Warehouse system, retrieval method and storage method

Abstract

Provided in the embodiments of the present application are a warehouse system, a retrieval method and a storage method. The warehouse system comprises a storage area, rack-hung robots, goods conveyor lines and a picking area, wherein the storage area comprise a plurality of warehouse racks arranged at intervals; an aisle extending in the direction of length of the warehouse racks is formed between adjacent warehouse racks; a first end of each goods conveyor line extends into the corresponding warehouse rack in the storage area, and a second end of each goods conveyor line extends to the picking area, and is used for conveying goods between the storage area and the picking area; and each rack-hung robot is hung on the side of the warehouse rack close to the aisle, and is configured to move along the aisle to pick and place goods between the warehouse rack and the goods conveyor line inside the warehouse rack. Goods storage and retrieval are realized by means of labor division and cooperation between the rack-hung robots and the goods conveyor lines, and the mobile goods picking and placing of the rack-hung robots and the conveying of the goods conveyor lines can be performed simultaneously, and do not interfere with each other, thereby improving the goods pick-and-place efficiency and the handling efficiency of the warehouse system.

Description

Warehouse system, warehouse-out method and warehouse-in method

[0001] The present application claims priority to the Chinese Patent Application No. 202422596593.4, filed on October 25, 2024, and entitled "Warehouse system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of logistics and warehousing, in particular to a warehouse system, a warehouse-out method and a warehouse-in method. BACKGROUND

[0003] In the related art, a warehouse system includes multiple shelves and handling equipment, and the handling equipment usually adopts a handling robot or a stacker, which needs to take and place goods at the shelves and a picking area, and also needs to carry goods between the shelves and the picking area, so that the handling equipment has a long walking distance, and the path planning is complex when multiple handling equipment are dispatched in the warehouse system, thereby resulting in low efficiency of taking and placing goods in the warehouse system. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a warehouse system, a warehouse-out method and a warehouse-in method to improve the efficiency of taking and placing goods. The specific technical solutions are as follows:

[0005] The embodiments of the present application provide a warehouse system, comprising: a storage area, a hanging shelf robot, a goods conveying line and a picking area; the storage area comprises multiple shelves arranged at intervals, and a lane extending along the length direction of the shelves is formed between adjacent shelves; a first end of the goods conveying line extends to the inside of the shelves of the storage area, and a second end extends to the picking area, for conveying goods between the storage area and the picking area; the hanging shelf robot is hung on one side of the shelves close to the lane, for moving along the lane and taking and placing goods between the shelves and the goods conveying line inside the shelves.

[0006] In some embodiments of the present application, further comprising: a control device; the control device is in communication connection with the hanging shelf robot and the goods conveying line, for controlling the hanging shelf robot to take and place goods between the shelves and the goods conveying line inside the shelves, and controlling the goods conveying line to convey goods between the storage area and the picking area.

[0007] The embodiments of the present application further provide a warehouse-out method applied to the control device in the above-mentioned warehouse system, and the method comprises: sending an instruction to the hanging shelf robot to make the hanging shelf robot carry a target to-be-warehouse-out goods from the shelves to the goods conveying line inside the shelves; sending an instruction to the goods conveying line to make the goods conveying line convey the target to-be-warehouse-out goods from the storage area to the picking area.

[0008] An embodiment of the present application also provides a warehousing method, which is applied to the control equipment in the above-mentioned warehousing system. The method includes: sending instructions to the cargo conveyor line to enable the cargo conveyor line to transport the target goods to be stored from the picking area to the storage area; sending instructions to the hanging robot to enable the hanging robot to move the target goods to be stored from the cargo conveyor line inside the shelf to the shelf.

[0009] In the warehousing system provided by the embodiments of the present application, the first end of the cargo conveyor line extends to the interior of the shelves in the storage area, and the second end extends to the picking area, for transporting goods between the storage and picking areas. A rack-mounted robot is mounted on the side of the shelf near the aisle and can move along the aisle, picking and placing goods between the shelf and the cargo conveyor line inside the shelf. The rack-mounted robot and the cargo conveyor line work together to achieve the entry and exit of goods. The rack-mounted robot's movement to pick and place goods and the cargo conveyor line's transmission can occur simultaneously without interfering with each other, thereby improving the warehousing system's efficiency in picking and placing goods and handling.

[0010] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0012] FIG1 is a three-dimensional structural diagram of a storage system according to an embodiment of the present application;

[0013] FIG2 is a three-dimensional structural diagram of the storage system shown in FIG1 from another angle;

[0014] FIG3 is a partial three-dimensional structural diagram of the storage system shown in FIG1 ;

[0015] FIG4 a is a schematic diagram of a first distribution of the outbound conveyor line and the inbound conveyor line shown in FIG1 ;

[0016] FIG4 b is a schematic diagram of a second distribution of the outbound conveyor line and the inbound conveyor line shown in FIG1 ;

[0017] FIG5 is a partial three-dimensional structural diagram of the distribution conveying line of the warehousing system shown in FIG1;

[0018] FIG6 is a schematic diagram of the three-dimensional structure of the rack-type robot shown in FIG1 ;

[0019] FIG7 is a flow chart of a first embodiment of a method for sending out goods provided by the present application;

[0020] FIG8 is a flow chart of a second embodiment of the method for sending out goods provided by the present application;

[0021] FIG. 9 is a flowchart of a first embodiment of the warehousing method provided by the present application;

[0022] FIG. 10 is a flowchart of a second embodiment of the warehousing method provided by the present application.

[0023] Reference signs: storage area 100; shelf 110; first shelf 110A; second shelf 110B; storage space 111; storage layer 1111; storage location 1112; docking space 112; horizontal rail 120; hanger robot 200; support frame 210; upright column 211; goods taking and placing assembly 220; goods carrying platform 221; hook claw mechanism 222; lifting assembly 230; lifting motor 231; transmission mechanism 232; conveyor belt 2321; transmission wheel 2322; drive wheel set 240; goods conveying line 300; outbound conveying line 310; inbound conveying line 320; distribution conveying line 330; first distribution conveying line 331; second distribution conveying line 332; first jacking and shifting mechanism 333A; second jacking and shifting mechanism 333B; conveyor wheel 3331; second conveyor belt 3331A; conveyor wheel 3331B; jacking mechanism 3332; roller 334; first scanning device 341; second scanning device 342; third scanning device 343; picking area 400; picking table 410; first picking conveying line 411; second picking conveying line 412; third picking conveying line 413; display 420; aisle 500; goods 600. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the present application clearer, further detailed descriptions will be made to the present application with reference to the drawings and embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0025] As described in the background, in the related art, the warehouse system includes multiple shelves and handling equipment, the handling equipment usually adopts handling robots or stackers, which need to take and place goods at the shelves and the picking area, and also need to handle goods between the shelves and the picking area, resulting in low efficiency of taking and placing goods in the warehouse system.

[0026] To improve the efficiency of taking and placing goods, the present application provides a warehouse system, an outbound method, and a warehousing method. Hereinafter, the warehouse system provided by the embodiments of the present application will be described in detail.

[0027] Referring to FIGS. 1-3, FIG. 1 is a perspective view of the warehouse system according to the embodiments of the present application; FIG. 2 is another perspective view of the warehouse system shown in FIG. 1; and FIG. 3 is a partial perspective view of the warehouse system shown in FIG. 1.

[0028] As shown in FIGS. 1-3, the warehouse system comprises a storage area 100, a hanging rack robot 200, a goods conveying line 300 and a picking area 400.

[0029] The storage area 100 comprises a plurality of spaced-apart shelves 110, and a lane 500 extending along the length direction of the shelves 110 is formed between adjacent shelves 110.

[0030] The first end of the goods conveying line 300 extends to the inside of the shelves 110 of the storage area 100, and the second end extends to the picking area 400, for conveying goods 600 between the storage area 100 and the picking area 400.

[0031] The hanging rack robot 200 is hung on one side of the shelves 110 close to the lane 500, for moving along the lane 500 and taking and placing goods 600 between the shelves 110 and the goods conveying line 300 inside the shelves 110.

[0032] The picking area 400 is configured to realize goods picking or placing based on the goods conveying line 300.

