Warehousing system

Abstract

A warehousing system, comprising a first shelving unit area, a transfer passage area, and a second shelving unit area. The second shelving unit area is arranged in the transfer passage area. A second-type shelving unit comprises a second goods storage space and a transfer robot traveling space. A traveling passage is arranged at the bottom of the transfer robot traveling space, and the traveling passage is arranged in the depth direction of the second-type shelving unit for a transfer robot to travel on the ground. The height of the transfer robot traveling space is higher than the overall height of the transfer robot when carrying a material container. The transfer robot can transfer the material container in the depth direction by means of the traveling passage of the second-type shelving unit. The second-type shelving unit and a first-type shelving unit are aligned with each other. According to the embodiments of the present solution, the space above the transfer passage area is effectively utilized to increase storage capacity.

Description

A warehousing system

[0001] This application claims priority to Chinese Patent Application No. 202422681070.X, filed on November 4, 2024, entitled "Warehouse System", the entire contents of which are incorporated herein by reference. Technical Field

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

[0003] In a typical warehousing and logistics center, the area is usually divided into a general shelving storage area, a high-speed aisle area for trolleys, and a sorting area. Large handling robots are used in the general shelving storage area to move boxes vertically between the upper shelves and the lower buffer shelves. Smaller handling robots are used in the high-speed aisle area to move boxes horizontally between the lower buffer shelves of the general shelving storage area and the sorting area.

[0004] However, this type of warehouse and logistics center layout can easily lead to low storage capacity. Summary of the Invention

[0005] The purpose of this application is to provide a warehousing system to improve storage capacity. The specific technical solution is as follows:

[0006] This application provides a warehousing system, including:

[0007] The first shelving area includes: at least one first type of shelving, the first type of shelving including a first goods storage space and a goods buffer space, the goods buffer space being located at the bottom of the first goods storage space;

[0008] The transfer channel area is used for transfer robots to move on the ground;

[0009] The second shelving area, located in the transfer aisle area, includes: at least one second type of shelving; the second type of shelving and the first type of shelving are arranged in a transverse direction; the second type of shelving includes a second goods storage space and a transfer robot travel space, the transfer robot travel space is located at the bottom of the second goods storage space; a driving aisle is provided at the bottom of the transfer robot travel space, the driving aisle is located along the depth direction of the second type of shelving.

[0010] The driving passageway allows the transfer robot to travel on the ground, and the height of the driving space for the transfer robot is higher than the overall height of the transfer robot carrying the material box.

[0011] In some embodiments, it also includes:

[0012] The first handling robot is restricted to traveling on the first type of shelf so that the bottom of the first handling robot does not intrude into the travel aisle. The first handling robot is configured to transfer the bins in the first cargo storage space and the bins in the cargo buffer space.

[0013] The second handling robot can travel on the second type of shelving and is used to transfer the bins in the second cargo storage space. The second handling robot does not encroach on the driving lane.

[0014] The first and second transport robots are arranged in a horizontal direction.

[0015] In some embodiments, the second handling robot may also travel on the first type of shelf to transfer bins in the second goods storage space and bins in the goods buffer space, and / or transfer bins in the second goods storage space and bins in the first goods storage space.

[0016] In some embodiments, the second transport robot includes a non-retractable gantry and a first transport module, wherein the first transport module is disposed on the non-retractable gantry, and the bottom of the non-retractable gantry is higher than the travel space of the transport robot; or...

[0017] The second handling robot includes a telescopic gantry and a first handling module. The first handling module is mounted on the telescopic gantry. When the telescopic gantry is in its retracted state, its bottom is higher than the robot's travel space. When the second handling robot travels on the second type of shelving, the telescopic gantry is in its retracted state to prevent the robot's bottom from encroaching on the aisle; or...

[0018] The second type of handling robot is a shelf-crawling robot. When the shelf-crawling robot travels on the second type of shelf, its bottom does not encroach on the travel aisle.

[0019] In some embodiments, it also includes:

[0020] The first handling robot travels on the first type of shelf and the second type of shelf, and is used to transfer the bins in the first and second goods storage spaces and the bins in the goods buffer space.

