Warehousing system, sliding rack and tote circulation system

Abstract

The embodiments of the present application relate to the technical field of logistics. Provided are a warehousing system, a sliding rack and a tote circulation system, which are used for improving the logistics efficiency. The warehousing system comprises a picking working area, a put wall, a mobile rack, a consolidation area, and a first tote-transfer robot, wherein the put wall is arranged in the picking working area and comprises a plurality of slots for placing order totes after picking; the order totes are used for accommodating commodities that are picked out on the basis of orders; the first tote-transfer robot is used for transferring the order totes in the put wall to the mobile rack; and the mobile rack is used for being moved out of the consolidation area, and / or bearing the order totes transferred by the first tote-transfer robot and being moved to the consolidation area.

Description

A warehousing system, sliding rack, and bin turnover system

[0001] This application claims priority to Chinese Patent Application No. 202422589367.3, filed on October 24, 2024, entitled "A Warehousing System", and to Chinese Patent Application No. 202422597864.8, filed on October 25, 2024, entitled "A Sliding Shelf and Material Box Turnover System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of logistics equipment technology, and in particular to a warehousing system, sliding rack, and bin turnover system. Background Technology

[0003] In a goods-to-person (WPC) outbound system, the first step is to pick the goods at the picking station (area), placing them into order boxes. Then, the picked order boxes are placed in the consolidation area. After consolidation, the goods are either shipped or undergo secondary sorting. Currently, the WPC solution relies on manual labor for consolidation, which consumes significant human resources and reduces logistics efficiency. Summary of the Invention

[0004] The purpose of embodiments of this application is to provide a warehousing system, sliding rack, and bin turnover system that can at least improve logistics efficiency.

[0005] To achieve the above objectives, embodiments of this application provide the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a warehousing system, which includes a picking work area, a sorting wall, a mobile shelf, a collection area, and a first box-turning robot; the sorting wall is disposed in the picking work area and includes multiple slots for placing order boxes that have been picked; the order boxes are used to hold goods picked according to orders; the first box-turning robot is used to transport the order boxes on the sorting wall to the mobile shelf; the mobile shelf is used to be moved out of the collection area; and / or, carries the order boxes brought by the first box-turning robot and moves them to the collection area.

[0007] This application provides a warehousing system including a picking area, a picking wall, mobile shelves, a collection area, and a first box-turning robot. The first box-turning robot moves order boxes from the picking wall in the picking area to the mobile shelves, which then carry the order boxes to the collection area for collection. This method automates the outbound process of order boxes from the picking wall to the collection area, reducing manual intervention, minimizing human resource costs, and improving logistics efficiency. Furthermore, by using mobile shelves instead of the traditional flat-lay collection method, this application effectively increases the number of order boxes that can be placed in the collection area, improving the space utilization of the warehousing system.

[0008] Secondly, embodiments of this application also provide a sliding rack, which includes: a fixed frame and at least one layer of material storage bins; the two ends of the sliding rack along the width direction are respectively the inlet end and the outlet end;

[0009] At least one storage layer of material bins is spaced apart along the height direction within the fixed frame; wherein, the height of each storage layer of material bins at the inlet end is higher than its height at the outlet end, so that the material bins can slide from the inlet end to the outlet end;

[0010] The shipping end of the sliding rack can be equipped with a bin-picking robot, which is used to move the bins located at the shipping end out of the sliding rack.

[0011] Thirdly, embodiments of this application also provide a bin turnover system, which includes a sliding rack as described in any of the second aspects and a bin picking and placing robot mounted on the shipping end of the sliding rack.

[0012] This application discloses a sliding rack and a bin turnover system. The sliding rack serves as the "seeding wall" in the warehousing system described in the first aspect. By attaching a bin-picking robot to the outgoing end of the sliding rack, the robot can retrieve the bin when it slides to the outgoing end, eliminating the need for manual labor and reducing workload. Of course, implementing any product of this application does not necessarily require achieving all the advantages described above simultaneously. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in some embodiments of this application will be briefly described below. Obviously, the drawings described below are only drawings of some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams and are not intended to limit the actual size of the product, the actual flow of the method, the actual timing of the signals, etc. involved in the embodiments of this application.

[0014] Figure 1 is a schematic diagram of a warehousing system provided in an embodiment of this application;

[0015] Figure 2 is a schematic diagram of the structure of the STU robot in the warehousing system provided in the embodiment of this application;

[0016] Figure 3 is a front view of the seeding wall in the storage system provided in the embodiment of this application;

[0017] Figure 4 is a schematic diagram of a scenario of a warehousing system according to an embodiment of this application;

[0018] Figure 5 is a top view of the seeding wall in the storage system provided in the embodiment of this application;

[0019] Figure 6 is a schematic diagram of the first placement relationship of multiple seeding walls in the storage system provided in the embodiment of this application;

[0020] Figure 7 is a schematic diagram of a second placement relationship of multiple seeding walls in the storage system provided in the embodiment of this application;

[0021] Figure 8 is a schematic diagram of a second scheme of a warehousing system provided in an embodiment of this application;

[0022] Figure 9 is a three-dimensional view of an automatic sorting device provided in an embodiment of this application;

[0023] Figure 10 is a schematic diagram of a scenario for a third scheme of a warehousing system provided in an embodiment of this application;

[0024] Figure 11 is a structural schematic diagram of an embodiment of the material box turnover system including a sliding shelf (seeding wall) provided in this application;

[0025] Figure 12 is a top view of the bin turnover system including the sliding rack shown in Figure 11;

[0026] Figure 13 is a schematic diagram of the bin picking and placing robot in the bin turnover system including the sliding rack shown in Figure 11;

[0027] Figure 14 is a three-dimensional structural diagram of the sliding rack in Embodiment 2 of the material box turnover system including the sliding rack (seeding wall) provided in this application;

[0028] Figure 15 is a front view of the bin turnover system including the sliding rack shown in Figure 14;

[0029] Figure 16 is a rear view of the bin turnover system including the sliding rack shown in Figure 14;

[0030] Figure 17 is a side view of the bin turnover system including the sliding rack shown in Figure 14 in the first state;

[0031] Figure 18 is a side view of the bin turnover system including the sliding rack shown in Figure 14 in the second state;

[0032] Figure 19 is a side view of the bin turnover system including the sliding rack shown in Figure 14 in the third state;

[0033] Figure 20 is a side view of Embodiment 3 of the material box turnover system including a sliding shelf (seeding wall) provided in this application;

[0034] Figure 21 is a side view of Embodiment 4 of the material box turnover system including a sliding shelf (seeding wall) provided in this application;

[0035] Figure 22 is a simplified schematic diagram of the sliding rack, which includes the bin turnover system shown in Figure 21;

[0036] Figure 23 is a partial enlarged view of part A in the sliding rack of the bin turnover system including the sliding rack shown in Figure 22;

[0037] Figure 24 is a partial enlarged view of part B in the sliding rack of the bin turnover system including the sliding rack shown in Figure 22;

[0038] Figure 25 is a schematic diagram of the front and rear box limiting mechanism on the sliding rack of the material box turnover system shown in Figure 21, which includes a sliding rack.

[0039] Figure 26 is a partial enlarged view of part C in the sliding rack of the bin turnover system including the sliding rack shown in Figure 22;

[0040] Figure 27 is a schematic diagram of the guide limit plate and end limit mechanism installed on the sliding rack of the bin turnover system including the sliding rack shown in Figure 21.

[0041] Figure 28 is a magnified view of part D in Figure 27;

[0042] Figure 29 is a structural schematic diagram of Embodiment 5 of the material box turnover system including the sliding shelf (seeding wall) provided in this application;

[0043] Figure 30 is a flowchart illustrating the working process of the bin turnover system including the sliding rack shown in Figure 29;

[0044] Figure 31 is a structural schematic diagram of Embodiment Six of the material box turnover system including the sliding shelf (seeding wall) provided in this application;

[0045] Figure 32 is a structural schematic diagram of Embodiment 7 of the material box turnover system including the sliding shelf (seeding wall) provided in this application;

[0046] Figure 33 is a structural schematic diagram of Embodiment 8 of the material box turnover system including a sliding shelf (seeding wall) provided in this application.

[0047] Reference numerals: Picking work area 1; Seeding wall 10; Connecting layer 101; Storage layer 102; Personnel picking area 103; STU work area 104; First box-turning robot 11; Order box 12; Empty box replenishment shelf 13; Automatic sorting device 14; Collection area 2; Mobile shelf 21; Lurking robot 22; Box-turning area 3; Buffer shelf 31; Second box-turning robot 32; Column mast 321; Handling mechanism 322; Guide rail 323; 100 sliding rack; 110 fixed frame; 1101 side beam of fixed frame; 1102 floor support vertical beam; 1103 control module; 111 inlet end; 112 outlet end; 114 outlet end crossbeam; 115 inlet end crossbeam; 116 guide limit plate; 117 end limit mechanism; 1171 limit bracket; 1172 guide shaft; 1173 mounting lug; 120 storage layer for material bins; 121 inclined slide rail. Material bin 122; Material bin storage position 123; Roller row 1211; Roller support beam 1212; Material bin roller 1213; Front and rear bin limiting mechanism 130; Limiting plate 131; Rotating shaft 1311; Front and rear bin limiting rollers 132; Elastic element 133; Balance plate 134; Receiving storage layer 140; Receiving storage position sign 141; Receiving storage layer rotating shaft 142; Receiving storage position 143; Horizontal track 150; 200, a bin-handling robot; 210, a support frame; 220, a lateral movement mechanism; 230, a lifting mechanism; 240, a bin-handling mechanism; 211, a support gantry; 2301, a lifting motor; 2302, a first synchronous belt; 2303, a bottom drive wheel; 2304, a top drive wheel; 221, a lateral drive motor; 222, a lateral sliding mechanism; 241, a loading platform; 242, a picking and placing assembly; 243, a sliding connector; 2421, a hook; 2422, a rotating mechanism; 300, a docking mechanism; 310, a buffer rack; 330, a handling robot; and 340, a transmission line. Detailed Implementation

[0048] The technical solutions in some embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application are within the scope of protection of this application.