[0033] The warehouse system provided by the embodiments of the present application has the first end of the goods conveying line 300 extending to the inside of the shelves 110 of the storage area 100, and the second end extending to the picking area 400, for conveying goods 600 between the storage area 100 and the picking area 400; and the hanging rack robot 200 is hung on one side of the shelves 110 close to the lane 500, and can move along the lane 500 and take and place goods 600 between the shelves 110 and the goods conveying line 300 inside the shelves 110. The warehouse system realizes the storage and retrieval of goods 600 through the cooperation of the hanging rack robot 200 and the goods conveying line 300, and the movement of the hanging rack robot 200 for taking and placing goods 600 and the transmission of the goods conveying line 300 can be performed simultaneously without interference, thereby improving the efficiency of taking and placing goods and the efficiency of carrying goods of the warehouse system.

[0034] Specifically, as shown in FIGS. 1-3, the first end of the goods conveying line 300 extends to the inside of the shelves 110 of the storage area 100, and the first end can be located at the middle of the shelves 110 or at the bottom of the shelves 110. The goods 600 can be specific articles or containers for containing articles, and the type of goods is not limited in the present application. The size of the goods 600 can be various, for example, the goods 600 can be containers of different sizes for loading different articles.

[0035] In some embodiments of the present application, the hanging rack robot 200 is hung on the shelves 110 on one side of the lane 500; and the hanging rack robot 200 is configured to take and place goods 600 on the shelves 110 on both sides of the lane 500 and on the goods conveying line 300 inside the shelves 110 on both sides.

[0036] In addition, in other embodiments, one rack-mounted robot 200 can be hung on each of the racks 110 on both sides of the aisle 500, and the rack-mounted robot 200 is used to take and place the goods 600 on the rack 110 and the goods 600 on the goods conveying line 300 inside the rack 110.

[0037] The number of rack-mounted robots 200 in each aisle 500 can be one or more, which can be set according to the length of the rack 110. Multiple rack-mounted robots 200 can each be responsible for taking and placing goods 600 on a part of the rack 110, so as to improve the taking and placing efficiency.

[0038] According to the embodiments of the present application, the rack-mounted robot 200 is hung on the rack 110 on one side of the aisle 500, and is used to take and place the goods 600 on the racks 110 on both sides of the aisle 500 and the goods 600 on the goods conveying line 300 inside the racks 110 on both sides, so as to improve the utilization rate of the rack-mounted robot 200.

[0039] The storage area 100, the goods conveying line 300 and the picking area 400 of the warehouse system according to the embodiments of the present application will be described in detail below.

[0040] Referring to FIG. 1, the storage area 100 of the warehouse system according to the embodiments of the present application is provided with six racks 110, among which the middle four racks are four-deep racks, which can be composed of two double-deep racks back-to-back, and the two sides are double-deep racks. As shown in FIG. 1, the aisles 500 are formed between adjacent racks 110, and the rack-mounted robots 200 are hung on one of the racks 110 on both sides of the aisle 500, and are used to take and place the double-deep goods 600 close to the aisle 500 on the racks 110 on both sides of the aisle 500. Specifically, in order to be neat and convenient to manage, in the embodiments, the rack-mounted robots 200 are hung on the racks on the right side of the aisle.

[0041] In some embodiments of the present application, as shown in FIGS. 1 to 3, the rack 110 includes a storage space 111 at the upper part and a docking space 112 at the bottom part.

[0042] The storage space 111 includes a plurality of storage layers 1111 arranged in a vertical direction and used to store the goods 600; the docking space 112 is located at the lower part of the storage space 111, the first end of the goods conveying line 300 extends to the docking space 112, and the second end extends to the picking area 400.

[0043] Specifically, the storage layer 1111 is divided into a plurality of storage positions 1112 for storing the goods 600.

[0044] In some embodiments of the present application, as shown in FIGS. 1-3, the goods conveying line 300 comprises an outbound conveying line 310 and an inbound conveying line 320. The outbound conveying line 310 and the inbound conveying line 320 are arranged at the bottom of the shelves 110 in the storage area 100, with the outbound conveying line 310 on one side of each aisle 500 and the inbound conveying line 320 on the other side.

[0045] The first ends of the outbound conveying line 310 and the inbound conveying line 320 extend in parallel to the bottom of the shelves 110; the second ends extend to the picking area 400, respectively.

[0046] The outbound conveying line 310 is used to output the goods 600 to be shipped from the shelves 110 to the picking area 400 by the hanger robot 200.

[0047] The inbound conveying line 320 is used to input the goods 600 to be stored from the picking area 400 to the bottom of the shelves 110, so that the hanger robot 200 moves the goods 600 to be stored on the inbound conveying line 320 to the shelves 110.

[0048] Specifically, the outbound conveying line 310 and the inbound conveying line 320 are one-way conveying lines, with the conveying direction of the outbound conveying line 310 being from the storage area 100 to the picking area 400, and the conveying direction of the inbound conveying line 320 being from the picking area 400 to the storage area 100.

[0049] The shelves 110 are multi-depth shelves, so that the docking space 112 can accommodate the outbound conveying line 310 and the inbound conveying line 320. Accordingly, the hanger robot 200 can take and place multi-depth goods 600.

[0050] However, in order to improve the utilization rate of the hanger robot 200, the shelves 110 located on both sides of the storage area 100 can be arranged to have a depth that can only accommodate one outbound conveying line 310 or one inbound conveying line 320, and the hanger robot 200 is arranged on the side of the shelves 110 close to the aisle 500, which can take and place goods 600 on the shelves 110 and its adjacent shelves 110, and the hanger robot 200 is not needed on the side of the shelves 110 away from the aisle 500.

[0051] Referring to FIGS. 4a and 4b, FIG. 4a is a first distribution diagram of the outbound conveying line and the inbound conveying line shown in FIG. 1; and FIG. 4b is a second distribution diagram of the outbound conveying line and the inbound conveying line shown in FIG. 1.

[0052] The outbound conveying line 310 and the inbound conveying line 320 can be arranged in sequence at the bottom of the shelves 110 in the storage area 100 as shown in FIG. 4a, i.e., arranged in the storage area 100 in the order of the outbound conveying line 310, the inbound conveying line 320, the outbound conveying line 310, the inbound conveying line 320, and so on.

[0053] The storage area 100 can also be provided with two same outbound conveying lines 310 or two same inbound conveying lines 320 at the bottom of each four-deep rack, and the conveying lines 300 at the bottom of the adjacent four-deep racks are different, and the conveying lines 300 at the bottom of the double-deep racks on the two sides are also different from the conveying lines 300 at the bottom of the adjacent four-deep racks.

[0054] Regardless of the first or second scheme, one side of each aisle 500 is an outbound conveying line 310, and the other side is an inbound conveying line 320. The warehouse system will be described below with the first scheme as an example.

[0055] As shown in FIG. 1, the outbound conveying lines 310 and the inbound conveying lines 320 in the embodiment are arranged in parallel at the bottom of the four columns of four-deep racks in the middle of the storage area 100. The double-deep racks on the left side of the storage area 100 are provided with the inbound conveying lines 320, and the double-deep racks on the right side of the storage area 100 are provided with the inbound conveying lines 320.

[0056] When the goods 600 on the four columns of four-deep racks in the middle of the storage area 100 need to be taken out, the goods 600 need to be taken by the rack-mounted robots 200 in the aisle 500 on the side of the goods 600 and placed on the only outbound conveying line 310 adjacent to the aisle 500.

[0057] When the goods 600 on the double-deep racks on the left side of the storage area 100 need to be taken out, the rack-mounted robots 200 in the aisle 500 can place the goods 600 to be taken out on the outbound conveying line 310 at the bottom of the adjacent rack 110.

[0058] When the goods 600 to be taken in need to be taken in to the double-deep racks on the right side of the storage area 100, the goods 600 can be conveyed to the docking space 112 of the adjacent rack by the inbound conveying line 320 at the bottom of the adjacent rack 110, and then taken down by the rack-mounted robots 200 in the aisle 500 and placed on the rack 110.

[0059] The working steps of the rack-mounted robots 200 will be described below with FIG. 3 as an example.

[0060] The two adjacent racks 110 in FIG. 3 include a first rack 110A and a second rack 110B.

[0061] The first shelf 110A is provided with an outbound conveying line 310 at the bottom close to one side of the aisle 500, and the second shelf 110B is provided with an inbound conveying line 320 at the bottom close to one side of the aisle 500. The hanger robot 200 is hung on the first shelf 110A. The hanger robot 200 comprises a support frame 210 and a goods taking and placing assembly 220. The specific structure will be described later.