[0021] When the transfer robot is running, the first handling robot does not intrude into the driving lane.

[0022] In some embodiments, the first handling robot includes a non-retractable gantry and a second handling module, the second handling module being disposed on the non-retractable gantry, the bottom of the non-retractable gantry extending to the height of the cargo buffer space; or...

[0023] The first handling robot includes a telescopic gantry and a second handling module. The second handling module is set on the telescopic gantry. When the telescopic gantry is in the retracted state, the bottom of the telescopic gantry is higher than the travel space of the handling robot. When the telescopic gantry is in the extended state, the bottom of the telescopic gantry extends to the height of the cargo buffer space. When the first handling robot travels on the second type of shelf, the telescopic gantry is in the retracted state so that the bottom of the first handling robot does not intrude into the travel aisle.

[0024] In some embodiments, it also includes:

[0025] Ground-based bin-carrying robot;

[0026] During the working hours of the transfer robot, the bin handling robot travels independently in the aisles adjacent to the first type of shelving. When the transfer robot is not working, the bin handling robot can travel in the aisles adjacent to the first type of shelving and the aisles adjacent to the second type of shelving to transfer bins from the multi-level second cargo storage space to the cargo buffer space.

[0027] In some embodiments, a second type of shelving and a plurality of first type shelving are combined to form a shelving assembly;

[0028] Each rack assembly is equipped with multiple first-class handling robots, which are respectively positioned on multiple first-class racks along the lateral direction.

[0029] Each rack assembly is equipped with a second handling robot.

[0030] In some embodiments, there are multiple rack assemblies, which are spaced apart along the depth direction, forming a passageway between two adjacent rack assemblies for the transfer robot to travel on the ground.

[0031] In some embodiments, it also includes:

[0032] The picking operation area, the second shelving area, and the first type of shelving area are arranged sequentially in the horizontal direction;

[0033] The second shelving area and the picking operation area overlap at least partially. The second type of shelving also includes a picking operation space with a picking aisle at the bottom, which is set along the depth of the second type of shelving. At least part of the picking operation area is located in the picking aisle so that the first handling robot can transfer the bins in the second goods storage space to the picking operation area located in the picking aisle.

[0034] In some embodiments, the picking area includes: a first sorting table and a conveyor line;

[0035] The first end of the conveyor line is used to dock with the material box being handled by the transfer robot, and the second end of the conveyor line is docked with the first sorting table.

[0036] At least a portion of the conveyor line is located in the picking aisle so that the first handling robot can transfer bins from the second cargo storage space to the conveyor line.

[0037] In some embodiments, the picking area includes: a second sorting table;

[0038] The second sorting station is located in the picking aisle so that the first handling robot can transfer the bins from the second cargo storage space to the second sorting station.

[0039] In some embodiments, picking aisles and vehicle aisles are adjacent to each other and arranged sequentially in the lateral direction.

[0040] In some embodiments, the height of the first type of shelf and the height of the second type of shelf are the same.

[0041] In some embodiments, each type of second-class shelving is provided with multiple driving aisles, which are arranged sequentially in the lateral direction.

[0042] The warehousing system provided in this application includes a first shelving area, a transfer aisle area, and a second shelving area. The first shelving area includes at least one type of first-class shelving. The second shelving area is located in the transfer aisle area and includes at least one type of second-class shelving. The second type of shelving includes a second goods storage space and a transfer robot travel space. A travel aisle is provided at the bottom of the transfer robot travel space, which is arranged along the depth direction of the second type of shelving, allowing the transfer robot to travel on the ground. The height of the transfer robot travel space is higher than the height of the transfer robot carrying the material box. This allows the transfer robot to transfer the material box along the depth direction via the travel aisle of the second type of shelving during the handling process. The second type of shelving and the first type of shelving are arranged laterally. In this embodiment, the transfer robot travel space of the second type of shelving can meet the needs of the transfer robot transferring the material box along the depth direction, while the second goods storage space at the top of the transfer robot travel space can also store the material box, effectively utilizing the space above the transfer aisle area to increase storage capacity.