[0049] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as open-ended and encompassing, meaning "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in the embodiment or example of this application. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics mentioned may be included in any suitable manner in any one or more embodiments or examples.

[0050] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this application, unless otherwise stated, "a plurality of" means two or more.

[0051] In describing some embodiments, the term "connection" and its derivative expressions may be used. The term "connection" should be interpreted broadly; for example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0052] As used herein, “parallel” and “perpendicular” include the described situation and situations that are similar to the described situation, within an acceptable range of deviation, which is determined by those skilled in the art taking into account the measurement under discussion and the error associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, “parallel” includes absolute parallelism and approximate parallelism, where an acceptable range of deviation for approximate parallelism may be, for example, within 5°; “perpendicular” includes absolute perpendicularity and approximate perpendicularity, where an acceptable range of deviation for approximate perpendicularity may also be, for example, within 5°.

[0053] As used herein, depending on the context, the term “if” may optionally be interpreted as meaning “when”, “in the event of”, “in response to determination”, or “in response to detection”. Similarly, depending on the context, the phrase “if it is determined that…” or “if [the stated condition or event] is detected” may optionally be interpreted as meaning “in the event of determination that…”, “in response to determination that…”, “when [the stated condition or event] is detected”, or “in response to the detection of [the stated condition or event]”.

[0054] The use of “applies to” or “configured to” in this article implies an open and inclusive language that does not preclude applicability to or configuration to devices that perform additional tasks or steps.

[0055] In addition, the use of “based on” implies openness and inclusivity, because processes, steps, calculations or other actions “based on” one or more of the stated conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0056] The directional terms such as "upper," "lower," "left," and "right" described in some embodiments of this application are used to describe the angles shown in the accompanying drawings and should not be construed as limiting some embodiments of this application.

[0057] First, the technical terms used in this application will be explained.

[0058] 1. Order box: also known as logistics box or material box, it can be used to hold goods (goods) and is easy to stack and manage.

[0059] 2. Sky Transfer Unit (STU): A track-mounted bin handling robot, comprising: a column mast, a handling mechanism, and guide rails. The column mast is installed vertically along the shelf; the handling mechanism is mounted on the column mast and used to move vertically along the column mast to handle goods at different heights on the shelf. The column mast and guide rails are movably connected, allowing the column mast and handling mechanism to move horizontally along the guide rails to handle goods along the shelf's length. Hereinafter referred to as the STU robot.

[0060] 3. Submersible bin handling robot: Includes a chassis and lifting mechanism, which can move bins on a plane.

[0061] 4. Hidden Shelf Handling Robot: A robot capable of moving shelves, also known as a hidden automated guided vehicle (AGV). Hereinafter referred to as a hidden robot.

[0062] 5. Picking workstation (area): including seeding wall (separation wall), identification all-in-one machine, etc., is the area in the warehousing system used to pick goods to be shipped from the carrier and place them into the order boxes on the seeding wall.

[0063] This application provides a warehousing system including a picking area, a picking wall, mobile shelves, a collection area, and a first box-turning robot. The first box-turning robot moves order boxes from the picking wall in the picking area to the mobile shelves, and then the mobile shelves carry the order boxes to the collection area for collection. This method automates the outbound process of order boxes from the picking wall to the collection area, reducing manual intervention, minimizing human resource costs, and improving logistics efficiency.

[0064] An embodiment of this application provides a warehousing system, as shown in FIG1. ​​The warehousing system includes a picking work area 1, a seeding wall 10, a mobile shelf 21, a collection area 2, and a first unloading robot 11.

[0065] The seeding wall 10 is set in the picking work area 1 and includes multiple order boxes 12 for placing the picked items; the order boxes 12 are used to hold the goods picked according to the orders.

[0066] The first unloading robot 11 is used to move the order boxes 12 on the seeding wall 10 to the mobile shelf 21;

[0067] Mobile shelving 21 is used to be removed from the collection area 2; and / or to carry order boxes 12 brought in by the first unloading robot 11 and moved to the collection area 2.

[0068] In addition, the warehousing system also includes scheduling equipment (not shown in Figure 1), which is used to control the operation of the entire warehousing system. For example, the scheduling equipment can connect to various robots in the warehousing system via wired or wireless means to send instructions to the robots to perform goods handling operations. The scheduling equipment can be a server or other devices with data processing and communication capabilities. The server mentioned here can be a server cluster consisting of multiple servers, a single server, or a computer. Specifically, the scheduling equipment can be a processor or processing module within the server. This application does not limit the specific device form of the server described above.

[0069] As one possible implementation method, a stealthy AGV, namely a stealthy rack handling robot, can be used to move the aforementioned mobile racks.

[0070] It should be noted that this embodiment of the application achieves automated goods collection processes through the interaction of robots with seeding walls and mobile shelves, thereby improving logistics efficiency. Furthermore, in traditional goods-to-person outbound solutions, order boxes containing goods are manually laid flat in the collection area. This embodiment of the application, by using mobile shelves to carry order boxes to the collection area, effectively increases the number of order boxes that can be placed in the collection area compared to the traditional flat-laying method, thus improving the space utilization rate of the warehousing system.

[0071] The warehousing system provided in the embodiments of this application will be described in detail below based on the descriptions of Schemes 1 to 3.

[0072] Option 1

[0073] In some embodiments, as shown in FIG4, the warehousing system includes a picking area 1, a seed wall 10, a mobile shelf 21, a collection area 2, and a first box-turning robot 11, as well as a buffer shelf 31 and a second box-turning robot 32. The buffer shelf 31 is disposed in the box-turning area 3, which is located between the picking area 1 and the collection area 2. The buffer shelf 31 is used to carry order boxes 12 brought in by the first box-turning robot 11. The mobile shelf 21 is specifically used to be moved from the collection area 2 to the box-turning area 3, and / or to carry order boxes 12 transported to the box-turning area 3 by the first box-turning robot 11 and move them from the box-turning area 3 to the collection area 2. The second box-turning robot 32 can move vertically and horizontally to move order boxes 12 at different heights and lengths on the buffer shelf 31, and to move the order boxes 12 on the buffer shelf 31 to the mobile shelf 21 in the box-turning area 3. The second box-turning robot 32 is attached to the outgoing end 112 of the buffer shelf 31.

[0074] In some embodiments, the warehousing system further includes an empty box replenishment rack 13 disposed in the picking work area 1. The first box-turning robot 11 is also used to move empty order boxes from the mobile rack 21 located in the box-turning area 3 to the empty box replenishment rack 13.

[0075] In some embodiments, the seeding wall 10 further includes multiple slots for placing unpicked empty order boxes; the first box-turning robot 11 is also used to transport empty order boxes on the mobile shelf 21 to the seeding wall 10; the mobile shelf 21 is also used to carry empty order boxes to be moved away by the first box-turning robot 11 and removed from the collection area 2.

[0076] Understandably, the mobile shelf 21 loaded with empty order boxes is first moved from the collection area 2 to the unloading area 3. Then, the empty order box is moved to the first unloading robot 11 by the second unloading robot 32, and then the first unloading robot 11 transports the empty order box to the seeding wall 10.

[0077] In other words, empty box replenishment areas can be set up in the seeding wall 10, such as setting the top layer or the leftmost layer as the empty box replenishment area. STU robots can transport empty order boxes from the mobile shelf 21 to the empty box replenishment area of ​​the seeding wall 10, so that personnel can obtain empty order boxes from the empty box replenishment area for product picking.

[0078] In some embodiments, as shown in FIG4, the warehousing system further includes: a stealthy robot 22 (stealthy AGV, i.e., a stealthy racking robot); the stealthy robot 22 is used to carry the mobile rack 21 to other box-turning areas 3 to collect the picked order boxes 12 in the other box-turning areas 3. That is, the warehousing system can be set up with multiple box-turning areas 3. After the stealthy robot 22 carrying the mobile rack 21 collects the order boxes 12 from one box-turning area 3, it can move to the next box-turning area 3 to continue collecting the picked order boxes 12 until the order boxes 12 have been collected from all box-turning areas 3, or the mobile rack 21 is full and then returns to the collection area 2.

[0079] In the embodiment of Scheme 1, the first box-turning robot 11 is a lurking box-handling robot, and the second box-turning robot 32 is an STU robot.

[0080] For example, Figure 2 is a structural schematic diagram of the STU robot in the warehousing system provided in an embodiment of this application. As shown in Figure 2, the second box-turning robot 32 (STU robot) includes: a column mast 321, a handling mechanism 322, and a guide rail 323. The column mast 321 is installed vertically. The handling mechanism 322 is mounted on the column mast 321 and is used to move vertically on the column mast 321 to handle goods at different heights on the buffer shelf 31. The column mast 321 and the guide rail 323 are movably connected so that the column mast 321 and the handling mechanism 322 can move horizontally along the guide rail 323 to handle goods on the buffer shelf 31 in the length direction.

[0081] In some embodiments, the seeding wall 10 includes a connecting layer 101 arranged along the height direction and a storage layer 102 located above the connecting layer 101. The connecting layer 101 includes the lowest layer of the seeding wall 10. A first unloading robot 11 can move on a horizontal ground to transport order boxes 12 placed on the connecting layer 101 of the seeding wall 10 to the unloading area 3.

[0082] For example, Figure 3 is a front view of the seeding wall in the warehousing system provided in this application embodiment. As shown in Figure 3, the seeding wall 10 includes multiple layers, each layer including multiple compartments for placing order boxes 12. The bottom layer of the seeding wall 10 can be called the connecting layer 101, and the other layers can be called the storage layer 102. The storage layer 102 is used for picking goods, and the connecting layer 101 is used for interacting with the first box-turning robot 11. The first box-turning robot 11 shown in Figure 3 is a lurking box-handling robot. The lurking box-handling robot can move the order boxes 12 at the bottom layer of the seeding wall 10, that is, move the order boxes 12 at the bottom layer to other places, or move order boxes 12 from other places to the bottom layer of the seeding wall 10 for placement.