[0062] When the goods are outbound:

[0063] A. The goods taking and placing assembly 220 moves horizontally and vertically based on the support frame 210, moves to a position corresponding to the target outbound goods 600 on the first shelf 110A or the second shelf 110B, and extends towards the target outbound goods 600 to take the goods;

[0064] B. After taking the goods, the goods taking and placing assembly 220 retracts and moves downward to a position corresponding to the outbound conveying line 310 at the bottom of the first shelf 110A, extends towards the outbound conveying line 310, and places the outbound goods 600 on the outbound conveying line 310.

[0065] When the goods are inbound:

[0066] C. The goods taking and placing assembly 220 moves horizontally and vertically based on the support frame 210, moves to a position corresponding to the inbound conveying line 320 at the bottom of the second shelf 110B, and extends towards the inbound conveying line 320 to take the goods;

[0067] D. After taking the goods, the goods taking and placing assembly 220 retracts and moves upward to a position corresponding to the target storage location 1112 on the first shelf 110A or the second shelf 110B, extends towards the target storage location 1112, and places the inbound goods 600 on the target storage location 1112.

[0068] By applying the embodiments of the present application, the outbound conveying line 310 and the inbound conveying line 320 are provided, so that the outbound and inbound of the goods 600 can be carried out simultaneously without interference, thereby improving the goods taking and placing efficiency and the carrying efficiency of the warehouse system. Moreover, the outbound conveying line 310 and the inbound conveying line 320 are arranged at the bottom of the shelf 110 in the storage area 100, which can improve the space utilization rate of the warehouse system.

[0069] In some embodiments of the present application, as shown in FIGS. 1 and 2, the picking area 400 comprises a picking table 410. The second end of the outbound conveying line 310 and the second end of the inbound conveying line 320 are both in communication with the picking table 410.

[0070] The picking table 410 is used for picking and outbound of the outbound goods 600 conveyed by the second end of the outbound conveying line 310, and moving the inbound goods 600 to the second end of the inbound conveying line 320.

[0071] Specifically, the picking table 410 can be picked by a person or by a device. The to-be-warehoused goods 600 can be picked goods from the to-be-shipped conveying line 310, or can be goods taken from outside by a person or a device and placed on the picking table 410.

[0072] According to the embodiment of the present application, the picking table 410 is arranged to receive the to-be-shipped goods 600 on the to-be-shipped conveying line 310 for picking and shipping, or to move the to-be-warehoused goods 600 to the to-be-warehoused conveying line 320.

[0073] In some embodiments of the present application, as shown in FIGS. 1 and 2, the number of picking tables 410 in the picking area 400 is multiple, and the multiple picking tables 410 are arranged at intervals.

[0074] The goods conveying line 300 further comprises a distribution conveying line 330, and the second end of each to-be-shipped conveying line 310 and the second end of each to-be-warehoused conveying line 320 are connected to the distribution conveying line 330.

[0075] The distribution conveying line 330 is further connected to each picking table 410, and is used to distribute the to-be-shipped goods 600 at the second end of each to-be-shipped conveying line 310 to a target picking table 410, or to distribute the to-be-warehoused goods 600 on each picking table 410 to a target second end of a to-be-warehoused conveying line 320.

[0076] Specifically, as shown in FIGS. 1 and 2, the picking area 400 in the embodiment comprises three picking tables 410, and each picking table can correspond to picking of a preset number of to-be-shipped goods 600 on the shelves 110.

[0077] The to-be-shipped goods 600 on the shelves 110 on both sides of each aisle 500 are conveyed by a to-be-shipped conveying line 310, and finally conveyed to the distribution conveying line 330, and the distribution conveying line 330 distributes each to-be-shipped goods 600 to a corresponding target picking table 410.

[0078] The to-be-warehoused goods 600 on each picking table 410 are all conveyed to the distribution conveying line 330, and the distribution conveying line 330 distributes each to-be-warehoused goods 600 to a target to-be-warehoused conveying line 320 corresponding to a target shelf 110.

[0079] According to the embodiment of the present application, the distribution conveying line 330 is arranged to distribute the to-be-shipped goods 600 to a corresponding target picking table 410, or to distribute the to-be-warehoused goods 600 to a corresponding target to-be-warehoused conveying line 320, thereby avoiding that all to-be-shipped conveying lines 310 and to-be-warehoused conveying lines 320 are directly connected to the picking tables 410, resulting in too many conveying lines in the picking area 400; and the distribution conveying line 330 is used to distribute the goods 600, thereby improving the efficiency of the warehousing system, the shipping efficiency, and the warehousing efficiency.

[0080] In some embodiments of the present application, referring to FIG. 5, which is a partial perspective view of the distribution conveying line of the warehouse system shown in FIG. 1. As shown in FIGS. 1, 2 and 5, the distribution conveying line 330 includes a first distribution conveying line 331 and a second distribution conveying line 332 arranged side by side and in opposite directions.

[0081] The first distribution conveying line 331 is connected to the second end of the outbound conveying line 310 and the second end of the inbound conveying line 320 at the bottom of each rack 110, and the second distribution conveying line 332 is connected to each picking station 410.

[0082] The conveying end of the first distribution conveying line 331 and the second distribution conveying line 332 is communicated with the input end of the second distribution conveying line 332 through the first lifting transfer mechanism 333A, and the conveying end of the second distribution conveying line 332 is communicated with the input end of the first distribution conveying line 331 through the second lifting transfer mechanism 333B.

[0083] When outbound, the first lifting transfer mechanism 333A is used to transfer the outbound goods 600 on the first distribution conveying line 331 to the second distribution conveying line 332; when inbound, the second lifting transfer mechanism 333B is used to transfer the inbound goods 600 on the second distribution conveying line 332 to the first distribution conveying line 331.

[0084] Specifically, as shown in FIGS. 1 and 2, in the distribution conveying line 330 shown in the embodiment, the first distribution conveying line 331 and the second distribution conveying line 332 are parallel and adjacent, arranged in a direction perpendicular to the aisle 500, and the first distribution conveying line 331 is located on the side close to the storage area 100.

[0085] In other embodiments, the first distribution conveying line 331 and the second distribution conveying line 332 can also be non-linear conveying sections, and can not be parallel to each other and perpendicular to the aisle 500, as long as the first distribution conveying line 331 and the second distribution conveying line 332 are arranged side by side at the two ends to enable the goods 600 to be transferred between the first distribution conveying line 331 and the second distribution conveying line 332.

[0086] The first distribution conveying line 331 and the second distribution conveying line 332 are unidirectional conveying lines, as shown in FIG. 1, the transmission direction of the first distribution conveying line 331 is from right to left, and the transmission direction of the second distribution conveying line 332 is from left to right. That is, the input end of the first distribution conveying line 331 is the right end, and the conveying end is the left end; the input end of the second distribution conveying line 332 is the left end, and the conveying end is the right end; the left ends of the first distribution conveying line 331 and the second distribution conveying line 332 are communicated through the first lifting transfer mechanism 333A, and the right ends are communicated through the second lifting transfer mechanism 333B.

[0087] In other embodiments, the transmission direction of the first distribution conveying line 331 can be from left to right, and the transmission direction of the second distribution conveying line 332 can be from right to left, which is not limited in the application.

[0088] According to the embodiments of the application, the first distribution conveying line 331 and the second distribution conveying line 332 are arranged to respectively take the goods 600 in the storage area 100 and the picking area 400, so that the goods 600 are prevented from being stacked on one conveying line, and the transmission efficiency of the distribution conveying line 330 is improved. The first lifting transfer mechanism 333A and the second lifting transfer mechanism 333B are arranged to enable the goods 600 to be conveyed between the first distribution conveying line 331 and the second distribution conveying line 332.

[0089] In some embodiments of the application, as shown in FIG. 5, the first distribution conveying line 331 and the second distribution conveying line 332 are drum conveying lines, which include a plurality of drum 334 arranged at intervals.

[0090] The first lifting transfer mechanism 333A and the second lifting transfer mechanism 333B each include a plurality of groups of conveying pulleys 3331 and a lifting mechanism 3332. Each group of conveying pulleys 3331 is arranged in a corresponding drum gap of the first distribution conveying line 331 and the second distribution conveying line 332, and the lifting mechanism 3332 is arranged at the bottom of the plurality of groups of conveying pulleys 3331 and is drivingly connected to the plurality of groups of conveying pulleys 3331.

[0091] When the to-be-delivered goods 600 move on the first distribution conveying line 331 to the drum 334 adjacent to the plurality of groups of conveying pulleys 3331 of the first lifting transfer mechanism 333A, the plurality of groups of conveying pulleys 3331 of the first lifting transfer mechanism 333A are lifted by the lifting mechanism 3332, lift the to-be-delivered goods 600, and convey the to-be-delivered goods 600 toward the second distribution conveying line 332.