[0043] Of course, any product implementing this application does not necessarily need to achieve all of the above advantages at the same time. Attached Figure Description

[0044] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0045] Figure 1 is a schematic diagram of the main structure of a warehousing system provided in this application;

[0046] Figure 2 is a schematic diagram of the floor plan of a specific warehousing system provided in this application;

[0047] Figure 3 is a schematic diagram of the main structure of a specific warehousing system shown in Figure 2;

[0048] Figure 4 is a schematic diagram of the material box handling robot.

[0049] The attached diagram is labeled as follows: First shelf area 10, first type of shelf 11, first handling robot 32, first cargo storage space 111, cargo buffer space 112, transfer aisle area 20, second shelf area 30, second type of shelf 31, second cargo storage space 311, transfer robot driving space 312, vehicle aisle 313, picking operation space 314, second handling robot 12, picking operation area 40, second sorting table 41, shelf assembly 10A, aisle 10B; material bin 100, transfer robot 200. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in this application are within the scope of protection of this application.

[0051] As in the background art, in related technologies, the trolleys responsible for horizontally transferring the material boxes in the bottom buffer of the ordinary shelf storage area and the material boxes in the sorting area are arranged with independent high-speed aisle areas. These independent high-speed aisle areas occupy a large amount of space, and the space above the high-speed aisle areas is not used efficiently, which can easily lead to low storage capacity.

[0052] The purpose of this application is to provide a warehousing system to increase storage capacity.

[0053] Therefore, this application proposes a warehousing system.

[0054] Specifically, a warehousing system according to an embodiment of this application is described below with reference to the accompanying drawings.

[0055] Example 1

[0056] Figure 1 is a schematic diagram of the main structure of a warehousing system provided in this application. As shown in Figure 1, a warehousing system includes a first shelving area 10, a transfer channel area 20, and a second shelving area 30.

[0057] The first shelving area 10 includes: at least one first-type shelf 11, which includes a first goods storage space 111 and a goods buffer space 112, with the goods buffer space 112 located at the bottom of the first goods storage space 111; a transfer channel area 20 is used for the transfer robot 200 to travel on the ground; a second shelving area 30 is located in the transfer channel area 20 and includes: at least one second-type shelf 31; the second-type shelf 31 includes a second goods storage space 311 and a transfer robot travel space 312, with the transfer robot travel space 312 located at the bottom of the second goods storage space 311; a driving channel 313 is provided at the bottom of the transfer robot travel space 312, and the driving channel 313 is arranged along the longitudinal direction of the second-type shelf 31; wherein, the second-type shelf 31 and the first-type shelf 11 are arranged in the transverse direction. The driving channel 313 is used for the transfer robot 200 to travel on the ground, and the height of the transfer robot travel space 312 is higher than the overall height of the transfer robot carrying the material box 100.

[0058] The first type of shelving 11 has a transfer robot travel space 312 for the horizontal transfer of the transfer robot carrying the material box 100. The cargo buffer space 112 is used to buffer the material box 100 and to dock with the transfer robot, so that the material box 100 of the cargo buffer space 112 can be docked to an empty transfer robot, or the material box 100 of a fully loaded transfer robot can be docked to the cargo buffer space 112.

[0059] The warehousing system provided in this application embodiment allows a transfer robot to transport the material box 100 along the depth direction via the travel aisle 313 of the second type of shelf 31 during the handling process. In this embodiment, the travel space 312 of the transfer robot on the second type of shelf 31 can accommodate the transfer robot's transport of the material box 100 along the depth direction. At the same time, the second cargo storage space 311 at the top of the travel space 312 can also store the material box 100, effectively utilizing the space above the transfer aisle area 20 to increase storage capacity.

[0060] To facilitate the transfer of the bins 100 in the first type of shelf 11 and the second type of shelf 31, in some embodiments, the warehousing system further includes: a first handling robot 32 and a second handling robot 12. The first handling robot 32 is restricted to traveling on the first type of shelf 11 so that the bottom of the first handling robot 32 does not intrude into the travel aisle 313. The first handling robot 32 is configured to transfer the bins in the first cargo storage space 111 and the cargo buffer space 112. The transfer robot can transfer the bins in the cargo buffer space 112 outward.