[0083] Figure 4 is a schematic diagram of a scenario for a warehousing system according to an embodiment of this application. As shown in Figure 4, from top to bottom on the paper, it includes a collection area 2, a box unloading area 3, and a picking work area 1. Referring to Figure 4, the outbound collection process of Scheme 1 may include the following steps:

[0084] 1) The scheduling equipment controls the robot to move a carrier (not shown in Figure 4) from the warehouse to the picking work area 1. It can be understood that the warehouse here can be an inventory storage area (not shown in the figure) storing goods to be shipped out. The carrier here is a container for placing goods, which can be a bin, shelf, or pallet, etc.

[0085] 2) Personnel pick out the types and quantities of goods to be shipped from the container according to the guidance of the warehousing system. That is, personnel pick out the goods to be shipped from the container according to the types and quantities of goods required by the order in the warehousing system.

[0086] 3) Personnel will place the picked goods into the order box 12 on the seeding wall 10 according to the guidance of the warehousing system (as shown in the order box 12 of storage layer 102 in Figure 3).

[0087] 4) When the order box 12 is full or the order is completed, the personnel will take the corresponding order box 12 from the storage layer 102 and place it on the connecting layer 101 below the seeding wall 10, and bind the order box 12 to the specific warehouse of the connecting layer 101 (e.g., the personnel will notify the scheduling equipment through the terminal).

[0088] 5) A stealthy bin handling robot takes away the order box 12 filled with goods from the docking layer 101.

[0089] 6) The lurking bin handling robot transports the order box 12 filled with goods to the unloading area 3 and places the order box 12 on the buffer shelf 31 set up in the unloading area 3.

[0090] 7) The AGV carrying the mobile shelf 21 arrives at the unloading area 3 and docks the mobile shelf 21 with the STU robot. Then, the STU robot takes the order box 12 from the buffer shelf 31 and transfers it to the mobile shelf 21 carried by the AGV. The AGV carrying the mobile shelf 21 returns to the collection area 2 or goes to the next unloading area 3 or to a preset designated location.

[0091] Understandably, the mobile shelf 21 carried by the lurking AGV has available storage space to accommodate order boxes 12 retrieved by the STU robot from the buffer shelf 31. The lurking AGV carries the mobile shelf 21 from the collection area 2 to the unloading area 3. The designated location here can be any temporary storage area, which may be the final location for shipment. The STU robot's guide rail is set on the buffer shelf 31.

[0092] In some embodiments, since the capacity of a single crate-turning area is limited, it may not be able to meet the demand if the capacity requirement is high. Therefore, multiple crate-turning areas can be set up to meet the capacity requirement. Here, capacity refers to the handling capacity of the STU robot.

[0093] In addition, the process of Option 1 includes the following steps to replenish empty order boxes:

[0094] 8) The AGV carrying the mobile shelf 21 arrives at the unloading area 3. Empty order boxes are placed on the mobile shelf 21. The mobile shelf 21 is docked with the STU robot. The STU robot takes the empty order box from the mobile shelf 21 and moves it to the buffer shelf 31. Then, the AGV carrying the empty order box takes the empty order box from the buffer shelf 31 and replenishes it to the connecting layer 101 of the picking wall 10 (or an empty box replenishment rack is set up at the outbound picking workstation, and the AGV carrying the empty order box moves the empty order box to the empty box buffer rack, so that the order box 12 can be used repeatedly by the personnel for picking goods).

[0095] 9) Personnel retrieve empty boxes from the empty box buffer rack or the connecting layer 101 of the seed wall 10 and replenish them to the order box layer of the seed wall 10, repeating steps 1)-9) above. It can be understood that the order box layer is the storage layer 102 in the seed wall 10 shown in Figure 3; the empty box buffer rack is the empty box replenishment rack 13 next to the picking personnel in the picking work area 1 of the warehousing system shown in Figure 4.

[0096] It should be noted that both the actions of personnel in taking and placing boxes need to trigger notification to the dispatching equipment. This can be done by personnel actively operating the terminal to notify the dispatching equipment, or by setting sensors (such as pressure sensors) on the seeding wall 10 so that the dispatching equipment can automatically sense the action. This application embodiment does not impose specific limitations on this.

[0097] It should be understood that, as can be seen from the process of Scheme 1, since the unloading area 3 has a buffer rack 31 as a transfer buffer, the lurking box handling robot can continuously transport the order boxes 12 in the picking work area to the buffer rack 31 without waiting for the lurking AGV to transport the mobile rack 21 to receive the order boxes 12. In scenarios with a large flow of goods, this can improve concurrency and thus improve logistics efficiency.

[0098] Option 2

[0099] In some embodiments, as shown in Figures 6 and 7, the first box-turning robot 11 is deployed on the seeding wall 10, and the first box-turning robot 11 can move in both vertical and horizontal directions. In the second embodiment, the first box-turning robot 11 can be an STU robot. The structure of the STU robot can refer to the structure of the STU robot in the first embodiment, and will not be described again here.

[0100] In some embodiments, as shown in FIG8, a mobile shelf 21 is specifically used to be moved from the collection area 2 to the picking work area 1; and / or to carry order boxes 12 brought by a first unloading robot 11 (not shown in FIG8) from the picking work area 1 to the collection area 2.

[0101] In some embodiments, the seeding wall 10 further includes multiple slots for placing unpicked empty order boxes; the first box-turning robot 11 is also used to transport empty order boxes on the mobile shelf 21 to the seeding wall 10; the mobile shelf 21 is also used to carry empty order boxes to be moved away by the first box-turning robot 11 and removed from the collection area 2.

[0102] Understandably, the mobile shelf 21 loaded with empty order boxes is moved from the collection area 2 to the picking work area 1, and then the empty order box is transported to the seeding wall 10 by the first unloading robot 11.

[0103] In some embodiments, as shown in FIG8, the seeding wall 10 may include multiple layers of compartments arranged along the width direction. That is, the seeding wall 10 is multi-depth.

[0104] In some embodiments, a sliding device is provided between the multi-layered storage compartments arranged along the width direction. The sliding device is used to support the movement of the order box 12 in the seeding wall 10 along the width direction. The sliding device may be a slide rail, pulley, conveyor belt, etc., and this application embodiment does not impose specific limitations on it.

[0105] For example, Figure 5 is a top view of the seeding wall in the warehousing system provided in the embodiment of this application. As shown in Figure 5, the seeding wall 10 in the warehousing system of Scheme 2 includes multiple storage compartments in the width direction (shown as three compartments in the figure). The first side of the seeding wall 10 in the width direction (lower side in Figure 5) is the personnel picking area 103, used to store order boxes 12 that are being picked. The second side of the seeding wall 10 in the width direction (upper side in Figure 5) is the STU work area 104, used to store order boxes 12 that have been picked. Since the multi-layer storage is flow-through, after the STU robot takes away an order box 12, the order boxes 12 behind that order box 12 can be automatically replenished to the second side of the seeding wall 10.

[0106] In some embodiments, there may be multiple seeding walls 10 in the picking work area 1, and one seeding wall 10 is equipped with one STU robot. Alternatively, the length directions of multiple seeding walls 10 may be located on the same straight line, so that the same STU robot can work on multiple seeding walls 10 at the same time (as shown in Figures 6 and 7).

[0107] In some embodiments, as shown in FIG6, there may be gaps between the seeding walls 10, or, as shown in FIG7, the seeding walls 10 may be directly adjacent to each other.

[0108] In some embodiments, the seeding wall is a sliding shelf 100, and the first unloading robot 11 is attached to the shipping end 112 of the sliding shelf 100.

[0109] In some embodiments, an empty box replenishment area (not shown in Figure 8) can be set in the seeding wall 10, such as setting the top layer or the leftmost layer as the empty box replenishment area. An STU robot can transport empty order boxes from the mobile shelf 21 to the empty box replenishment area of ​​the seeding wall 10, so that personnel can retrieve empty order boxes from the empty box replenishment area for product picking. The empty order boxes on the mobile shelf 21 can be replenished by staff.

[0110] In some embodiments of Scheme 2, the warehousing system further includes: a stealthy robot (stealthy AGV, i.e., a stealthy shelf-carrying robot) (not shown in Figure 8); multiple picking work areas 1 can be set up in the warehousing system; the stealthy robot 22 is used to carry the mobile shelf 21 to different seeding walls 10 of the picking work area 1 to collect order boxes 12, and to carry the mobile shelf 21 to other picking work areas 1 to collect the picked order boxes 12 generated by other picking work areas 1. That is, when multiple picking work areas 1 are set up in the warehousing system, after the stealthy robot 22 carries the mobile shelf 21 to collect the order boxes 12 from one picking work area 1, it can move to the next picking work area 1 to continue collecting the picked order boxes 12, until all picking work areas 1 are collected, or the mobile shelf 21 is full and then returns to the collection area 2. It is understood that the capacity of a picking work area 1 is limited. When the demand for capacity is large, a single picking work area 1 cannot meet the demand. In this case, multiple picking work areas 1 can be set up. The capacity here refers to the handling capacity of STU robots.

[0111] Figure 8 is a schematic diagram of a scenario according to an embodiment of this application. As shown in Figure 8, from top to bottom on the paper, it includes a collection area 2 and a picking work area 1. Referring to Figure 8, the outbound collection process of Scheme 2 may include the following steps:

[0112] 1) The scheduling equipment controls the robot to move the carrier from the warehouse to the picking work area 1.

[0113] 2) Personnel pick out the types and quantities of goods to be shipped from the container according to the guidance of the warehousing system. In other words, personnel pick out the goods to be shipped from the container according to the types and quantities of goods required by the order in the warehousing system.

[0114] 3) Personnel will place the picked goods into the order box 12 on the seeding wall 10 according to the guidance of the warehousing system.

