Warehousing system and goods shelf
By introducing sorting robots and handling robots to work together in the warehousing system, the problems of single path and obstacle avoidance of handling robots are solved, and more efficient picking, placing and handling of goods are achieved.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- HANGZHOU HIKROBOT TECH CO LTD
- Filing Date
- 2025-10-21
- Publication Date
- 2026-06-04
AI Technical Summary
In existing warehousing systems, handling robots can only move in aisles, with a single path, resulting in low efficiency in picking and placing goods. Furthermore, multiple robots need to avoid each other, which also affects efficiency.
The system employs a collaborative approach between sorting robots and handling robots. Sorting robots move within the aisles to pick up and place boxes, while handling robots transport boxes between shelves. The robot docking space and aisle design allow handling robots to pass through, increasing path flexibility and reducing collisions.
It improves the efficiency of picking, placing, and handling goods in the warehousing system, reduces interference and avoidance between robots, and enhances the flexibility and efficiency of handling robots.
Smart Images
Figure CN2025128991_04062026_PF_FP_ABST
Abstract
Description
A storage system and shelving
[0001] This application claims priority to Chinese patent applications filed on November 28, 2024, with application number 202422924636.7 entitled "A Storage System and Shelving" and application number 202411737156.8 entitled "A Storage System and Shelving", the entire contents of which are incorporated herein by reference. Technical Field
[0002] This application relates to the field of logistics and warehousing technology, and in particular to a warehousing system and shelving. Background Technology
[0003] In related technologies, warehousing systems include multiple shelves, and one or more handling robots are installed in the aisles between adjacent shelves to pick up and place goods on the shelves. In this method of picking up and placing goods, the handling robots can only move in the aisles, the handling path is limited, the handling is inflexible, and multiple handling robots traveling in the same aisle need to avoid each other. All of these factors lead to low efficiency in picking up and placing goods in the warehousing system. Summary of the Invention
[0004] The purpose of this application is to provide a warehousing system and shelving to improve the efficiency of picking and placing goods. The specific technical solution is as follows:
[0005] This application provides a warehousing system, including: multiple spaced shelves, a sorting robot, and a handling robot; each shelf includes a bin storage space and a robot docking space arranged from top to bottom; the bin storage space has multiple bin storage layers; the bottom of the bin storage space has a bin docking layer; the bin docking layer has a preset height from the ground to form the robot docking space; an aisle extending along the length of the shelf is formed between adjacent shelves; the sorting robot is located in the aisle and is used to sort and place bins on adjacent shelves, and to move bins between the bin storage layers and bin docking layers of adjacent shelves; the handling robot is used to move bins outside the shelf to the bin docking layer, or to move bins on the bin docking layer away from the shelf; the height of the robot docking space is greater than the minimum height of the handling robot carrying the bins, so that the handling robot can move arbitrarily in the robot docking space and the aisle while carrying the bins.
[0006] In some embodiments, within the robot docking space of the first shelf in the adjacent shelves, a first channel and a second channel are sequentially arranged along the direction close to the aisle; within the robot docking space of the second shelf in the adjacent shelves, a third channel and a fourth channel are sequentially arranged along the direction close to the aisle; the first channel, second channel, third channel and fourth channel are all parallel to the aisle and extend to the outside of the shelf; the handling robot is capable of carrying the material box and moving it arbitrarily within the first channel, second channel, third channel and fourth channel and the aisle.
[0007] In some embodiments, the handling robot includes: a first mobile chassis, a first lifting mechanism, and a first lifting platform arranged sequentially from bottom to top; the bin docking layer includes multiple docking storage positions; the multiple docking storage positions are arranged sequentially along the length of the aisle and are used to dock with the sorting robot or the handling robot to temporarily store bins to be picked up or placed; each docking storage position has a through groove at its bottom, the through groove being perpendicular to the aisle, so that the first lifting mechanism can drive the first lifting platform through the through groove to lift or place the bin.
[0008] In some embodiments, the docking layers of the first and second shelves are single-depth shelves, both located from the side of the shelf located in the aisle, facing inwards, and respectively above the second and fourth aisles.