[0061] The second handling robot 12 can travel on the second type of shelf 31 and is used to transfer the material boxes in the second cargo storage space 311. The second handling robot 12 does not intrude into the driving passage 313. The first handling robot 32 and the second handling robot 12 are arranged in the lateral direction.

[0062] In this embodiment of the solution, the first handling robot 32 and the second handling robot 12 do not intrude into the vehicle passage 313, so that the transfer robot 200 can travel continuously in the vehicle passage 313, further improving the transfer efficiency of the material box 100.

[0063] In some embodiments, the second handling robot 12 can also travel on the first type of shelf 11 to transfer the bins in the second cargo storage space 311 and the bins in the cargo buffer space 112. The transfer robot then transfers the bins in the cargo buffer space 112 outward, thereby transferring the bins in the second cargo storage space 311 outward.

[0064] To ensure that the bottom of the second handling robot 12 does not encroach on the travel aisle 313, the second handling robot 12 includes a telescopic mast and a first handling module. The first handling module is mounted on the telescopic mast. When the telescopic mast is in its retracted state, its bottom is higher than the travel space 312 of the handling robot. When the second handling robot 12 travels on the second type of shelf 31, the telescopic mast is in its retracted state, so that the bottom of the second handling robot 12 does not encroach on the travel aisle 313. This allows the handling robot 200 to travel continuously in the travel aisle 313, further improving the handling efficiency of the material bins.

[0065] Specifically, in the lateral direction, the second type of shelf 31 and the first type of shelf 11 are provided with a first lateral track, and the telescopic gantry is set on the first lateral track to realize the movement of the first handling module in the lateral direction.

[0066] In some other embodiments of the second handling robot 12, the second handling robot 12 is a shelf-crawling robot. The shelf-crawling robot can move laterally and vertically, or laterally, vertically, and vertically, and moves between the first type of shelf 11 and the second type of shelf 31 to facilitate the transport of the material bins 100 from the second type of shelf 31 to the goods buffer space 112 of the first type of shelf 11 for docking and transfer with the transfer robot. When the shelf-crawling robot travels on the second type of shelf 31, its bottom does not encroach on the travel aisle 313.

[0067] In some embodiments, in addition to the above-described embodiment of transferring the bins in the second cargo storage space 311 outwards, the second handling robot 12 can also transfer the bins in the second cargo storage space 311 and the bins in the first cargo storage space 111. The first handling robot 32 then transfers the bins from the second handling robot 12 to the bins in the first cargo storage space 111, and then to the cargo buffer space 112. Subsequently, the transfer robot then transfers the bins in the cargo buffer space 112 outwards, thus transferring the bins in the second cargo storage space 311 outwards.

[0068] In specific implementations, in the embodiments of this solution, the second handling robot 12 can be either the aforementioned telescopic gantry second handling robot or a non-telescopic gantry second handling robot to reduce costs. Specifically, the second handling robot 12 includes a non-telescopic gantry and a first handling module, the first handling module being mounted on the non-telescopic gantry, the bottom of which is higher than the travel space 312 of the transfer robot.

[0069] In some embodiments, the first handling robot 32 includes a gantry and a second handling module, the second handling module being disposed on the gantry and capable of lifting and lowering on the gantry.

[0070] Specifically, a second transverse track is provided on the first type of shelf 11 in the lateral direction, and the gantry is set on the second transverse track to realize the movement of the second handling module in the lateral direction. In this embodiment, the first handling robot 32 is restricted to traveling on the first type of shelf 11, which does not affect the movement of the transfer robot 200 in the transfer channel area 20.

[0071] In some embodiments, the first cargo storage space 111 of the first type of shelf 11 and the second cargo storage space 311 of the second type of shelf 31 are both used to store the material box 100. The height of the first type of shelf 11 and the height of the second type of shelf 31 are the same (which can be understood as the top of the first type of shelf 11 and the top of the second type of shelf 31 being flush), so as to maximize the rational use of the space above the vehicle passage 313.