[0092] When the to-be-stored goods 600 move on the second distribution conveying line 332 to the drum 334 adjacent to the plurality of groups of conveying pulleys 3331 of the second lifting transfer mechanism 333B, the plurality of groups of conveying pulleys 3331 of the second lifting transfer mechanism 333B are lifted by the lifting mechanism 3332, lift the to-be-stored goods 600, and convey the to-be-stored goods 600 toward the first distribution conveying line 331.

[0093] Specifically, as shown in FIG. 5, the conveying pulley 3331 includes a second conveying belt 3331A and at least two conveying pulleys 3331B. In the embodiment, there are three groups of conveying pulleys 3331, and each group of conveying pulleys 3331 can be arranged in the adjacent drum gap as shown in FIG. 5, or arranged in the drum gap with a certain interval, which can increase the lateral size of the lifting and transferring mechanism to adapt to the goods 600 with large size. The specific arrangement can be determined according to the actual scene, which is not limited in the present application.

[0094] Taking the first lifting and transferring mechanism 333A as an example, in the embodiment, each group of conveying pulleys 3331 includes two conveying pulleys 3331B, which are arranged in the drum gaps of the first distribution conveying line 331 and the second distribution conveying line 332 respectively, and the second conveying belt 3331A is arranged around the two conveying pulleys 3331B. The lifting mechanism 3332 is arranged at the bottom of the second conveying belt 3331A, and specifically can be arranged in the interval between the first distribution conveying line 331 and the second distribution conveying line 332. When the to-be-warehoused goods 600 moves above the first lifting and transferring mechanism 333A at one end of the first distribution conveying line 331, the lifting mechanism 3332 drives the second conveying belt 3331A and the conveying pulleys 3331B to rise to a height higher than the drum 334, so as to lift the to-be-warehoused goods 600. Then, the goods 600 are conveyed to the first lifting and transferring mechanism 333A at one end of the second distribution conveying line 332, and then the second conveying belt 3331A and the conveying pulleys 3331B are driven to descend to a height lower than the drum 334, so as to place the to-be-warehoused goods 600 on the second distribution conveying line 332, and the to-be-warehoused goods 600 are continuously conveyed by the second distribution conveying line 332.

[0095] The conveying pulley 3331 is in the raised state only when the to-be-warehoused goods 600 are conveyed to the first lifting and transferring mechanism 333A or the to-be-warehoused goods 600 are conveyed to the second lifting and transferring mechanism 333B, and in other times, the conveying pulley 3331 can be kept in the lowered state.

[0096] By applying the embodiment of the present application, the conveying pulley 3331 is arranged in the corresponding drum gap of the first distribution conveying line 331 and the second distribution conveying line 332 in a liftable manner, so that when the conveying pulley 3331 is in the lowered state, the goods 600 can move in the original conveying direction, and when the conveying pulley 3331 is in the raised state, the goods 600 can move along a direction perpendicular to the original conveying direction, so as to be switched to another conveying line. In addition, the conveying pulley 3331 is arranged in the drum gap, which improves the space utilization of the distribution conveying line 330.

[0097] In some embodiments of the present application, as shown in FIGS. 1 and 2, each picking station 410 includes a first picking conveying line 411, a second picking conveying line 412, and a third picking conveying line 413.

[0098] The first picking conveying line 411 is in communication with the second distribution conveying line 332, and is used to take the to-be-shipped-out goods 600 from the second distribution conveying line 332 and transmit the to-be-shipped-out goods 600 to the second picking conveying line 412.

[0099] The second picking conveying line 412 is used to pick the to-be-shipped-out goods 600 transmitted from the first picking conveying line 411, and transmit the to-be-warehoused goods 600 to the third picking conveying line 413.

[0100] The third picking conveying line 413 is in communication with the second distribution conveying line 332, and is used to transmit the to-be-warehoused goods 600 transmitted from the second picking conveying line 412 to the second distribution conveying line 332.

[0101] Specifically, as shown in FIG. 1, the first picking conveying line 411, the second picking conveying line 412 and the third picking conveying line 413 are arranged in a U shape. The second picking conveying line 412 is used for manual or equipment picking or warehousing.

[0102] According to the embodiment of the present application, the first picking conveying line 411, the second picking conveying line 412 and the third picking conveying line 413 are arranged, so that the picking station 410 can take the to-be-shipped-out goods 600 on the second distribution conveying line 332, and manual or equipment picking or warehousing can be performed, and the to-be-warehoused goods 600 can be transmitted to the second distribution conveying line 332.

[0103] In some embodiments of the present application, as shown in FIG. 1 and FIG. 2, the conveying end of the first distribution conveying line 331 is provided with a first scanning device 341, and the conveying end of the second distribution conveying line 332 is provided with a second scanning device 342.

[0104] The first scanning device 341 is used to identify the barcode of the to-be-shipped-out goods 600 on the first distribution conveying line 331, so that after the second distribution conveying line 332 receives the to-be-shipped-out goods 600, the to-be-shipped-out goods 600 are distributed to the target picking station 410 according to the identification result of the first scanning device 341.

[0105] The second scanning device 342 is used to identify the barcode of the to-be-warehoused goods 600 transmitted from the picking station 410, so that after the first distribution conveying line 331 receives the to-be-warehoused goods 600, the to-be-warehoused goods 600 are distributed to the second end of the target warehousing conveying line 320 according to the identification result of the second scanning device 342.

[0106] The third scanning device 343 is arranged on the picking station 410, and is used to identify the barcode of the goods 600 on the picking station 410 to perform picking or warehousing.

[0107] Specifically, the warehouse system further comprises a control device, which is in communication connection with the rack robot 200, the goods conveying line 300 and the picking table 410.

[0108] When the to-be-outbound goods 600 passes through the first scanning device 341, the control device receives the identification information fed back by the first scanning device 341 and sends an instruction to the second distribution conveying line 332, so that the second distribution conveying line 332 distributes and conveys the to-be-outbound goods 600 to the target picking table 410.

[0109] When the to-be-inbound goods 600 passes through the second scanning device 342, the control device receives the identification information fed back by the second scanning device 342 and sends an instruction to the first distribution conveying line 331, so that the first distribution conveying line 331 distributes and conveys the to-be-inbound goods 600 to the second end of the target inbound conveying line 320.

[0110] As shown in FIG. 1, in the embodiment, the third scanning device 343 is arranged on the second picking conveying line 412; and a display 420 is arranged in the area surrounded by the U-shaped picking table 410 and the second distribution conveying line 332. When the to-be-outbound goods 600 conveyed by the first picking conveying line 411 or the goods 600 needing to be inbound placed on the second picking conveying line 412 by a person or a device passes through the third scanning device 343, the control device receives the identification information fed back by the third scanning device 343 and outputs the identification information and the order information of the goods to the display 420 at the picking table 410, so that the worker can refer to the order information on the display 420 to pick or place the goods.

[0111] By arranging the scanning devices on the first distribution conveying line 331 and the second distribution conveying line 332, the first distribution conveying line 331 and the second distribution conveying line 332 can distribute and convey the to-be-inbound goods 600 or the to-be-outbound goods 600 according to the identification results of the scanning devices, so that the goods 600 can be accurately conveyed to the target rack 110 or the target picking table 410; and by arranging the scanning device on the picking table 410, the worker can refer to the order information corresponding to the goods 600 to pick or place the goods, thereby improving the picking efficiency and the inbound and outbound efficiency of the warehouse system.

[0112] Next, taking FIG. 1 as an example, the inbound and outbound processes of the goods 600 on the four-column and four-depth rack in the middle of the storage area 100 are described.

[0113] When warehousing: the to-be-warehoused goods 600 are transported from the second order-picking conveying line 412 of the order-picking station 410 to the second lifting transfer mechanism 333B of the second distribution conveying line 332 through the third order-picking conveying line 413, are scanned and identified by the second scanning device 342, are then transported to the first distribution conveying line 331 by the second lifting transfer mechanism 333B, are distributed and conveyed to the second end of the warehousing conveying line 320 corresponding to the target storage position 1112 according to the identification result by the first distribution conveying line 331, are conveyed to the bottom docking space 112 of the rack 110 or the bottom docking space 112 of the adjacent rack 110 by the warehousing conveying line 320, and are finally moved to the target storage position 1112 by the rack-hanging robot 200.