[0009] In some embodiments, the handling robot is used to move unloaded from any of the first, second, third, fourth, or aisle channels to a target docking storage location where a material box is temporarily stored during outbound operations. A first lifting mechanism lifts the first lifting platform, which then raises the material box through the channel. The material box is then moved along the moving channel to the first, third, or aisle by a first movable chassis. After the first lifting platform lowers to its lowest position, the handling robot moves the material box out of the first or second shelf from any of the first, second, third, fourth, or aisle channels. Additionally, during inbound operations, the handling robot carrying the target material box... A person, based on the first mobile chassis, travels at the lowest height, moving from any of the first, second, third, fourth, or alleyways to a position on the first, third, or alleyway corresponding to an available target docking storage location. The first lifting mechanism raises the first lifting platform to lift the material box, and the person moves from the first mobile chassis toward the through-slot of the target docking storage location. Then, the first lifting mechanism lowers the first lifting platform to place the material box in the target docking storage location. Finally, the first lifting platform is lowered and the person moves unloaded from any of the first, second, third, fourth, or alleyways out of the first or second shelf.
[0010] In some embodiments, the first shelf and the second shelf are both double-deep shelves; the docking layer of the first shelf and the second shelf is a double-deep shelf; the plurality of docking storage positions are arranged in two columns along the length of the aisle, and in the two columns of docking storage positions, the through slots of two adjacent docking storage positions along the width of the aisle are connected.
[0011] In some embodiments, the handling robot is used to move unloaded from any of the first, second, third, fourth channels, or aisles to a target docking storage location where a material box is temporarily stored during outbound operations. A first lifting mechanism drives a first lifting platform to rise through the channel and lift the material box. Then, based on a first mobile chassis, the material box is moved along the mobile channel to the aisle. After the first lifting platform lowers to its lowest position, the handling robot moves the material box from any of the first, second, third, fourth channels, or aisles out of the first or second shelf. Additionally, during inbound operations, the handling robot carrying the target material box... A person, based on the first mobile chassis, travels at the lowest height, moving from any of the first, second, third, fourth channels, or alleyways to a position on the alleyway corresponding to an available target docking storage location. The first lifting mechanism raises the first lifting platform to lift the material box, and the person moves from the first mobile chassis toward the through-slot of the target docking storage location. Then, the first lifting mechanism lowers the first lifting platform to place the material box in the target docking storage location. Finally, the first lifting platform is lowered, and the person moves unloaded from any of the first, second, third, fourth channels, or alleyways out of the first or second shelf.
[0012] In some embodiments, the handling robot includes: a second mobile chassis, a second lifting mechanism, and a second lifting platform arranged sequentially from bottom to top; the second lifting platform is comb-shaped; the bin docking layer includes multiple docking storage positions; the multiple docking storage positions are arranged sequentially along the length of the aisle and are used to dock with the sorting robot or handling robot to temporarily store bins to be picked up or placed; each docking storage position has a comb-shaped opening at its bottom facing the inside of the shelf, which is used to cooperate with the second lifting platform of the handling robot so that the second lifting mechanism can drive the second lifting platform through the comb-shaped opening to lift or place the bin.
[0013] In some embodiments, at least one shelf on both sides of the aisle is provided with multiple horizontal tracks; the multiple horizontal tracks are spaced apart in the vertical direction; the sorting robot is mounted on the side of the at least one shelf located in the aisle based on the horizontal tracks and can move in the aisle along the horizontal tracks; the height of the bottom of the sorting robot from the ground is greater than the minimum height of the material box carried by the handling robot, so that the handling robot can move arbitrarily in the aisle while the material box is being moved.
[0014] In some embodiments, the sorting robot includes a column mast and a picking and placing component; the column mast is vertically installed on the horizontal track; the picking and placing component is disposed on the column mast and can move along the horizontal track with the column mast and rise and fall along the column mast; the bin storage layer includes multiple bin storage positions, and the sorting robot is used to sort and place bins on multiple bin storage positions of adjacent shelves based on the movement of the picking and placing component along the horizontal track with the column mast and / or the rise and fall along the column mast, and to move bins between the bin storage layer and the bin docking layer of adjacent shelves.
[0015] In some embodiments, the picking and placing component of the sorting robot is used to move the bins on the storage layer of the adjacent shelf to the bin docking layer, or to move the bins on the bin docking layer of the adjacent shelf to the target bin storage location, or to move the bins on the bin storage location of the adjacent shelf to the target bin storage location.