[0072] In some embodiments, each travel aisle 313 is not limited to the movement of empty or fully loaded transfer robots. Each second-type shelf 31 is provided with multiple travel aisles 313, which are arranged sequentially in the transverse direction. This is to increase the throughput of the transfer robots and further improve the operating efficiency of the material bin 100.

[0073] In order to transfer the bins in the second goods storage space 311 outward, the second handling robot 12 can also travel independently on the second type of shelf 31. In some other embodiments, Figure 2 is a schematic diagram of the plan layout structure of a specific warehousing system provided in this application, and Figure 3 is a schematic diagram of the front view structure of a specific warehousing system shown in Figure 2. As shown in Figures 2 and 3, the above-mentioned warehousing system also includes: a picking operation area 40. In some examples, the picking operation area 40, the second shelf area 30, and the first shelf area 10 are arranged sequentially in the horizontal direction; at least part of the second shelf area 30 and the picking operation area 40 overlap. The second type of shelf 31 also includes a picking operation space 314. The bottom of the picking operation space 314 is provided with a picking channel, which is arranged along the depth direction of the second type of shelf 31; at least part of the picking operation area 40 is located in the picking channel, so that the second handling robot 12 can transfer the bins 100 in the second goods storage space 311 to the picking operation area 40 located in the picking channel. It is understandable that in some other examples, the picking area 40, the second shelf area 30 and the first shelf area 10 are not limited to being arranged sequentially in the horizontal direction. The picking area 40 can also be set in other locations, as long as the second handling robot 12 can transfer the bins of the second goods storage space 311 to the picking area 40 located in the picking aisle.

[0074] The picking area 40 can be used to sort the bins 100. In conventional solutions, the bins 100 on the shelves need to be transported to the picking area 40 by a horizontally moving transfer robot. However, in this embodiment, the second handling robot 12 can directly transfer the bins 100 in the second goods storage space 311 to at least part of the picking area 40, thereby reducing the number of steps required for the transfer robot to transport the bins 100, and further improving the efficiency of the warehousing system in transporting the bins 100.

[0075] The picking area 40 may include different structural forms. In some embodiments of the picking area 40, the picking area 40 includes: a first sorting table and a conveyor line; a first end of the conveyor line is used to dock the material box 100 carried by the transfer robot, and a second end of the conveyor line is docked with the first sorting table; at least a portion of the conveyor line is provided in the picking channel so that the second handling robot 12 can transfer the material box 100 of the second cargo storage space 311 to the conveyor line.

[0076] On one hand, the tote boxes 100 carried by the transfer robot can be conveyed to the first sorting table via the conveyor line. Sorting workers or sorting robots at the first sorting table receive the tote boxes 100 carried by the transfer robot and perform sorting. On the other hand, the second handling robot 12 can transfer the tote boxes 100 from the second goods storage space 311 to the conveyor line, allowing the conveyor line to deliver them to the first sorting table. Sorting workers or sorting robots at the first sorting table receive the tote boxes 100 carried by the second handling robot 12 and perform sorting. Since the tote boxes 100 carried by the second handling robot 12 do not undergo transfer by the transfer robot, the transfer efficiency of the tote boxes 100 is improved. In application, frequently used tote boxes 100 can be placed in the second goods storage space 311. Since the second goods storage space 311 is close to the conveyor line, the efficiency of transferring the tote boxes 100 to the first sorting table can be further improved.

[0077] In other embodiments of the picking area 40, the picking area 40 includes a second sorting table 41. The second sorting table 41 is located in the picking channel so that the second handling robot 12 can transfer the bins 100 in the second goods storage space 311 to the second sorting table 41. Similarly, in this embodiment, frequently used bins 100 to be sorted can be placed in the second goods storage space 311. Since the second goods storage space 311 is close to the conveyor line, the efficiency of transferring the bins 100 to the second sorting table 41 can be further improved.