[0115] 4) When the order box 12 is full or the order is completed, the personnel push the order box 12 from the first side (the side closer to the personnel in Figure 5, i.e., the personnel picking area 103) to the second side (the side closer to the STU robot in Figure 5, i.e., the STU work area 104) and notify the warehousing system by means of button triggering or other methods.

[0116] 5) The dispatching equipment dispatches the AGV to transport the mobile shelf 21 to the picking work area 1, docks with the STU robot, and dispatches the STU robot to take the order box 12 from the seeding wall 10 and place it on the mobile shelf 21.

[0117] 6) The lurking AGV carrying the mobile shelf 21 returns to the collection area 2 or goes to the next seeding wall 10.

[0118] In addition, the process of Option 2 includes the following steps to replenish empty containers:

[0119] 7) When there is an empty space in the empty box replenishment area of ​​the seeding wall 10, the scheduling equipment automatically dispatches the lurking AGV carrying the mobile shelf 21 with empty order boxes to the picking work area 1, and the STU robot takes the empty order box from the mobile shelf 21 to replenish the empty box replenishment area of ​​the seeding wall 10.

[0120] 8) Personnel obtain empty order boxes from the empty box replenishment area of ​​seeding wall 10 for product picking. Personnel’s actions of picking and placing boxes must trigger notification to the warehousing system.

[0121] It should be understood that Option 2 can complete the collection process using fewer types of robots and shelves, which can effectively reduce logistics costs.

[0122] Option 3

[0123] In some embodiments, based on Scheme 2, the warehousing system further includes: an automatic sorting device 14; seeding walls 10 are located on both sides of the automatic sorting device 14, and the automatic sorting device 14 is used to pick up goods and distribute them into order boxes 12 placed in multiple compartments on the seeding wall 10.

[0124] For example, Figure 9 is a three-dimensional view of an automated sorting device (SORT) provided in an embodiment of this application. Figure 10 is a schematic diagram of a scenario of a third scheme of a warehousing system provided in an embodiment of this application. As shown in Figures 9 and 10, the seeding wall 10 is located on both sides of the automated sorting device 14.

[0125] As shown in Figure 10, from top to bottom on the paper, it includes a collection area 2 and a picking work area 1. Referring to Figure 10, the outbound collection process of Scheme 3 can include the following steps:

[0126] 1) The scheduling equipment controls the robot to move the carrier from the warehouse to the picking work area 1.

[0127] 2) Personnel pick out the types and quantities of goods to be shipped from the container according to the guidance of the warehousing system. That is, personnel pick out the goods to be shipped from the container according to the types and quantities of goods required by the order in the warehousing system.

[0128] 3) Personnel deliver the picked goods to the feeding port of the automatic sorting device 14 according to the guidance of the warehousing system. The automatic sorting device 14 completes the automatic sorting of goods and places them into the order box 12 of the seeding wall 10.

[0129] 4) When order box 12 is full or the order is completed, the dispatching equipment dispatches the lurking AGV to transport the mobile shelf 21 to the picking work area 1, and dispatches the STU robot to take the order box 12 from the seeding wall 10 and place it on the mobile shelf 21.

[0130] 5) The AGV carrying the mobile rack 21 returns to the collection area 2 or to the location of the next automatic sorting device 14.

[0131] In addition, the empty container replenishment scheme in Scheme 3 is similar to the empty container replenishment scheme in Scheme 2 mentioned above, and will not be repeated here.

[0132] It should be understood that automated sorting devices can effectively save the process of manually picking goods, reduce human resource costs, and effectively improve logistics efficiency.

[0133] This application provides a warehousing system including a picking area, a picking wall, mobile shelves, a collection area, and a first box-turning robot. The first box-turning robot moves order boxes from the picking wall in the picking area to the mobile shelves, which then carry the order boxes to the collection area for collection. This method automates the outbound process of order boxes from the picking wall to the collection area, reducing manual intervention, minimizing human resource costs, and improving logistics efficiency.

[0134] Furthermore, the mobile shelving in this embodiment can carry empty order boxes out of the collection area, allowing the first unloading robot to transport the empty order boxes from the mobile shelving to the seeding wall, thereby achieving the cyclical replenishment of empty order boxes. Moreover, by using mobile shelving instead of the traditional flat-laying collection method, this embodiment can effectively increase the number of order boxes placed in the collection area and improve the space utilization rate of the warehousing system.

[0135] Option 4

[0136] In some embodiments, referring to FIG4, the seeding wall 10 can be replaced with the seeding wall shown in FIG2 (as shown in FIG5 to FIG7) based on FIG1, and an STU robot can be installed on the seeding wall 10.

[0137] In this scheme, the seeding wall 10 is the seeding wall shown in Scheme 2 (as shown in Figures 5-7). When the order box 12 is full or the order is completed, personnel push the order box 12 from the first side (the side closest to the personnel in Figure 5, i.e., the personnel picking area 103) to the second side (the side closest to the STU robot in Figure 5, i.e., the STU working area 104), and notify the warehousing system via button triggering or other means. Then, a stealthy AGV transport robot is dispatched to transport the order box 12 filled with goods to the unloading area 3, placing the order box 12 on the buffer shelf 31 set up in the unloading area 3, so that the stealthy AGV carrying the mobile shelf 21 can reach the unloading area 3 and dock the mobile shelf 21 with the STU robot. The STU robot then removes the order box 12 from the buffer shelf 31 and transfers it to the mobile shelf 21 carried by the stealthy AGV.

[0138] As mentioned above, in the warehousing system provided in this application embodiment, the seeding wall 10 can be a gravity flow rack (hereinafter referred to as a sliding rack) to further reduce human resource costs. A structure that installs a bin-picking robot (such as the aforementioned STU robot) on the sliding rack can be called a bin turnover system.

[0139] The following describes the bin turnover system including a sliding rack (flow rack) provided in the embodiments of this application.

[0140] The bin turnover system provided in this application has multiple implementations. Below, referring to Figures 11-13, we will describe Embodiment 1 of the bin turnover system in detail. Figure 11 is a structural schematic diagram of Embodiment 1 of the bin turnover system including a sliding shelf (seeding wall) provided in this application; Figure 12 is a top view of the bin turnover system including the sliding shelf shown in Figure 11; Figure 13 is a structural schematic diagram of the bin picking and placing robot in the bin turnover system including the sliding shelf shown in Figure 11.

[0141] As shown in Figures 11-13, the bin turnover system of this embodiment includes: a sliding rack 100 and a bin picking and placing robot 200; the sliding rack 100 includes: a fixed frame 110 and at least one bin storage layer 120; the two ends of the sliding rack 100 along the width direction are respectively the inlet end 111 and the outlet end 112; the at least one bin storage layer 120 is spaced apart in the fixed frame 110 along the height direction; wherein, the height of each bin storage layer 120 at the inlet end 111 is higher than its height at the outlet end 112, so that the bins 122 can slide from the inlet end 111 to the outlet end 112; the bin picking and placing robot 200 is hung on the outlet end 112 of the sliding rack 100 and is used to move the bins 122 located at the outlet end 112 out of the sliding rack 100.

[0142] As shown in Figures 11-13, the bin turnover system allows the bin picking and placing robot to be attached to the shipping end of the sliding rack. When the bin slides to the shipping end, the robot can pick up the bin, thus eliminating the need for staff to pick up the bin at the shipping end and reducing their workload.

[0143] In the bin turnover system shown in Figures 11-13, the sliding rack is also known as a flow rack. As shown in Figure 11, the sliding rack has four bin storage layers 120, which are spaced apart along the height direction. Each layer is tall enough to accommodate bins 122. In practical applications, the number of bin storage layers 120 is set based on actual needs. If there are fewer bins 122 to be turned over, only one bin storage layer 120 can be set; or, if there are more bins 122 to be turned over, multiple bin storage layers 120 can be set. When multiple bin storage layers 120 are set, they can be spaced apart along the height direction, and all multiple bin storage layers 120 are set within the fixed frame 110 so that the fixed frame 110 protects the bins 122 stored in each bin storage layer 120, preventing the bins 122 from sliding out of the sliding rack 100.

[0144] As shown in Figure 11, the fixed frame 110 includes at least four floor-supporting vertical beams 1102 and multiple fixed frame side beams 1101. The outgoing end 112 of the sliding rack 100 has multiple outgoing end beams 114 spaced apart along the height direction; the incoming end 111 of the sliding rack 100 has multiple incoming end beams 115 spaced apart along the height direction. The number of outgoing end beams 114 and incoming end beams 115 is equal, and they correspond one-to-one along the height direction. Thus, each storage bin layer 120 is connected between an incoming end beam 115 and an outgoing end beam 114. Each storage bin layer 120 has at least two fixed frame side beams 1101.

[0145] As shown in Figure 11, in this embodiment, the height of each material box storage layer 120 at the inlet end 111 is higher than its height at the outlet end 112; and each material box storage layer 120 includes a plurality of inclined slides 121 arranged in parallel from the inlet end 111 to the outlet end 112, so that the material box 122 can slide from the inlet end 111 to the outlet end 112 by its own weight.

[0146] Each inclined chute 121 forms one or more bin storage positions 123 in the direction from the inlet end 111 to the outlet end 112, and each bin storage position 123 can be used to store bins 122. For example, as shown in Figure 11, this flow rack is a double-deep flow rack, with two bin storage positions 123 per column and eight bin storage positions 123 per row. In practical applications, the specific depth and number of bin storage positions 123 are set based on the number of bins 122 to be handled, and there is no limitation here.

[0147] In this embodiment, the bin-picking robot 200 is mounted on the outgoing end 112 of the sliding rack 100. This allows the bin 122 to be moved out of the sliding rack 100 when it slides from the receiving end 111 to the outgoing end 112. Specifically, the bin-picking robot 200 can be fixedly connected to the outgoing end 112 of the sliding rack 100 by bolts, or by other means; no limitation is made here.