[0114] When warehousing: the to-be-warehoused goods 600 are transported from the second order-picking conveying line 412 of the order-picking station 410 to the second lifting transfer mechanism 333B of the second distribution conveying line 332 through the third order-picking conveying line 413, are scanned and identified by the second scanning device 342, are then transported to the first distribution conveying line 331 by the second lifting transfer mechanism 333B, are distributed and conveyed to the second end of the warehousing conveying line 320 corresponding to the target storage position 1112 according to the identification result by the first distribution conveying line 331, are conveyed to the bottom docking space 112 of the rack 110 or the bottom docking space 112 of the adjacent rack 110 by the warehousing conveying line 320, and are finally moved to the target storage position 1112 by the rack-hanging robot 200.

[0115] Then, the warehousing and out-of-warehouse processes of the goods 600 on the two double-deep racks on the left and right sides of the storage area 100 are described.

[0116] The warehousing and out-of-warehouse processes of the goods 600 on the double-deep rack on the left side of the storage area 100 are as follows.

[0117] When warehousing: the to-be-warehoused goods 600 are transported from the second order-picking conveying line 412 of the order-picking station 410 to the second lifting transfer mechanism 333B of the second distribution conveying line 332 through the third order-picking conveying line 413, are scanned and identified by the second scanning device 342, are then transported to the first distribution conveying line 331 by the second lifting transfer mechanism 333B, are distributed and conveyed to the second end of the warehousing conveying line 320 corresponding to the target storage position 1112 according to the identification result by the first distribution conveying line 331, are conveyed to the bottom docking space 112 of the rack 110 or the bottom docking space 112 of the adjacent rack 110 by the warehousing conveying line 320, and are finally moved to the target storage position 1112 by the rack-hanging robot 200.

[0118] When the goods 600 are to be delivered out, the goods 600 are taken by the hanging rack robot 200 in the aisle 500 and placed on the delivery conveying line 310 at the bottom of the rack 110 adjacent to the rack 110, conveyed to the first distribution conveying line 331 through the delivery conveying line 310, continuously transmitted to the first lifting transfer mechanism 333A of the first distribution conveying line 331, scanned and identified by the first scanning device 341, then transmitted to the second distribution conveying line 332 by the first lifting transfer mechanism 333A, and distributed to the first and second sorting conveying lines 411 and 412 of the target sorting table 410 by the second distribution conveying line 332 according to the identification result, and picked out by manual or equipment.

[0119] The storage area 100 right side double deep rack goods 600 in and out of the warehouse process as follows.

[0120] When the goods 600 are to be delivered out, the goods 600 are taken by the hanging rack robot 200 in the aisle 500 and placed on the delivery conveying line 310 at the bottom of the rack 110 adjacent to the rack 110, conveyed to the first distribution conveying line 331 through the delivery conveying line 310, continuously transmitted to the first lifting transfer mechanism 333A of the first distribution conveying line 331, scanned and identified by the first scanning device 341, then transmitted to the second distribution conveying line 332 by the first lifting transfer mechanism 333A, and distributed to the first and second sorting conveying lines 411 and 412 of the target sorting table 410 by the second distribution conveying line 332 according to the identification result, and picked out by manual or equipment.

[0121] When the goods 600 are to be delivered out, the goods 600 are taken by the hanging rack robot 200 in the aisle 500 and placed on the delivery conveying line 310 at the bottom of the rack 110 adjacent to the rack 110, conveyed to the first distribution conveying line 331 through the delivery conveying line 310, continuously transmitted to the first lifting transfer mechanism 333A of the first distribution conveying line 331, scanned and identified by the first scanning device 341, then transmitted to the second distribution conveying line 332 by the first lifting transfer mechanism 333A, and distributed to the first and second sorting conveying lines 411 and 412 of the target sorting table 410 by the second distribution conveying line 332 according to the identification result, and picked out by manual or equipment.

[0122] In some embodiments of the present application, as shown in FIG. 3, different storage spaces 1112 can stack different sizes of goods 600; the goods 600 stored in each storage space 1112 are of the same size or different sizes.

[0123] Specifically, as shown in FIG. 3, a plurality of goods 600 can be stacked on one storage location 1112, which can improve the space utilization and storage capacity of the shelf 110. The goods 600 can be of the same size but different types. If the target goods 600 to be taken out are located in the middle, the goods 600 above the target goods 600 can be temporarily moved to other storage locations 1112 by the hanging shelf robot 200, and then the moved goods 600 can be put back to the original storage location 1112 after the target goods 600 are taken out.

[0124] By using the embodiments of the present application, different storage locations 1112 can stack goods 600 of different sizes, which can improve the space utilization and storage capacity of the shelf 110 and reduce the cost of the shelf 110.

[0125] Then, the hanging shelf robot 200 in the warehouse system of the embodiments of the present application is described in detail.

[0126] In some embodiments of the present application, referring to FIG. 6, which is a perspective structural schematic diagram of the hanging shelf robot shown in FIG. 1. As shown in FIG. 6, the hanging shelf robot 200 includes a support frame 210 and a goods taking and placing assembly 220.

[0127] The support frame 210 is hung on the shelf 110 and movably connected to the side of the shelf 110 along the length direction of the aisle 500.

[0128] The goods taking and placing assembly 220 is arranged on the support frame 210 and can be lifted along the support frame 210 and horizontally moved with the support frame 210 relative to the shelf 110 to take and place goods 600 at different positions on the shelf 110 and the goods conveying line 300 inside the shelf 110.

[0129] Specifically, as shown in FIG. 3 and FIG. 6, the hanging shelf robot 200 can take and place goods 600 at different positions on the shelf 110 along the length direction of the aisle 500 and on the goods conveying line 300 inside the shelf 110 based on the horizontal movement of the support frame 210 to drive the goods taking and placing assembly 220, and take and place goods 600 at different positions on the shelf 110 along the height direction of the aisle 500 based on the lifting movement of the goods taking and placing assembly 220 along the support frame 210. In addition, the hanging shelf robot 200 can also take and place goods 600 between different storage locations 1112 on the shelf 110 to perform goods arrangement.

[0130] The support frame 210 can have various structures, which can be a single column or a column portal composed of two columns, and the present application does not limit the structure of the support frame 210.

[0131] In specific embodiments, as shown in FIG. 6, the support frame 210 is a column gantry, including two oppositely arranged columns 211, and the goods taking and placing assembly 220 is arranged between the two columns 211 of the support frame 210 and is slidingly connected with the two columns 211.

[0132] The specific structure of the goods taking and placing assembly 220 can be a yoke, a clamping plate, a suction cup, a hook claw or a jacking plate, etc. In specific embodiments of the present application, as shown in FIG. 6, the goods taking and placing assembly 220 includes a goods carrying platform 221, a hook claw mechanism 222 and a telescopic assembly. The goods carrying platform 221 is slidingly connected with the two columns 211 of the support frame 210, the hook claw mechanism 222 and the telescopic assembly are arranged on the goods carrying platform 221, the telescopic assembly can drive the goods carrying platform 221 and the hook claw mechanism 222 to extend out of the support frame 210 in the horizontal direction, and the hook claw mechanism 222 can hook the goods 600 and place them on the goods carrying platform 221.

[0133] By applying the embodiments of the present application, the hanger type robot 200 is hung on the goods shelf 110 through the support frame 210 and is located in the aisle, thereby improving the space utilization rate of the warehouse system. The hanger type robot 200 moves along the aisle 500, takes and places the goods 600 at different positions on the goods shelf 110 on both sides of the aisle 500 and the goods conveying line 300 inside the goods shelf 110 based on the goods taking and placing assembly 220, and does not need to transport the goods between the storage area 100 and the picking area 400, thereby improving the goods taking and placing efficiency of the warehouse system.

[0134] In some embodiments of the present application, as shown in FIGS. 3 and 6, the goods shelf 110 is arranged on one side of the aisle 500 and is spaced apart in the vertical direction to form at least one horizontal rail 120; the support frame 210 is movably connected with the horizontal rail 120, so that the support frame 210 and the goods taking and placing assembly 220 can slide horizontally along the horizontal rail 120 to take and place different goods 600 on the goods shelf 110 on both sides of the aisle 500 and the goods conveying line 300 inside the goods shelf 110.

[0135] Specifically, as shown in FIG. 6, at least one set of driving wheels 240 is arranged on the support frame 210, and the height of the driving wheels 240 corresponds to the height of the horizontal rail 120. The support frame 210 is rollingly connected with the horizontal rail 120 based on the driving wheels 240, so that the support frame 210 can be hung on the goods shelf 110, and the support frame 210 can move horizontally along the horizontal rail 120 under the driving of the driving wheels 240.