[0078] The second handling robot 12 can transfer the bins 100 in the second goods storage space 311 to the second sorting table 41. Sorting workers or sorting robots receive the bins 100 from the second handling robot 12 at the second sorting table 41 and perform sorting. Since the bins 100 transferred by the second handling robot 12 do not undergo transfer by a transfer robot, the transfer efficiency of the bins 100 is improved. Specifically, the picking operation area 40 includes a picking and sorting wall, which can be set on both sides of the second sorting table 41 to facilitate sorting workers or sorting robots picking the sorted goods to the corresponding positions on the picking and sorting wall.

[0079] In some embodiments, the picking lane and the traveling lane 313 are adjacent to each other and arranged sequentially in the lateral direction to facilitate a more compact arrangement of the two, so that the transfer robot traveling in the traveling lane 313 can conveniently and quickly transfer the material box 100 to the picking operation area 40 of the picking lane.

[0080] In some embodiments, a second type of shelf 31 and multiple first type of shelves 11 are combined to form a shelf assembly 10A; each shelf assembly 10A is provided with multiple first handling robots 32, which are respectively arranged on the multiple first type of shelves 11 in the lateral direction; each shelf assembly 10A is provided with a second handling robot 12. Specifically, there are multiple shelf assemblies 10A, which are spaced apart in the longitudinal direction, forming an aisle 10B between adjacent shelf assemblies 10A for the transfer robot 200 to travel on the ground. During the process of transferring the bins 100 of the first type of shelf 11 to the picking operation area 40, the transfer robot can freely travel through the aisle 10B in the lateral direction and the driving passage 313 in the longitudinal direction. The lateral direction and the longitudinal direction can be perpendicular to each other.

[0081] The travel aisles 313 of each rack assembly 10A are connected in the longitudinal direction to facilitate the rapid movement of transfer robots in the longitudinal direction of different rack assemblies 10A.

[0082] It is easy to understand that, in application, the second handling robot 12 is not limited to traveling solely on the second type of shelf 31. In some embodiments, it can also travel on the first type of shelf 11.

[0083] In practice, the second handling robot 12 is not limited to docking with the second sorting station 41 or conveyor line, but can also dock with the shelf opposite the first type of shelf 11, sorting workers, sorting robots or transfer robots.

[0084] Example 2

[0085] In Embodiment 1, the first type of shelving 11 and the second type of shelving 31 of the warehousing system are each independently equipped with a handling robot (the first type of shelving 11 is independently equipped with a first handling robot 32, and the second type of shelving 31 is independently equipped with a second handling robot 12). In Embodiment 2, the first type of shelving 11 and the second type of shelving 31 of the warehousing system can use a shared handling robot to transfer the material boxes 100 of the first type of shelving 11 and the second type of shelving 31.

[0086] In practice, the aforementioned warehousing system also includes: a first handling robot 32, which travels on the first type of shelf 11 and the second type of shelf 31 to transfer the bins in the first cargo storage space 111 and the second cargo storage space 311 to the bins in the cargo buffer space 112; when the transfer robot 200 is running, the first handling robot 32 does not intrude into the vehicle passage 313.

[0087] In this embodiment, the first handling robot 32 can have various structural forms. For example, in some embodiments, the first handling robot 32 includes a non-retractable gantry and a second handling module. The second handling module is disposed on the non-retractable gantry, and the bottom of the non-retractable gantry extends to the height of the cargo buffer space 112. In this embodiment, the first handling robot 32 does not require a retractable gantry, which simplifies the structure of the first handling robot 32 and reduces costs. In application, the first handling robot 32 can travel on the second type of shelf 31 in different time periods. For example, during the daytime, the first handling robot 32 travels alone on the first type of shelf 11, transferring the bins in the first cargo storage space 111 and the bins in the cargo buffer space 112, so that the transfer robot 200 can travel continuously in the driveway 313 during the daytime. During the nighttime, since the transfer robot 200 usually does not need to transfer bins, the first handling robot 32 can travel on the second type of shelf 31, transferring the bins in the second cargo storage space 311 to the cargo buffer space 112. During the daytime hours, the transfer robot 200 will transfer the material bins from the cargo buffer space 112.