[0148] As shown in Figure 13, the bin-picking robot 200 in this embodiment includes: a support frame 210, a lateral movement mechanism 220, a lifting mechanism 230, and a bin-picking mechanism 240 disposed on the lifting mechanism 230. As shown in Figures 11 and 12, the dispatch end 112 of the sliding shelf 100 is provided with at least one horizontal track 150 at intervals along the vertical direction; for example, two horizontal tracks 150 can be provided. The support frame 210 is movably connected to the horizontal track 150 based on the lateral movement mechanism 220; thus, the support frame 210 and the bin-picking mechanism 240 can slide horizontally along the horizontal track 150.

[0149] As shown in Figure 13, there are multiple lateral motion mechanisms 220; specifically, each lateral motion mechanism 220 includes: a lateral drive motor 221 and a lateral sliding mechanism 222; for example, as shown in Figure 13, two lateral motion mechanisms 220 or four lateral motion mechanisms 220 can be provided.

[0150] In this design, the lateral sliding mechanism 222 of each lateral motion mechanism 220 is fixedly mounted on the support frame 210, and the lateral sliding mechanism 222 of each lateral motion mechanism 220 is slidably connected to a horizontal track 150; the lateral drive motor 221 is drivenly connected to the lateral sliding mechanism 222 so that under the drive of the lateral drive motor 221, the lateral sliding mechanism 222 is moved to drive the support frame 210 and the material box picking and placing mechanism 240 to move laterally along the horizontal track 150.

[0151] This allows the bin picking robot 200 to pick up bins 122 on the same layer that are located at different lateral positions.

[0152] As shown in Figure 13, the bin picking and placing mechanism 240 is movably connected to the support frame 210 based on the lifting mechanism 230; this allows the bin picking and placing mechanism 240 to move up and down along the height direction of the support frame 210 to pick up and place the bin 122 located at the shipping end 112 of the sliding shelf 100. This facilitates the retrieval of bins of different heights, improving the applicability of the bin turnover system of this application.

[0153] In order for the bin picking and placing robot 200 to be able to transfer the bin 122 to another location after picking it up, the bin picking and placing mechanism 240 may further include: a loading platform 241 and a picking and placing component 242; the picking and placing component 242 is slidably connected to the loading platform 241 and can move relative to the loading platform 241 in a direction close to or away from the sliding shelf 100, close to the sliding shelf 100 to pick up the bin 122 on the sliding shelf 100, or away from the sliding shelf 100 to place the bin 122 on the loading platform 241.

[0154] As shown in Figure 13, the pick-and-place assembly 242 includes a hook 2421 and a rotating mechanism 2422. The rotating mechanism 2422 enables the hook 2421 to rotate horizontally to rotate the bin 122 picked up by the hook 2421 away from or toward the sliding shelf 100.

[0155] As shown in Figure 13, the material box loading and unloading mechanism 240 further includes: a sliding connector 243; the sliding connector 243 is fixedly connected to the loading platform 241; the support frame 210 is: a support frame 211 including two gateposts; each gatepost is provided with a lifting mechanism 230; each lifting mechanism 230 includes: a lifting motor 2301, a first synchronous belt 2302, a bottom transmission wheel 2303 and a top transmission wheel 2304; the top transmission wheel 2304 is fixed to the top of the support frame 211; the bottom transmission wheel 2303 is fixed to the bottom of the support frame 211.

[0156] In this embodiment, the lifting motor 2301 is fixed to the top of the support frame 211 and connected to the top drive wheel 2304. The first synchronous belt 2302 passes around the bottom drive wheel 2303 and the top drive wheel 2304, and its two ends are fixedly connected to the sliding connector 243. The lifting motor 2301 drives the first synchronous belt 2302, the bottom drive wheel 2303 and the top drive wheel 2304 to move the material box picking and placing mechanism 240 up and down along the height direction of the support frame 210.

[0157] The bin turnover system of this application embodiment can realize the retrieval of bins 122 at different heights on the sliding shelf 100.

[0158] Referring to Figures 14-19, Embodiment 2 of the bin turnover system will be described in detail. Figure 14 is a three-dimensional structural diagram of the sliding rack (seeding wall) in Embodiment 2 of the bin turnover system provided in this application; Figure 15 is a front view of the bin turnover system including the sliding rack shown in Figure 14; Figure 16 is a rear view of the bin turnover system including the sliding rack shown in Figure 14; Figure 17 is a side view of the bin turnover system including the sliding rack shown in Figure 14 in a first state; Figure 18 is a side view of the bin turnover system including the sliding rack shown in Figure 14 in a second state; and Figure 19 is a side view of the bin turnover system including the sliding rack shown in Figure 14 in a third state.

[0159] As shown in Figures 14-16, the sliding rack 100 in this embodiment is a single-depth rack with three layers of storage bins 120. Each column of each storage layer 120 has one storage bin 123, and each row has four storage bins 123. Furthermore, compared to Embodiment 1, this embodiment also includes multiple receiving storage layers 140 at the inlet end 111 of the sliding rack 100, each connected to the inlet end beam 115. Each receiving storage layer 140 extends beyond the inlet end beam 115 to receive the storage bins 122 awaiting turnover. As shown in Figure 14, each receiving storage layer 140 is connected to the inlet end beam 115 via a receiving storage layer pivot 142, and the receiving storage bins 143 of each receiving storage layer 140 correspond to the storage bins 123 on the sliding rack 100. As shown in Figure 14, each receiving storage position 143 is tilted based on the receiving storage layer pivot 142. In this way, the staff can place the material box 122 to be turned over on the receiving storage layer 140, and then lift the receiving storage position 143 based on the receiving storage layer pivot 142 to push it into the corresponding material box storage position 123 of the sliding shelf 100, so that the material box 122 can slide from the receiving end 111 to the shipping end 112.

[0160] As shown in Figures 14-19, the fixed frame 110 also includes a control module 1103. In this embodiment, the sliding rack 100 has three receiving storage layers 140. On the inlet beam 115 of the second receiving storage layer 140, a receiving storage location sign 141 is provided for each receiving storage position 143 on the lowest receiving storage layer 140. On the inlet beam 115 of the third receiving storage layer 140, a receiving storage location sign 141 is provided for each receiving storage position 143 on both the second and third receiving storage layers 140. This allows staff to easily observe the receiving storage location signs 141. The control module 1103 is electrically connected to the receiving storage location sign 141 for communication.

[0161] The bin handling robot 200 in this embodiment can be the same as in Embodiment 1.

[0162] To more clearly illustrate the process of picking up and placing material boxes using the material box turnover system of this application embodiment, the process of picking up and placing material boxes in the middle layer of the sliding shelf 100 is described here with reference to Figures 17 to 19.

[0163] In the initial stage, the hook 2421 on the bin handling robot 200 can be located at any position, for example, at the position furthest from the fixed frame 110 as shown in Figure 17. At this time, the worker can put the bin 122 from the receiving end 111 into the empty bin storage space 123 through the second-layer receiving storage layer 140. For example, as shown in Figure 17, the second-layer receiving storage layer 140 has an empty bin storage space 123. Then, the bin 122 is put into the empty bin storage space 123 of the second-layer receiving storage layer 140 as shown in Figure 18. Then, the second-layer receiving storage layer 140 is lifted up, and the bin 122 automatically moves to the discharging end 112 under the action of gravity along the inclined slide 121 on the fixed frame 110.

[0164] At this time, as shown in Figure 18, if the bin picking and placing mechanism 240 of the bin picking and placing robot 200 is not at the shipping end position corresponding to the bin 122, then the lateral movement mechanism 220 of the bin picking and placing robot 200 can move on the horizontal track 150, and / or the lifting mechanism 230 moves on the support frame 210 so as to move to the shipping end position corresponding to the bin 122.

[0165] It is understandable that, since multiple material box storage layers 120 can be set on the aforementioned fixed frame 110, and multiple rows of material box storage positions 123 can be set on each material box storage layer 120, each row of material box storage positions 123 corresponds to a shipping end position at the shipping end.

[0166] Then, as shown in Figure 18, the picking and placing component 242 of the bin picking and placing robot 200 can move toward the direction of the fixed frame 110 to move the claw 2421 to the position closest to the fixed frame 110 as shown in Figure 15; then, the claw 2421 is used to grab the bin 122.

[0167] It is understood that the pick-and-place component 242 can move simultaneously with the lateral movement mechanism 220 and the lifting mechanism 230, or they can move at different times; this is not limited here.

[0168] Then, as shown in Figure 19, after grabbing the bin 122, the picking and placing component 242 of the bin picking and placing robot 200 can move away from the fixed frame 110 to place the bin 122 onto the loading platform 241.

[0169] This allows for a complete pickup process.

[0170] Subsequently, the bin-picking robot 200 can place the bin 122 to the target location. Specifically, the bin-picking robot 200 can use the lifting mechanism 230 to move the bin-picking mechanism 240 to the height corresponding to the target location; finally, the rotating mechanism 2422 at the bottom of the hook 2421 can move the bin 122 off the loading platform 241 and place the bin 122 at the target location.

[0171] An embodiment of this application provides a bin turnover system. By attaching a bin retrieval robot to the shipping end of a sliding shelf, the bin can be retrieved by the robot fixedly connected to the shipping end when it slides to the shipping end via an inclined slide. This eliminates the need for staff to retrieve the bins from the shipping end of the sliding shelf, thus reducing the workload of the staff.

[0172] Referring to Figure 20, Embodiment 3 of the bin turnover system will be described in detail. Figure 20 is a side view of Embodiment 3 of the bin turnover system including a sliding rack (seeding wall) provided in this application. As shown in Figure 20, compared with the bin turnover system of Embodiment 2, the sliding rack 100 in this embodiment is also a single-depth rack with only three bin storage layers 120 and no receiving storage layer 140. In this case, the worker can directly place the bin 122 into the bin storage position 123 in each bin storage layer 120, and then the bin 122 will automatically slide to the delivery end 112 under the action of gravity. Then, the bin retrieval robot 200 shown in Figure 13 can be used to retrieve the bin 122.