[0136] By applying the embodiments of the present application, the support frame 210 can drive the goods taking and placing assembly 220 to move horizontally based on the horizontal rail 120, so as to take and place different goods 600 in the length direction of the goods shelf 110 on both sides of the aisle 500 and the goods 600 on the goods conveying line 300 inside the goods shelf 110.

[0137] In some embodiments of the present application, as shown in FIG. 6, the rack robot 200 further comprises a lifting assembly 230. The lifting assembly 230 is arranged on the support frame 210 and is used to drive the picking and placing assembly 220 to lift along the support frame 210.

[0138] The picking and placing assembly 220 is mounted on the lifting assembly 230 and is used to extend towards the shelves 110 on both sides of the aisle 500 or the goods conveying line 300 inside the shelves 110 on both sides of the aisle 500 to pick and place the goods 600.

[0139] As shown in FIG. 6, in specific embodiments of the present application, the support frame 210 is a column gantry, and the lifting assembly 230 comprises a lifting motor 231 and at least one set of transmission mechanism 232.

[0140] The at least one set of transmission mechanism 232 is arranged on the column 211 and is fixedly connected with the picking and placing assembly 220. The lifting motor 231 is fixedly arranged on the top of the column gantry and is used to drive the at least one set of transmission mechanism 232 to drive the picking and placing assembly 220 to lift along the support frame 210.

[0141] In specific embodiments of the present application, the lifting assembly 230 comprises two sets of transmission mechanism 232, which are arranged on the two columns 211 of the column gantry, respectively.

[0142] Each set of transmission mechanism 232 comprises a transmission belt 2321 and two transmission wheels 2322 arranged at the top end and the bottom end of the support frame 210, respectively. The lifting motor 231 is drivingly connected with the top transmission wheel 2322. The transmission belt 2321 passes around the bottom transmission wheel 2322 and the top transmission wheel 2322 and is fixedly connected with the picking and placing assembly 220 at the two ends.

[0143] The lifting motor 231 drives the transmission belt 2321, the bottom transmission wheel 2322 and the top transmission wheel 2322 to drive the picking and placing assembly 220 to vertically slide along the column gantry to pick and place the goods 600 at different heights on the shelves 110 on both sides of the aisle 500 and the goods 600 on the goods conveying line 300.

[0144] By using the embodiments of the present application, the lifting assembly 230 drives the picking and placing assembly 220 to lift, which can realize the vertical sliding of the picking and placing assembly 220 along the support frame 210 to pick and place the goods 600 at different heights on the shelves 110 on both sides of the aisle 500 and the goods 600 on the goods conveying line 300.

[0145] In some embodiments of the present application, as shown in FIG. 3, the shelf 110 comprises a storage space 111 at the upper part and a docking space 112 at the bottom part.

[0146] The storage space 111 includes a plurality of storage layers 1111 vertically spaced apart for storing the goods 600; the docking space 112 is located at the lower part of the storage space 111, and the first end of the goods conveying line 300 extends to the docking space 112.

[0147] The goods taking and placing assembly 220 is used to take and place the goods 600 between the goods conveying line 300 inside the goods shelf 110 and the goods shelf 110 on both sides of the aisle 500.

[0148] Specifically, the storage layer 1111 of the bottommost layer of the storage space 111 has a predetermined height from the ground, forming the docking space 112 at the bottom of the goods shelf 110.

[0149] The goods taking and placing assembly 220 is used to take and place the goods 600 between the goods conveying line 300 inside the goods shelf 110 and the goods shelf 110 on both sides of the aisle 500.

[0150] The goods taking and placing assembly 220 is used to take and place the goods 600 between the goods conveying line 300 inside the goods shelf 110 and the goods shelf 110 on both sides of the aisle 500.

[0151] By applying the embodiments of the present application, the goods taking and placing assembly 220 of the goods shelf 110 can move to take and place the goods between the storage space 111 and the docking space 112, so that the goods 600 can be put in and out of the storage area 100, without the need to transport the goods between the storage area 100 and the picking area 400, thereby reducing the moving range of the goods shelf 110 and improving the efficiency of taking and placing goods of the warehouse system.

[0152] The warehouse system of the embodiments of the present application further includes a control device; the control device is in communication connection with the goods shelf 110 and the goods conveying line 300, and is used to control the goods shelf 110 to take and place the goods 600 between the goods conveying line 300 inside the goods shelf 110 and the goods shelf 110, and control the goods conveying line 300 to convey the goods 600 between the storage area 100 and the picking area 400.

[0153] Next, the method for putting out the goods provided by the embodiments of the present application will be described in detail.

[0154] The warehouse-out method provided by the embodiments of the present application is applied to the control device. Referring to FIG. 7, FIG. 7 is a flowchart of a first embodiment of the warehouse-out method provided by the present application. As shown in FIG. 7, the flow includes the following steps:

[0155] In step S710, an instruction is sent to the hanger robot to make the hanger robot carry the target warehouse-out goods from the goods shelf to the goods conveying line inside the goods shelf;

[0156] In step S720, an instruction is sent to the goods conveying line to make the goods conveying line convey the target warehouse-out goods from the storage area to the picking area.

[0157] The warehouse-out method of the embodiments of the present application is applied to the warehouse system described above. The method carries out the warehouse-out of goods by instructing the hanger robot to carry the target warehouse-out goods from the goods shelf to the goods conveying line inside the goods shelf, and instructing the goods conveying line to convey the target warehouse-out goods from the storage area to the picking area. The moving and picking of goods by the hanger robot and the conveying of goods by the goods conveying line can be carried out simultaneously without interfering with each other, thereby improving the efficiency of picking and carrying goods of the warehouse system.

[0158] In some embodiments of the present application, the hanger robot includes a support frame and a goods picking and placing assembly. The goods shelf includes a storage space, and the storage space includes a plurality of storage layers arranged vertically and spaced apart, and the storage layers are divided into a plurality of storage positions. The goods conveying line includes an out-warehouse conveying line and a distribution conveying line. The picking area includes a plurality of picking tables. The second end of the out-warehouse conveying line and the second end of the in-warehouse conveying line at the bottom of each goods shelf are connected to the distribution conveying line. The distribution conveying line is also connected to each picking table.

[0159] The control device is in communication connection with the out-warehouse conveying line, the distribution conveying line and the picking tables.

[0160] Referring to FIG. 8, FIG. 8 is a flowchart of a second embodiment of the warehouse-out method provided by the present application. As shown in FIG. 8, the flow includes the following steps:

[0161] In step S711, an instruction is sent to the hanger robot to make the goods picking and placing assembly of the hanger robot move to a position corresponding to the storage position where the target warehouse-out goods are located based on the horizontal movement and lifting of the support frame, and extend towards the target warehouse-out goods to pick the goods;

[0162] In step S712, an instruction is sent to the hanger robot to make the goods picking and placing assembly of the hanger robot retract and move downward to a position corresponding to the out-warehouse conveying line on one side of the aisle where the hanger robot is located, and extend towards the out-warehouse conveying line to place the target warehouse-out goods on the out-warehouse conveying line;

[0163] In step S721, an instruction is sent to the out-warehouse conveying line to make the out-warehouse conveying line convey the target warehouse-out goods to the distribution conveying line.

[0164] Step S722, sending an instruction to the distribution conveying line to make the distribution conveying line convey the target to-be-outbound goods to the target picking station.

[0165] Specifically, the first scanning device on the distribution conveying line is in communication connection with the control device, can identify the barcode of the target to-be-outbound goods, and feed back the identification information to the control device. The control device determines the target picking station according to the identification information, and sends an instruction containing the position information of the target picking station to the distribution conveying line.

[0166] The third scanning device of the picking station is in communication connection with the control device, can identify the barcode of the target to-be-outbound goods, and feed back the identification information to the control device. The control device outputs the identification information and the order information of the goods to the display of the picking station according to the identification information, so that the staff can refer to the order information on the display to pick and outbound.

[0167] Next, the warehouse-in method provided by the embodiments of the present application will be described in detail.

[0168] The warehouse-in method provided by the embodiments of the present application is applied to the above-mentioned control device. Referring to FIG. 9, FIG. 9 is a flow chart of a first embodiment of the warehouse-in method provided by the present application. As shown in FIG. 9, the flow includes the following steps:

[0169] Step S910, sending an instruction to the goods conveying line to make the goods conveying line convey the target to-be-warehoused goods from the picking area to the storage area.

