam (111) is an integrated crossbeam: based on a normal driving route, the transport robot (2) is instructed to move along the X direction and enter the goods temporary storage area of ​​the shelf (1).

17. The method for releasing goods from storage according to claim 15, characterized in that: During the process of instructing the transport robot (2) to move the material box away from the loading platform: When the transport robot (2) is a single-fork arm transport robot, based on the position of the material box of the loading platform, it is determined whether the fork arm body (21) of the transport robot (2) is raised or lowered; when the fork arm body (21) of the transport robot (2) corresponds to the material box on the loading platform, the fork arm body (21) of the transport robot (2) is instructed to move to a position lower than the longitudinal beam (112) and the transport robot (2) is moved into position, and the fork arm body (21) of the transport robot (2) is instructed to move up to a position higher than the longitudinal beam (112). 12) to move the material box away; when the fork arm body (21) of the transport robot (2) does not correspond to the material box on the loading platform, the lifting mechanism (22) of the transport robot (2) is instructed to drive the fork arm body (21) to move up and down, and then the fork arm body (21) of the transport robot (2) is instructed to move to a position lower than the longitudinal beam (112) and move the transport robot (2) into position, and the fork arm body (21) of the transport robot (2) is instructed to move up to a position higher than the longitudinal beam (112) to move the material box away; When the transport robot (2) is a multi-fork arm transport robot, the fork arm body (21) of the transport robot (2) is instructed to move to a position below the longitudinal beam (112) and move the transport robot (2) into position, and the fork arm body (21) of the transport robot (2) is instructed to move upward to a position above the longitudinal beam (112) to move the material box away.

18. The method for removing a warehouse according to any one of claims 15 to 17, characterized in that: When the transport robot (2) is a single-fork arm transport robot, the method further includes the step of supporting the material box by using a guide assembly (25): After the fork arm body (21) of the transport robot (2) is instructed to be lower than the longitudinal beam (112), the transport robot (2) is instructed to move, the guide assembly (25) touches the cross beam (111) of the shelf (1), and the transport robot (2) is instructed to move again. After the guide assembly (25) retracts and moves below the cross beam (111), the transport robot (2) is instructed to stop moving; The fork arm body (21) of the instructing transport robot (2) moves upward to a position higher than the longitudinal beam (112), and after the material box is moved away, the guide assembly (25) extends to its original state, and the fork arm body (21) of the instructing transport robot (2) moves downward until the material box touches the guide assembly (25) and stops, so that the material box is lifted by both the guide assembly (25) and the fork arm body (21).

Images