[0088] Alternatively, in some embodiments, the first handling robot 32 can be a telescopic gantry handling robot. In some embodiments, the first handling robot 32 includes a telescopic gantry and a second handling module. The second handling module is disposed on the telescopic gantry. When the telescopic gantry is in the retracted state, the bottom of the telescopic gantry is higher than the travel space 312 of the transfer robot. When the telescopic gantry is in the extended state, the bottom of the telescopic gantry extends to the height of the cargo buffer space 112. When the first handling robot 32 travels on the second type of shelf 31, the telescopic gantry is in the retracted state so that the bottom of the first handling robot 32 does not intrude into the travel aisle 313.

[0089] In some embodiments, the first handling robot 32 may not be located on the first type of shelf 11 and the second type of shelf 31. The first handling robot 32 can be a ground-moving bin handling robot (see Figure 4). Referring to the above application scheme, the ground-moving bin handling robot can travel in the aisle 10B adjacent to the second type of shelf 31 in different time periods. During the working time of the transfer robot 200, the bin handling robot only travels in the aisle 10B adjacent to the first type of shelf 11. When the transfer robot 200 is not working, the bin handling robot can travel in the aisle 10B adjacent to the first type of shelf 11 and also in the aisle 10B adjacent to the second type of shelf 31 to transfer bins from the multi-layer second cargo storage space 311 to the cargo buffer space 112.

[0090] For example, during the daytime, when the transfer robot 200 is in its working period, the bin handling robot travels alone in the aisle 10B adjacent to the first type of shelf 11. During the nighttime, when the transfer robot 200 is not in its working period, the transfer robot 200 usually does not need to transfer bins. The bin handling robot can travel in the aisle 10B adjacent to the second type of shelf 31 to transfer bins from the second cargo storage space 311 to the cargo buffer space 112.

[0091] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A warehousing system, characterized in that, include: The first shelf area (10) includes: at least one first type of shelf (11), the first type of shelf (11) includes a first goods storage space (111) and a goods buffer space (112), the goods buffer space (112) being disposed at the bottom of the first goods storage space; The transfer channel area (20) is used for the transfer robot (200) to travel on the ground; The second shelving area (30), located in the transfer channel area (20), includes: at least one second type of shelving (31); the second type of shelving (31) and the first type of shelving (11) are arranged in a transverse direction; the second type of shelving (31) includes a second cargo storage space (311) and a transfer robot travel space (312), the transfer robot travel space (312) is located at the bottom of the second cargo storage space (311); a vehicle passage (313) is provided at the bottom of the transfer robot travel space (312), the vehicle passage (313) is arranged along the depth direction of the second type of shelving (31); The driving channel (313) is for the transfer robot to travel on the ground, and the height of the transfer robot's driving space (312) is higher than the overall height of the transfer robot carrying the material box.

2. The warehousing system according to claim 1, characterized in that, Also includes: A first handling robot (32) is restricted to traveling on the first type of shelf (11) so that the bottom of the first handling robot (32) does not intrude into the travel aisle (313). The first handling robot (32) is configured to transfer the bins of the first cargo storage space (111) and the bins of the cargo buffer space (112). The second handling robot (12) can travel on the second type of shelf (31) and is used to transfer the material box of the second cargo storage space (311). The second handling robot (12) does not intrude into the driving channel (313). The first transport robot (32) and the second transport robot (12) are arranged in a horizontal direction.

3. The warehousing system according to claim 2, characterized in that, The second handling robot (12) can also travel on the first type of shelf (11) to transfer the bins of the second cargo storage space (311) and the bins of the cargo buffer space (112), and / or transfer the bins of the second cargo storage space (311) and the bins of the first cargo storage space (111).

4. The warehousing system according to claim 2, characterized in that, The second transport robot (12) includes a non-retractable gantry and a first transport module, wherein the first transport module is disposed on the non-retractable gantry, and the bottom of the non-retractable gantry is higher than the travel space (312) of the transport robot; or, The second handling robot (12) includes a telescopic gantry and a first handling module. The first handling module is disposed on the telescopic gantry. When the telescopic gantry is in a retracted state, the bottom of the telescopic gantry is higher than the travel space (312) of the transfer robot. When the second handling robot (12) travels on the second type of shelf (31), the telescopic gantry is in a retracted state so that the bottom of the second handling robot (12) does not encroach on the travel aisle (313); or, The second handling robot (12) is a shelf crawling robot. When the shelf crawling robot travels on the second type of shelf (31), the bottom of the shelf crawling robot does not intrude into the travel aisle (313).