[0173] Then, referring to Figures 21-28, a detailed description of Embodiment 4 of the material bin turnover system will be provided. Figure 21 is a side view of Embodiment 4 of the material box turnover system including a sliding rack (seeding wall) provided in this application; Figure 22 is a simplified schematic diagram of the sliding rack of the material box turnover system including the sliding rack shown in Figure 21; Figure 23 is a partial enlarged view of part A of the sliding rack of the material box turnover system including the sliding rack shown in Figure 22; Figure 24 is a partial enlarged view of part B of the sliding rack of the material box turnover system including the sliding rack shown in Figure 22; Figure 25 is a schematic diagram of the front and rear box limiting mechanism on the sliding rack of the material box turnover system including the sliding rack shown in Figure 21; Figure 26 is a partial enlarged view of part C of the sliding rack of the material box turnover system including the sliding rack shown in Figure 22; Figure 27 is a schematic diagram of the guide limiting plate and end limiting mechanism installed on the sliding rack of the material box turnover system including the sliding rack shown in Figure 21; Figure 28 is a partial enlarged view of part D in Figure 27.

[0174] As shown in Figure 21, compared with Embodiment 3, the sliding rack 100 in this embodiment is a double-deep rack, also with three layers of material bin storage 120, and multiple layers of receiving and storage 140 are also provided at the inlet end 111 of the sliding rack 100. The material bin picking and placing robot 200 in this embodiment can be the same as in Embodiment 1.

[0175] As shown in Figure 21, each inclined slide 121 of each storage layer 120 of the double-deep sliding rack has two storage bin positions 123. In order to avoid collision between two adjacent bins 122, reduce safety hazards and reduce the risk of damage to bins 122, a front and rear bin limiting mechanism 130 can also be provided for the sliding rack 100 in this embodiment.

[0176] As shown in Figure 22, each front and rear box limiting mechanism 130 includes a limiting plate 131; the limiting plate 131 is movably disposed at the bottom of the inclined slide 121 of each material box storage layer 120; it is used to extend the inclined slide 121 to limit the material box 122 on the rear material box storage layer 123 when the material box 122 reaches the material box storage layer 123 located on the front side of the two adjacent material box storage layers 123.

[0177] Specifically, each material box storage layer 120 in this embodiment can be the same as the material box storage layer 120 in the second embodiment above. As shown in Figures 14 and 21, each inclined slide 121 includes: two rows of rollers 1211 arranged parallel to each other from the inlet end 111 to the outlet end 112; each row of rollers 1211 includes: a roller support beam 1212 connecting the inlet end 111 to the outlet end 112 and a plurality of material box rollers 1213 continuously arranged on the roller support beam 1212 along the direction from the inlet end 111 to the outlet end 112; each front and rear box limiting mechanism 130 is disposed between two adjacent rows of rollers 1211.

[0178] By adding front and rear box limiting mechanisms to sliding racks, collisions between two adjacent boxes can be avoided, reducing safety hazards and the risk of box damage.

[0179] In this embodiment, as shown in Figures 22-25, the front and rear box limiting mechanism 130 further includes: front and rear box limiting rollers 132, elastic element 133, and balance plate 134; wherein, the front and rear box limiting rollers 132 and the limiting plate 131 are respectively disposed at the first and second ends opposite to each other on the balance plate 134.

[0180] The front and rear box limiting rollers 132 are arranged parallel to the material box rollers 1213. They are used to protrude the material box rollers 1213 when there are no material boxes 122 in the two adjacent material box storage positions 123. When pressed down by the material box 122, they drive the second end of the balance plate 134 to tilt up so that the limiting plate 131 extends out of the inclined slide 121.

[0181] An elastic element 133 is disposed at the first or second end of the balance plate 134 and connected to the roller support beam 1212. When there is no material box 122 in two adjacent material box storage positions 123, it drives the limiting plate 131 to retract below the material box roller 1213 and causes the first end of the balance plate 134 to tilt upwards, so that the front and rear box limiting rollers 132 protrude from the material box roller 1213. As shown in Figures 21 and 22, the first end can be the end closer to the discharging end 112, and the second end can be the end farther from the discharging end 112.

[0182] In this embodiment, as shown in FIG25, the balance plate 134 is connected to the roller support beam 1212 via a rotating shaft 1311, enabling the balance plate 134 to form a seesaw-like structure based on the rotating shaft 1311. In this embodiment, by setting front and rear box limiting rollers 132, the material box 122 can form a sliding contact when it contacts the limiting plate 131, reducing the friction between the limiting plate 131 and the material box 122, and also reducing the wear of the limiting plate 131 on the bottom of the material box 122.

[0183] In this embodiment, the elastic component 133 can be a tension spring or a compression spring. As shown in Figures 23-25, when the elastic component 133 is a tension spring, it can be installed at the second end. In this case, as shown in Figure 23, when there is no material box 122 on two adjacent material box storage positions 123, the tension of the tension spring pulls the limiting plate 131 below the material box roller 1213, causing the first end of the balance plate 134 to tilt up. As shown in Figure 24, when there is a material box 122 on two adjacent material box storage positions 123, the front and rear box limiting rollers 132 are flush with the material box roller 1213 under the pressure of the material box 122. At this time, the tension spring is stretched, and the limiting plate 131 protrudes from the material box roller 1213, thereby limiting the material box 122.

[0184] When the elastic component 133 is a compression spring, it can be installed at the first end, that is, on the same side as the front and rear box limiting rollers 132 shown in Figure 21 (the elastic component is not shown in the figure). In this case, when there are no boxes 122 in two adjacent storage positions 123, the spring's rebound force causes the front and rear box limiting rollers 132 to protrude from the box rollers 1213, thereby causing the limiting plate 131 to rotate below the box rollers 1213. When there are no boxes 122 in two adjacent storage positions 123, the spring is compressed under the pressure of the box 122, and the front and rear box limiting rollers 132 become flush with the box rollers 1213, causing the limiting plate 131 to protrude from the box rollers 1213. This restricts the movement of the rear box 122 towards the discharge end, thus preventing collisions between two adjacent boxes 122, reducing safety hazards, and minimizing the risk of damage to the boxes 122.

[0185] In this embodiment, as shown in FIG22, the length of the front and rear box limiting mechanism 130 along the direction from the inlet end 111 to the outlet end 112 is greater than the length of the material box 122. In this way, it can be avoided that when the material box 122 contacts the front and rear box limiting rollers 132, the other end of the front and rear box limiting mechanism 130 also contacts the material box 122, which would cause the material box 122 to slow down its downward speed or even become unable to move.

[0186] In this embodiment, as shown in FIG25, in order to reduce the weight of the front and rear box limiting mechanism 130, a notch can be provided on the limiting plate 131.

[0187] As shown in Figure 21, multiple rows of material boxes 122 can be placed along the length of each material box storage layer 120. In order to prevent the multiple rows of material boxes 122 from colliding with other rows of material boxes 122 during the sliding process, in this embodiment of the application, two guide limit plates 116 can be provided on the fixing frame 110 for each row of material boxes 122.

[0188] As shown in Figure 21, from the inlet end 111 to the outlet end 112, two guide limiting plates 116 are located between the inlet end crossbeam 115 and the outlet end crossbeam 114; and each pair of adjacent roller rows 1211 is located between the two guide limiting plates 116. This allows two adjacent guide limiting plates 116 to be located on both sides of each row of bins 122 along the length of each bin storage layer 120, thereby guiding each row of bins 122 and preventing adjacent rows of bins 122 from colliding with each other.

[0189] In this embodiment, to prevent the material box 122 from sliding out of the sliding shelf 100 when it slides to the delivery end 112, as shown in Figures 26, 27 and 28, an end limiting mechanism 117 can be provided upward along the height direction of the sliding shelf 100 on the delivery end crossbeam 114; the end limiting mechanism 117 is used to restrict the material box 122 from sliding out of the sliding shelf 100 when it slides to the delivery end 112.

[0190] Specifically, as shown in Figures 22, 26, 27, and 28, the end-position limiting mechanism 117 includes a limiting bracket 1171 and a guide shaft 1172. Along the height direction of the sliding shelf 100, the limiting bracket 1171 extends upwards with a pair of mounting ears 1173. The guide shaft 1172 is installed between the pair of mounting ears 1173 and is rotatably connected to them. This allows the guide shaft 1172 to roll into contact with the bin 122 when the bin handling robot 200 grasps it, preventing hard contact between the bottom of the bin 122 and the discharge end beam 114, thus reducing damage to the bottom of the bin 122.

[0191] Next, referring to Figures 29-30, Embodiment 5 of the bin turnover system will be described in detail. Figure 29 is a structural schematic diagram of Embodiment 5 of the bin turnover system including a sliding rack (seeding wall) provided in this application; Figure 30 is a flowchart illustrating the working process of the bin turnover system including the sliding rack shown in Figure 29.

[0192] In this embodiment, as shown in Figure 29, the difference from Embodiment 4 is that the bin turnover system in this embodiment may further include: a docking mechanism 300; the docking mechanism 300 may have a docking position 310 on its top. As shown in Figure 29, the docking mechanism 300 is arranged adjacent to the bin picking and placing robot 200, located on the side away from the sliding shelf 100; the bin picking and placing robot 200 is used to move the bin 122 located at the shipping end 112 of the sliding shelf 100 out of the sliding shelf 100 and place it on the docking position 310 on the top of the docking mechanism 300.

[0193] Thus, after the bin picking and placing robot 200 uses the claw 2421 of the picking and placing component 242 to grab the bin 122 from the sliding rack 100 and place it on the loading platform 241, the picking and placing component 242 can move away from the sliding rack 100. After moving to the farthest end, the bin picking and placing robot 200 can control the lateral movement mechanism 220 and / or the lifting mechanism 230 to move to the position and / or height of the docking position 310, and then control the rotation mechanism 2422 to rotate so as to transfer the bin 122 from the loading platform 241 to the docking position 310 for subsequent transfer of the bin 122.