[0170] Step S920, sending an instruction to the hanger robot to make the hanger robot carry the target to-be-warehoused goods from the goods conveying line inside the goods shelf to the goods shelf.

[0171] The warehouse-in method of the embodiments of the present application is applied to the above-mentioned warehouse system. The method realizes the warehousing of goods by instructing the goods conveying line to convey the target to-be-warehoused goods from the picking area to the storage area, and instructing the hanger robot to carry the target to-be-warehoused goods from the goods conveying line inside the goods shelf to the goods shelf. The movement of the hanger robot to take and place goods and the transmission of the goods conveying line can be carried out at the same time without interfering with each other, thereby improving the efficiency of taking and placing goods and the efficiency of carrying in the warehouse system.

[0172] In some embodiments of the present application, the hanger robot includes a support frame and a goods taking and placing assembly. The goods shelf includes a storage space, and the storage space includes a plurality of storage layers arranged in a vertical direction, and a plurality of storage positions are divided on the storage layers. The goods conveying line includes a warehouse-in conveying line and a distribution conveying line. The second end of the outbound conveying line of each goods shelf and the second end of the warehouse-in conveying line are connected to the distribution conveying line. The distribution conveying line is also connected to each picking station.

[0173] The control device is communicatively connected with the warehouse-in conveying line and the distribution conveying line.

[0174] Referring to FIG. 10, FIG. 10 is a flowchart of a second embodiment of the warehouse-in method provided by the present application. As shown in FIG. 10, the flowchart includes the following steps:

[0175] In step S911, an instruction is sent to the distribution conveying line, so that the distribution conveying line conveys the target warehouse-in goods from the picking area to the warehouse-in conveying line corresponding to the rack where the target empty storage bin is located;

[0176] In step S912, an instruction is sent to the warehouse-in conveying line, so that the warehouse-in conveying line conveys the target warehouse-in goods to the bottom of the rack;

[0177] In step S921, an instruction is sent to the rack-mounted robot, so that the pick-and-place assembly of the rack-mounted robot moves to a position corresponding to the target warehouse-in goods on the warehouse-in conveying line at the bottom of the rack based on horizontal movement and lifting of the support frame, and extends towards the warehouse-in conveying line to pick up the goods;

[0178] In step S922, an instruction is sent to the rack-mounted robot, so that the pick-and-place assembly of the rack-mounted robot retracts after picking up the goods and moves upwards to a position corresponding to the target empty storage bin, and extends towards the target empty storage bin to place the target warehouse-in goods on the target empty storage bin.

[0179] Specifically, when the target empty storage bin is located at the bottom of the rack where the warehouse-in conveying line is arranged, the target warehouse-in goods can be directly conveyed to the warehouse-in conveying line; when the bottom of the rack is arranged with the warehouse-out conveying line, the bottom of the rack separated from the rack by one aisle is arranged with the warehouse-in conveying line, and the target warehouse-in goods needs to be conveyed to the warehouse-in conveying line and carried to the target empty storage bin by the rack-mounted robot in the aisle.

[0180] It should be noted that, in the present document, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or sequence between the entities or operations. Moreover, the terms “include”, “contain” or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement “including a” does not exclude the presence of another identical element in the process, method, article or device including the element. The above only describes the preferred embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A warehousing system characterized by, The warehouse system comprises a storage area (100), a rack robot (200), a goods conveying line (300) and a picking area (400). The storage area (100) comprises a plurality of racks (110) arranged at intervals, and a lane (500) extending along the length of the racks (110) is formed between adjacent racks (110). The first end of the goods conveying line (300) extends into the interior of the racks (110) of the storage area (100), and the second end extends to the picking area (400) for conveying goods (600) between the storage area (100) and the picking area (400). The rack robot (200) is hung on one side of the rack (110) near the lane (500) and is used to move along the lane (500) and take and place goods (600) between the racks (110) and the goods conveying line (300) in the interior of the racks (110). The rack robot (200) is hung on one side of the rack (110) near the lane (500) and is used to move along the lane (500) and take and place goods (600) between the racks (110) and the goods conveying line (300) in the interior of the racks (110).

2. The warehousing system according to claim 1, characterized in that, The rack robot (200) comprises a support frame (210) and a goods taking and placing assembly (220).

3. The warehousing system according to claim 1, characterized in that, The support frame (210) is hung on the rack (110) and movably connected to the side of the rack (110) along the length of the lane (500). The goods taking and placing assembly (220) is arranged on the support frame (210) and can be lifted along the support frame (210) and horizontally moved with the support frame (210) relative to the rack (110) to take and place goods (600) at different positions on the racks (110) and the goods conveying line (300) in the interior of the racks (110).

4. The warehouse system according to claim 3, wherein The rack (110) comprises an upper storage space (111) and a bottom docking space (112). The storage space (111) comprises a plurality of vertically arranged storage layers (1111) for storing goods (600). The docking space (112) is located at the lower part of the storage space (111), and the first end of the goods conveying line (300) extends to the docking space (112). The goods taking and placing assembly (220) is used to take and place goods (600) between the racks (110) on both sides of the lane (500) and the goods conveying line (300) in the interior of the racks (110).

5. The warehouse system according to claim 1, wherein The goods conveying line (300) comprises an outbound conveying line (310) and an inbound conveying line (320); the outbound conveying line (310) and the inbound conveying line (320) are arranged at the bottom of the racks (110) of the storage area (100), and one side of each lane (500) is the outbound conveying line (310) and the other side is the inbound conveying line (320). ​ The first ends of the outbound conveying line (310) and the inbound conveying line (320) extend in parallel to the bottom of the shelf (110); the second ends extend to the picking area (400) respectively; The outbound conveying line (310) is used for taking the hanging rack robot (200) from the shelf (110) and placing the outbound goods (600) on the outbound conveying line (310) to output to the picking area (400); The inbound conveying line (320) is used for inputting the inbound goods (600) taken from the picking area (400) to the bottom of the shelf (110), so that the hanging rack robot (200) moves the inbound goods (600) on the inbound conveying line (320) to the shelf (110).

6. The warehouse system according to claim 5, wherein The picking area (400) comprises a picking table (410); The second ends of the outbound conveying line (310) and the inbound conveying line (320) are both in communication with the picking table (410); The picking table (410) is used for picking and outbound of the outbound goods (600) transmitted by the second end of the outbound conveying line (310), and moving the inbound goods (600) to the second end of the inbound conveying line (320).

7. The warehouse system according to claim 6, wherein The number of picking tables (410) of the picking area (400) is multiple, and the multiple picking tables (410) are arranged at intervals; The goods conveying line (300) further comprises a distribution conveying line (330); The second ends of the outbound conveying line (310) and the inbound conveying line (320) at the bottom of each shelf (110) are connected to the distribution conveying line (330); The distribution conveying line (330) is further connected with each picking table (410), and is used for distributing the outbound goods (600) at the second end of each outbound conveying line (310) to a target picking table (410), or distributing the inbound goods (600) on each picking table (410) to a target second end of the inbound conveying line (320).

8. The warehouse system according to claim 7, wherein The distribution conveying line (330) comprises a first distribution conveying line (331) and a second distribution conveying line (332) arranged side by side and transmitting in opposite directions; The first distribution conveying line (331) is connected with the second ends of the outbound conveying line (310) and the inbound conveying line (320) at the bottom of each shelf (110), and the second distribution conveying line (332) is connected with each picking table (410); The conveying end of the first distribution conveying line (331) is in communication with the input end of the second distribution conveying line (332) through a first lifting transfer mechanism (333A), and the conveying end of the second distribution conveying line (332) is in communication with the input end of the first distribution conveying line (331) through a second lifting transfer mechanism (333B); The first lifting transfer mechanism (333A) is used to transfer the goods (600) to be delivered out of the warehouse on the first distribution conveying line (331) to the second distribution conveying line (332); and the second lifting transfer mechanism (333B) is used to transfer the goods (600) to be delivered into the warehouse on the second distribution conveying line (332) to the first distribution conveying line (331).