5. The warehousing system according to claim 1, characterized in that, Also includes: The first handling robot (32) travels on the first type of shelf (11) and the second type of shelf (31) to transfer the bins in the first cargo storage space (111) and the second cargo storage space (311) to the bins in the cargo buffer space (112); When the transfer robot (200) is running, the first handling robot (32) does not intrude into the vehicle passage (313).

6. The warehousing system according to claim 5, characterized in that, The first handling robot (32) includes a non-retractable gantry and a second handling module, the second handling module being disposed on the non-retractable gantry, the bottom of the non-retractable gantry extending to the height of the cargo buffer space (112); or, The first handling robot (32) includes a telescopic gantry and a second handling module. The second handling module is disposed on the telescopic gantry. When the telescopic gantry is in a retracted state, the bottom of the telescopic gantry is higher than the travel space (312) of the transfer robot. When the telescopic gantry is in an extended state, the bottom of the telescopic gantry extends to the height of the cargo buffer space (112). When the first handling robot (32) travels on the second type of shelf (31), the telescopic gantry is in a retracted state so that the bottom of the first handling robot (32) does not intrude into the travel aisle (313).

7. The warehousing system according to claim 1, characterized in that, Also includes: Ground-based bin-carrying robot; During the working period of the transfer robot (200), the bin handling robot travels in the aisle (10B) adjacent to the first type of shelf (11). During the non-working period of the transfer robot (200), the bin handling robot travels in the aisle (10B) adjacent to the first type of shelf (11) and the aisle (10B) adjacent to the second type of shelf (31) to transfer the bins in the multi-layer second cargo storage space (311) to the cargo buffer space (112).

8. The warehousing system according to claim 2, characterized in that, A second-class shelving unit (31) and multiple first-class shelving units (11) are combined to form a shelving unit (10A); Each rack assembly (10A) is equipped with multiple first handling robots (32), and the multiple first handling robots (32) are respectively arranged on multiple first-class racks (11) in the lateral direction; Each rack assembly (10A) is equipped with a second handling robot (12).

9. The warehousing system according to claim 8, characterized in that, There are multiple rack assemblies (10A), which are spaced apart along the longitudinal direction, forming a passageway (10B) between two adjacent rack assemblies (10A) for the transfer robot to travel on the ground.

10. The warehousing system according to claim 2, characterized in that, Also includes: Picking area (40); The second shelf area (30) and the picking operation area (40) overlap at least partially. The second type of shelf (31) also includes a picking operation space (314), which has a picking aisle at the bottom and is arranged along the depth of the second type of shelf (31). At least part of the picking operation area (40) is located in the picking aisle so that the second handling robot (12) can transfer the bins of the second goods storage space (311) to the picking operation area (40) located in the picking aisle.

11. The warehousing system according to claim 10, characterized in that, The picking area (40) includes: a first sorting table and a conveyor line; The first end of the conveyor line is used to connect to the material box carried by the transfer robot, and the second end of the conveyor line is connected to the first sorting table; At least a portion of the conveyor line is located in the picking aisle so that the second handling robot (12) can transfer the bins of the second cargo storage space (311) to the conveyor line.

12. The warehousing system according to claim 10, characterized in that, The picking area (40) includes: a second sorting station (41); The second sorting station (41) is located in the picking channel so that the second handling robot (12) can transfer the bins of the second cargo storage space (311) to the second sorting station (41).

13. The warehousing system according to claim 10, characterized in that, The picking aisle and the vehicle aisle (313) are adjacent to each other and are arranged sequentially along the lateral direction.

14. The warehousing system according to claim 1, characterized in that, The height of the first type of shelf (11) is the same as the height of the second type of shelf (31).

15. The warehousing system according to any one of claims 1 to 14, characterized in that, Each second-class shelf (31) is provided with multiple driving aisles (313), which are arranged sequentially in the transverse direction.

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