[0194] To more clearly illustrate the working process of the bin turnover system according to the embodiments of this application, the description is provided here with reference to FIG30. As shown in FIG30, the working process may include:

[0195] Step S110: The full box is pushed backward manually on the working side of the flow rack;

[0196] Step S120: The material bin moves automatically to the rear end on the flow rack due to gravity;

[0197] Step S130: The end limit block fixes the material box at the end position to prevent the material box from continuing to move downwards or falling.

[0198] Step S140: The system notifies that the material box has arrived. The material box picking and placing robot moves to the designated material box storage position via the horizontal and vertical tracks.

[0199] The system in this step refers to the system software installed in the control equipment that can communicate with the bin handling robot.

[0200] Step S150: The bin picking and placing robot moves its own bin picking mechanism, and with the help of the guide shaft of the end limit structure, moves the bin away from the limit point and places the bin on its own bin storage structure.

[0201] Step S160: The bin picking and placing robot moves to the bin docking position and places the bin on the docking position using its own bin picking and placing structure.

[0202] Specifically, when a worker manually places a full box 122 onto the receiving storage position 143 on the fixed frame 110 at the working side of the flow rack (i.e., the receiving end 111), the full box 122 can be pushed backward. Then, the box 122 will automatically move to the rear end (i.e., the shipping end 112) on the flow rack due to gravity. When the box 122 moves to the rear end, the end limit block (i.e., the end limit mechanism 117) on the fixed frame 110 will fix the box 122 at the end (i.e., the shipping end 112) to prevent the box 122 from continuing to move and falling. Then, the system can notify the box pick-up and place robot 200 to arrive at the box 122. At this time, the box pick-up and place robot reaches the position of the box 122 through the horizontal and vertical tracks (i.e., the horizontal track 150 and the support frame 210).

[0203] Once the bin reaches the location of bin 122, the hook 2421 on its own bin-picking mechanism (i.e., bin-picking and placing mechanism 240) can grasp bin 122. Then, bin 122 rolls along the guide shaft of the end-limiting structure until bin 122 is moved away from the limiting point and placed on its own bin storage structure (i.e., loading platform 241). It can be understood that the limiting point is the position of bin 122 when it is restricted by the end-limiting mechanism 117.

[0204] Finally, the bin is moved to the bin docking position 310 via the horizontal and vertical tracks, and then placed on the docking position 310 using its own bin picking and placing structure. This completes the process of moving the bin 122 from the sliding rack 100 to the docking position 310.

[0205] Referring to Figure 31, a detailed description of Embodiment Six of the bin turnover system is provided. Figure 31 is a structural schematic diagram of Embodiment Six of the bin turnover system including a sliding shelf (seeding wall) provided in this application. Compared with Embodiment Five, in this embodiment, the docking mechanism 300 in the bin turnover system of this application may also include a docking mechanism comprising a buffer rack 320 and a handling robot 330. As shown in Figure 31, the buffer rack 320 is adjacent to the bin picking and placing robot 200; the handling robot 330 is located on the side of the buffer rack 320 away from the bin picking and placing robot 200.

[0206] In this way, the bin-picking robot 200 can pick up the bin 122 from the shipping end 112 and temporarily store the bin 122 on the buffer rack 320. Then, the handling robot 330 will transport the bin 122 temporarily stored on the buffer rack 320 to its destination.

[0207] Referring to Figure 32, Embodiment 7 of the bin turnover system will be described in detail. Figure 32 is a structural schematic diagram of Embodiment 7 of the bin turnover system including a sliding shelf (seeding wall) provided in this application. Compared with Embodiment 5, in this embodiment, the docking mechanism 300 in the bin turnover system of this application can also be a transmission line 340. As shown in Figure 32, the transmission line 340 is arranged adjacent to the sliding shelf 100, and the aforementioned bin picking and placing robot 200 is located between the transmission line 340 and the sliding shelf 100. In this way, after the bin picking and placing robot 200 grabs the bin 122 from the shipping end 112, the bin picking and placing robot 200 places the bin 122 on the transmission line 340 so that the transmission line 340 can transport the bin 122 to the destination.

[0208] Referring to Figure 33, Embodiment 8 of the bin turnover system will be described in detail. Figure 33 is a structural schematic diagram of Embodiment 8 of the bin turnover system including a sliding rack (seeding wall) provided in this application; compared with Embodiment 4, in this embodiment, the sliding rack 100 can be a three-depth sliding rack. In the bin turnover system shown in Figure 33, each inclined slide 121 of each bin storage layer 120 of the three-depth sliding rack has three bin storage positions 123.

[0209] At this time, in order to prevent the material boxes 122 on the three material box storage positions 123 from colliding with each other, a front and rear box limiting mechanism 130 can be set for the sliding rack 100, or two front and rear box limiting mechanisms 130 can be set. The two front and rear box limiting mechanisms 130 can be set sequentially along the direction from the loading end 111 to the unloading end 112.

[0210] It is understood that the only difference between this embodiment and embodiment four is the number of storage positions 123 in the material bin. Other structures are the same or similar, and can be referred to embodiment four. It will not be repeated here.

[0211] The sliding rack provided in this application embodiment includes: a fixed frame 110 and at least one layer of material box storage 120; the two ends of the sliding rack 100 along the width direction are respectively the inlet end 111 and the outlet end 112; at least one layer of material box storage 120 is spaced apart in the fixed frame 110 along the height direction; wherein, the height of each layer of material box storage 120 at the inlet end 111 is higher than its height at the outlet end 112, so that the material box to be turned over can slide from the inlet end 111 to the outlet end 112; the outlet end 112 of the sliding rack 100 can be equipped with a material box picking and placing robot 200, which is used to move the material box 122 located at the outlet end 112 out of the sliding rack 100.

[0212] For the specific structure of the sliding rack, please refer to the structure of the sliding rack in the bin turnover system shown in Figures 11 to 28, which will not be described in detail here.

[0213] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0214] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A warehousing system, characterized in that, The warehousing system includes a picking work area (1), a seeding wall (10), a mobile shelf (21), a collection area (2), and a first unloading robot (11); The seeding wall (10) is set in the picking work area (1) and includes multiple compartments for placing the picked order boxes (12); the order boxes (12) are used to hold the goods picked according to the orders; The first unloading robot (11) is used to transport the order boxes (12) on the seeding wall (10) to the mobile shelf (21); The mobile shelving (21) is used to be removed from the collection area (2); and / or to carry the order boxes (12) brought in by the first unloading robot (11) and move them to the collection area (2).

2. The warehousing system according to claim 1, characterized in that, The warehousing system also includes a buffer shelf (31) and a second box-turning robot (32); the buffer shelf (31) is located in the box-turning area (3), which is located between the picking work area (1) and the collection area (2); The cache shelf (31) is used to carry the order boxes (12) brought in by the first unloading robot (11); The mobile shelving (21) is specifically used to be moved from the collection area (2) to the unloading area (3), and / or to carry the order boxes (12) brought by the first unloading robot (11) and moved from the unloading area (3) to the collection area (2); The second box-turning robot (32) can move in both vertical and horizontal directions to move order boxes (12) at different heights and lengths on the cache shelf (31) and move the order boxes (12) on the cache shelf (31) to the mobile shelf (21) in the box-turning area (3).

3. The warehousing system according to claim 2, characterized in that, The seeding wall (10) includes a connecting layer (101) arranged along the height direction and a storage layer (102) located above the connecting layer (101), wherein the connecting layer (101) includes the bottom layer of the seeding wall (10); The first box-turning robot (11) can move on a horizontal ground to transport the order boxes (12) placed on the connecting layer (101) of the seeding wall (10) to the box-turning area (3).

4. The warehousing system according to claim 2, characterized in that, The warehousing system also includes an empty box replenishment rack (13) located in the picking work area (1); The first box-turning robot (11) is also used to move empty order boxes on the mobile shelf (21) to the empty box replenishment shelf (13).

5. The warehousing system according to claim 2, characterized in that, The second box-turning robot (32) includes: a column gantry (321), a transport mechanism (322), and a guide rail (323); The column frame (321) is installed vertically; the conveying mechanism (322) is mounted on the column frame (321) and is used to move vertically on the column frame (321) to convey goods of different heights on the buffer shelf (31); the column frame (321) is movably connected to the guide rail (323) so that the column frame (321) and the conveying mechanism (322) can move horizontally along the guide rail (323) to convey goods on the buffer shelf (31) in the length direction.

6. The warehousing system according to any one of claims 2, characterized in that, The second unloading robot (32) is attached to the shipping end of the cache shelf (31).

7. The warehousing system according to claim 1, characterized in that, The first box-turning robot (11) is deployed on the seeding wall (10) and can move in both vertical and horizontal directions.

8. The warehousing system according to claim 7, characterized in that, The mobile shelving (21) is specifically used to be moved from the collection area (2) to the picking work area (1); and / or to carry order boxes (12) brought by the first unloading robot (11) from the picking work area (1) to the collection area (2).

9. The warehousing system according to claim 8, characterized in that, The warehousing system also includes: an automatic sorting device (14); The automatic sorting device (14) is used to pick up goods and distribute them into order boxes (12) placed in multiple compartments on the seeding wall (10).

10. The warehousing system according to any one of claims 7 to 9, characterized in that, The seeding wall (10) is a sliding shelf (100), and the first unloading robot (11) is attached to the shipping end (112) of the sliding shelf (100).

11. The warehousing system according to any one of claims 1-9, characterized in that, The seeding wall (10) also includes multiple compartments for placing unpicked empty order boxes; The first box-turning robot (11) is also used to transport empty order boxes on the mobile shelf (21) to the seeding wall (10); The mobile shelving (21) is also used to carry empty order boxes to be moved by the first unloading robot (11) and removed from the collection area (2).

12. The warehousing system according to any one of claims 1-9, characterized in that, The seeding wall (10) includes multiple layers of storage compartments arranged along the width direction.