9. The warehouse system according to claim 8, characterized in that, the first distribution conveying line (331) and the second distribution conveying line (332) are drum conveying lines comprising a plurality of drum (334) arranged at intervals; the first lifting transfer mechanism (333A) and the second lifting transfer mechanism (333B) each comprise a plurality of groups of conveying pulleys (3331) and a lifting mechanism (3332); each group of conveying pulleys (3331) is arranged in a corresponding drum gap of the first distribution conveying line (331) and the second distribution conveying line (332), and the lifting mechanism (3332) is arranged at the bottom of the plurality of groups of conveying pulleys (3331) and is drivingly connected with the plurality of groups of conveying pulleys (3331); when the goods (600) to be delivered out of the warehouse move on the first distribution conveying line (331) to the drum (334) adjacent to the plurality of groups of conveying pulleys (3331) of the first lifting transfer mechanism (333A), the plurality of groups of conveying pulleys (3331) of the first lifting transfer mechanism (333A) are lifted by the lifting mechanism (3332) to lift the goods (600) to be delivered out of the warehouse and convey them towards the second distribution conveying line (332); when the goods (600) to be delivered into the warehouse move on the second distribution conveying line (332) to the drum (334) adjacent to the plurality of groups of conveying pulleys (3331) of the second lifting transfer mechanism (333B), the plurality of groups of conveying pulleys (3331) of the second lifting transfer mechanism (333B) are lifted by the lifting mechanism (3332) to lift the goods (600) to be delivered into the warehouse and convey them towards the first distribution conveying line (331).

10. The warehouse system according to claim 8, characterized in that, each of the picking stations (410) comprises a first picking conveying line (411), a second picking conveying line (412) and a third picking conveying line (413); the first picking conveying line (411) is in communication with the second distribution conveying line (332) and is used to take the goods (600) to be delivered out of the warehouse from the second distribution conveying line (332) and transfer them to the second picking conveying line (412); the second picking conveying line (412) is used to pick the goods (600) to be delivered out of the warehouse transferred from the first picking conveying line (411) and transfer the goods (600) to be delivered into the warehouse to the third picking conveying line (413); the third picking conveying line (413) is in communication with the second distribution conveying line (332) and is used to transfer the goods (600) to be delivered into the warehouse transferred from the second picking conveying line (412) to the second distribution conveying line (332).

11. The warehouse system according to claim 8, characterized in that, the conveying end of the first distribution conveying line (331) is provided with a first scanning device (341), and the conveying end of the second distribution conveying line (332) is provided with a second scanning device (342); the first scanning device (341) is used for identifying the bar code of the to-be-delivered goods (600) on the first distribution conveying line (331), so that after the second distribution conveying line (332) receives the to-be-delivered goods (600), the to-be-delivered goods (600) are distributed to the target picking table (410) according to the identification result of the first scanning device (341); the second scanning device (342) is used for identifying the bar code of the to-be-stored goods (600) transmitted from the picking table (410), so that after the first distribution conveying line (331) receives the to-be-stored goods (600), the to-be-stored goods (600) are distributed to the second end of the target storage conveying line (320) according to the identification result of the second scanning device (342); the picking table (410) is provided with a third scanning device (343), and the third scanning device (343) is used for identifying the bar code of the goods (600) on the picking table (410) to pick or store the goods.

12. The warehouse system according to claim 3, characterized in that, the shelves (110) are provided with at least one horizontal rail (120) in the vertical direction on one side close to the aisle (500); the support frame (210) is movably connected with the horizontal rail (120), so that the support frame (210) and the goods taking and placing assembly (220) slide horizontally along the horizontal rail (120) to take and place different goods (600) on the shelves (110) on both sides of the aisle (500) and the goods conveying line (300) inside the shelves (110).

13. The warehouse system according to claim 3, characterized in that, the hanger robot (200) further comprises a lifting assembly (230); the lifting assembly (230) is arranged on the support frame (210) and used to drive the goods taking and placing assembly (220) to ascend and descend along the support frame (210); the goods taking and placing assembly (220) is installed on the lifting assembly (230) and used to extend towards the shelves (110) on both sides of the aisle (500) or the goods conveying line (300) inside the shelves (110) on both sides of the aisle (500) to take and place the goods (600).

14. The warehouse system according to claim 4, characterized in that, the storage layer (1111) is divided into a plurality of storage positions (1112); different storage positions (1112) can stack goods (600) of different sizes; the goods (600) stored in each storage position (1112) are of the same size or different sizes.

15. The warehousing system according to any one of claims 1 to 14, characterized in that, Further comprising: The control device is in communication connection with the rack robot (200) and the goods conveying line (300), and is used to control the rack robot (200) to take and place goods (600) between the goods conveying line (300) inside the rack (110) and the rack (110), and control the goods conveying line (300) to convey the goods (600) between the storage area (100) and the picking area (400).

16. A method of shipping out, characterized by, The method applied to the control device in the warehouse system of claim 15 comprises: sending an instruction to the rack robot to make the rack robot carry the target to-be-outbound goods from the rack to the goods conveying line inside the rack; sending an instruction to the goods conveying line to make the goods conveying line convey the target to-be-outbound goods from the storage area to the picking area.

17. The outbound method of claim 16, wherein the rack robot comprises a support frame and a goods taking and placing assembly; the rack comprises a storage space, the storage space comprises a plurality of storage layers arranged in a vertical direction, and the storage layers are divided into a plurality of storage positions; the goods conveying line comprises an outbound conveying line, and the control device is in communication connection with the outbound conveying line; the step of sending an instruction to the rack robot to make the rack robot carry the target to-be-outbound goods from the rack to the goods conveying line inside the rack comprises: sending an instruction to the rack robot to make the goods taking and placing assembly of the rack robot move to a position corresponding to the storage position where the target to-be-outbound goods is located based on horizontal movement and lifting of the support frame, and extend the goods taking and placing assembly towards the target to-be-outbound goods; sending an instruction to the rack robot to make the goods taking and placing assembly of the rack robot retract and move downward to a position corresponding to the outbound conveying line located on one side of the lane where the rack robot is located, and extend the goods taking and placing assembly towards the outbound conveying line to place the target to-be-outbound goods on the outbound conveying line.

18. The outbound method of claim 16, wherein the goods conveying line comprises an outbound conveying line and a distribution conveying line, and the control device is in communication connection with the outbound conveying line and the distribution conveying line; and the picking area comprises a plurality of picking tables; the step of sending an instruction to the goods conveying line to make the goods conveying line convey the target to-be-outbound goods from the storage area to the picking area comprises: sending an instruction to the outbound conveying line to make the outbound conveying line convey the target to-be-outbound goods to the distribution conveying line; sending an instruction to the distribution conveying line to make the distribution conveying line convey the target to-be-outbound goods to the target picking table.

19. A method of warehousing, characterized by, The method applied to the control device in the warehouse system of claim 15 comprises: sending an instruction to the goods conveying line to make the goods conveying line convey the target to-be-inbound goods from the picking area to the storage area; sending an instruction to the rack robot to make the rack robot carry the target to-be-inbound goods from the goods conveying line inside the rack to the rack.

20. The inbound method of claim 19, wherein the goods conveying line comprises an inbound conveying line and a distribution conveying line, and the control device is in communication connection with the inbound conveying line and the distribution conveying line. The sending instruction to the goods conveying line makes the goods conveying line convey the target to-be-warehoused goods from the picking area to the storage area, and the method comprises the following steps: sending an instruction to the distribution conveying line to make the distribution conveying line convey the target to-be-warehoused goods from the picking area to the warehousing conveying line corresponding to the rack where the target empty storage position is located; sending an instruction to the warehousing conveying line to make the warehousing conveying line convey the target to-be-warehoused goods to the bottom of the rack.

21. The warehousing method according to claim 19, characterized in that, the rack-mounted robot comprises a support frame and a goods taking and placing assembly; the goods conveying line comprises a warehousing conveying line, and the control device is in communication connection with the warehousing conveying line; the rack comprises a storage space, and the storage space comprises a plurality of storage layers arranged in a vertical direction; a plurality of storage positions are divided on the storage layers; the sending instruction to the rack-mounted robot makes the rack-mounted robot carry the target to-be-warehoused goods from the goods conveying line inside the rack to the rack, and the method comprises the following steps: sending an instruction to the rack-mounted robot to make the goods taking and placing assembly of the rack-mounted robot move to a position corresponding to the target to-be-warehoused goods on the warehousing conveying line at the bottom of the rack based on horizontal movement and lifting of the support frame, and extend the goods taking and placing assembly towards the warehousing conveying line to take the goods; after the goods taking and placing assembly of the rack-mounted robot takes the goods, the goods taking and placing assembly is retracted and moves upwards to a position corresponding to the target empty storage position, and the goods taking and placing assembly extends towards the target empty storage position to place the target to-be-warehoused goods on the target empty storage position.

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