13. The warehousing system according to claim 12, characterized in that, A sliding device is provided between the multi-layered storage units, which is used to support the movement of the order box (12) in the seeding wall (10) along the width direction.

14. The warehousing system according to claim 1, characterized in that, The warehousing system also includes: a stealthy robot (22); The lurking robot (22) is used to carry the mobile shelf (21) to other picking work areas (1) to collect the picked order boxes (12) generated by the other picking work areas (1).

15. A sliding rack, characterized in that, include: The fixed frame (110) and at least one layer of material bin storage layer (120); the sliding rack (100) has an inlet end (111) and an outlet end (112) at its two ends along the width direction, respectively; The at least one layer of storage bins (120) is spaced apart in the fixed frame (110) along the height direction; wherein, the height of each storage bin (120) at the inlet end (111) is higher than its height at the outlet end (112), so that the bins to be turned over can slide from the inlet end (111) to the outlet end (112); The shipping end (112) of the sliding rack (100) can be equipped with a bin picking and placing robot (200), which is used to move the bin (122) located at the shipping end (112) out of the sliding rack (100).

16. The sliding rack according to claim 15, characterized in that, Each storage layer (120) includes: a plurality of inclined slides (121) arranged in parallel from the loading end (111) to the unloading end (112), each inclined slide (121) forming one or more storage positions (123) for storing boxes (122) from the loading end (111) to the unloading end (112).

17. The sliding rack according to claim 16, characterized in that, The number of hopper storage positions (123) in each inclined chute (121) is multiple; The sliding rack (100) further includes: at least one front and rear box limiting mechanism (130); each of the front and rear box limiting mechanisms (130) includes a limiting plate (131); the limiting plate (131) is movably disposed at the bottom of each inclined slide (121) of each layer of the box storage layer (120), located between two adjacent box storage positions (123); it is used to extend the inclined slide (121) when the box (122) reaches the box storage position (123) located on the front side of the two adjacent box storage positions (123) to limit the box (122) on the rear box storage position (123).

18. The sliding rack according to claim 17, characterized in that, Each of the inclined slides (121) includes two rows of rollers (1211) arranged in parallel from the loading end (111) to the unloading end (112); Each roller column (1211) includes: a roller support beam (1212) connecting the loading end (111) to the unloading end (112) and a plurality of hopper rollers (1213) continuously arranged on the roller support beam (1212) in the direction from the loading end (111) to the unloading end (112); each of the front and rear hopper limiting mechanisms (130) is disposed between two adjacent roller columns (1211).

19. The sliding rack according to claim 18, characterized in that, Each of the aforementioned front and rear box limiting mechanisms (130) further includes: front and rear box limiting rollers (132), elastic element (133), and balance plate (134); The front and rear box limiting rollers (132) and the limiting plate (131) are respectively disposed at the first and second ends opposite to the balance plate (134); The front and rear box limiting rollers (132) are arranged parallel to the box rollers (1213) and are used to protrude the box rollers (1213) when there are no boxes (122) in two adjacent box storage positions (123); when pressed down by the box (122), they drive the second end of the balance plate (134) to tilt up so that the limiting plate (131) extends out of the inclined slide (121); The elastic element (133) is disposed at the first or second end of the balance plate (134) and connected to the roller support beam (1212). When there is no material box (122) in two adjacent material box storage positions (123), it drives the limiting plate (131) to retract below the material box roller (1213) and drives the first end of the balance plate (134) to tilt up so that the front and rear box limiting rollers (132) protrude from the material box roller (1213).

20. The sliding rack according to claim 16, characterized in that, The outgoing end (112) of the sliding rack (100) is provided with multiple outgoing end beams (114) spaced apart along the height direction; the receiving end (111) of the sliding rack (100) is provided with multiple receiving end beams (115) spaced apart along the height direction. Each of the aforementioned storage bin layers (120) is connected between an inlet beam (115) and an outlet beam (114).

21. The sliding rack according to claim 20, characterized in that, The fixing frame (110) also includes: a plurality of guide limiting plates (116); From the inlet end (111) to the outlet end (112), at least two of the guide limit plates (116) are located between the inlet end crossbeam (115) and the outlet end crossbeam (114); Along the length of each of the bin storage layers (120), two adjacent guide limit plates (116) are located on both sides of each bin storage position (123).

22. The sliding rack according to claim 20, characterized in that, Along the height direction of the sliding rack (100), the shipping end beam (114) is provided with an end limiting mechanism (117) extending upward; The end-stop mechanism (117) is used to restrict the material box (122) from sliding out of the sliding shelf (100) when the material box (122) reaches the delivery end (112).

23. The sliding rack according to claim 22, characterized in that, The end limiting mechanism (117) includes: a limiting bracket (1171) and a guide shaft (1172); along the height direction of the sliding shelf (100), the limiting bracket (1171) extends upward with a pair of mounting ears (1173); the guide shaft (1172) is installed between the pair of mounting ears (1173) and is rotatably connected to the pair of mounting ears (1173); The guide shaft (1172) is used to roll into contact with the bin (122) when the bin handling robot (200) grabs the bin (122).

24. The sliding rack according to claim 20, characterized in that, The sliding rack (100) is also provided with multiple receiving and storage layers (140) at the receiving end (111), which are connected to the receiving end beam (115) of each layer respectively; each receiving and storage layer (140) extends out of the receiving end beam (115) to receive the material box (122) to be turned over.

25. A bin turnover system, characterized in that, include: The sliding rack (100) according to any one of claims 15 to 24 and the bin picking and placing robot (200) attached to the shipping end (112) of the sliding rack (100).

26. The bin turnover system according to claim 25, characterized in that, The bin turnover system further includes: a docking mechanism (300); the docking mechanism (300) is arranged adjacent to the bin picking and placing robot (200) and is located on the side away from the sliding shelf (100); The bin picking and placing robot (200) is used to move the bin (122) located at the shipping end (112) of the sliding shelf (100) out of the sliding shelf (100) and place it on the docking position (310) at the top of the docking mechanism (300).

27. The bin turnover system according to claim 26, characterized in that, The docking mechanism (300) includes: a buffer rack (320) and a transport robot (330); the buffer rack (320) is adjacent to the bin picking and placing robot (200); the transport robot (330) is located on the side of the buffer rack (320) away from the bin picking and placing robot (200); A transport robot (330) is used to transport the bins (122) temporarily stored on the buffer rack (320) to the destination.

28. The bin turnover system according to claim 26, characterized in that, The docking mechanism (300) is a transmission line (340) arranged adjacent to the sliding shelf (100); the transmission line (340) is used to transport the material box (122) to the destination.

29. The bin turnover system according to claim 25, characterized in that, The bin picking and placing robot (200) includes: a support frame (210), a lateral movement mechanism (220), a lifting mechanism (230), and a bin picking and placing mechanism (240) disposed on the lifting mechanism (230); The dispatch end (112) of the sliding rack (100) is provided with at least one horizontal track (150) at intervals along the vertical direction; the support frame (210) is movably connected to the horizontal track (150) based on the transverse motion mechanism (220) so that the support frame (210) and the bin picking and placing mechanism (240) can slide horizontally along the horizontal track (150); The bin picking and placing mechanism (240) is movably connected to the support frame (210) based on the lifting mechanism (230); so that the bin picking and placing mechanism (240) moves up and down along the height direction of the support frame (210) to pick up and place the bin (122) located at the shipping end (112) of the sliding shelf (100).

30. The bin turnover system according to claim 29, characterized in that, The bin loading and unloading mechanism (240) includes: a loading platform (241) and a loading and unloading component (242); The pick-and-place assembly (242) is slidably connected to the loading platform (241) and can move relative to the loading platform (241) in a direction close to or away from the sliding rack (100), close to the sliding rack (100) to pick up the bin (122) on the sliding rack (100), or away from the sliding rack (100) to place the bin (122) on the loading platform (241); The pick-and-place assembly (242) includes a hook (2421) and a rotating mechanism (2422), the rotating mechanism (2422) enabling the hook (2421) to rotate horizontally to rotate the bin (122) picked up by the hook (2421) away from or toward the sliding shelf (100).

31. The bin turnover system according to claim 30, characterized in that, The material box loading and unloading mechanism (240) further includes: a sliding connector (243); the sliding connector (243) is fixedly connected to the cargo platform (241); The support frame (210) is: a support frame (211) including two gateposts; each gatepost is provided with a lifting mechanism (230); Each of the lifting mechanisms (230) includes: a lifting motor (2301), a first synchronous belt (2302), a bottom drive wheel (2303), and a top drive wheel (2304); the top drive wheel (2304) is fixed to the top of the support gantry (211); the bottom drive wheel (2303) is fixed to the bottom of the support gantry (211); The lifting motor (2301) is fixed to the top or bottom of the support gantry (211) and is connected to the top drive wheel (2304) or the bottom drive wheel (2303) in a transmission connection. The first synchronous belt (2302) passes around the bottom drive wheel (2303) and the top drive wheel (2304), and its two ends are fixedly connected to the sliding connector (243); The lifting motor (2301) drives the first synchronous belt (2302), the bottom transmission wheel (2303) and the top transmission wheel (2304) to drive the bin picking and placing mechanism (240) to move up and down along the height direction of the support frame (210) to pick up bins (122) at different heights on the sliding shelf (100).

32. The bin turnover system according to claim 29, characterized in that, The number of the lateral motion mechanisms (220) is multiple; each of the lateral motion mechanisms (220) includes: a lateral drive motor (221) and a lateral sliding mechanism (222); The lateral sliding mechanism (222) of each of the lateral motion mechanisms (220) is fixedly mounted on the support frame (210), and the lateral sliding mechanism (222) of each of the lateral motion mechanisms (220) is slidably connected to a horizontal track (150); The transverse drive motor (221) is driven to connect with the transverse sliding mechanism (222) so that moving the transverse sliding mechanism (222) drives the support frame (210) and the material box picking and placing mechanism (240) to move laterally along the horizontal track (150).

Images