[0016] This application embodiment also provides a shelf, including: a material box storage space and a robot docking space arranged from top to bottom; the material box storage space is provided with multiple material box storage layers; the bottom of the material box storage space is provided with a material box docking layer; the material box docking layer has a preset height with the ground to form the robot docking space, which is used for the movement of the handling robot and docking to pick up and put down the material boxes; an aisle extending along the length of the shelf is formed between adjacent shelves; a sorting robot is arranged in the aisle; the height of the robot docking space is greater than the minimum height of the material box carried by the handling robot, so that the handling robot can move arbitrarily in the robot docking space and the aisle while carrying the material box.
[0017] In some embodiments, within the robot docking space of the first shelf in the adjacent shelves, a first channel and a second channel are sequentially arranged along the direction close to the aisle; within the robot docking space of the second shelf in the adjacent shelves, a third channel and a fourth channel are sequentially arranged along the direction close to the aisle; the first channel, the second channel, the third channel and the fourth channel are all parallel to the aisle and extend to the outside of the shelf.
[0018] In some embodiments, the bin docking layer includes multiple docking storage positions; the multiple docking storage positions are arranged sequentially along the length of the aisle and are used to dock with the sorting robot or the handling robot to temporarily store bins to be picked up or placed; each docking storage position has a through groove at the bottom, the through groove is perpendicular to the aisle, so that the handling robot can pass through the through groove to lift or place the bin.
[0019] In some embodiments, the docking layers of the first and second shelves are single-depth shelves, both located from the side of the shelf located in the aisle, facing inwards, and respectively above the second and fourth aisles.
[0020] In some embodiments, the first shelf and the second shelf are both double-deep shelves; the docking layer of the first shelf and the second shelf is a double-deep shelf; the plurality of docking storage positions are arranged in two columns along the length of the aisle, and in the two columns of docking storage positions, the through slots of two adjacent docking storage positions along the width of the aisle are connected.
[0021] The warehousing system and racking provided in this application embodiment involve a sorting robot moving within aisles to pick up and place boxes between adjacent racks, and a transport robot moving boxes between racks and their external surfaces. This division of labor between the two types of robots improves the retrieval and handling efficiency of the warehousing system. The robot docking space within the racks and the aisles allow the transport robot, which carries boxes, to pass through, increasing its movement path and making handling more flexible. This reduces the need for collisions between transport robots, and the transport robot does not interfere with the sorting robot when moving within the robot docking space, further improving the retrieval and handling efficiency of the transport robot, thereby enhancing the overall warehousing system's retrieval and handling efficiency.
[0022] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description
[0023] 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.
[0024] Figure 1 is a perspective structural diagram of the warehousing system according to the first embodiment of this application;
[0025] Figure 2 is a partial schematic diagram of the warehousing system shown in Figure 1;
[0026] Figure 3 is a side view of the warehousing system shown in Figure 1;
[0027] Figure 4a is a three-dimensional structural diagram of the first embodiment of the handling robot shown in Figure 1;
[0028] Figure 4b is a three-dimensional structural diagram of the second embodiment of the handling robot shown in Figure 1;
[0029] Figure 5 is a perspective structural diagram of the warehousing system according to the second embodiment of this application;
[0030] Figure 6 is a partial schematic diagram of the warehousing system shown in Figure 5;
[0031] Figure 7 is a side view of the warehousing system shown in Figure 5.
[0032] Reference numerals: Shelf 100; First shelf 100A; Second shelf 100B; Bin storage space 110; Bin storage layer 111; Bin storage position 1111; Bin docking layer 112; Dock storage position 1121; Through channel 1123; Robot docking space 120; First aisle 121; Second aisle 122; Third aisle 123; Fourth aisle 124; Lane 130; Horizontal track 140; Inventory robot 200; Column gantry 210; Picking and placing assembly 220; Handling robot 300; First mobile chassis 310a; First lifting mechanism 320a; First lifting platform 330a; Second mobile chassis 310b; Second lifting mechanism 320b; Second lifting platform 330b; Bin 400; Workstation 500. Detailed Implementation
[0033] 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.
[0034] As mentioned in the background section, in related technologies, warehousing systems include multiple shelves, and one or more handling robots are installed in the aisles between adjacent shelves, which can move in the aisles to pick up and place goods on the shelves. In this method of picking up and placing goods, the handling robots can only move in the aisles, the handling path is single, the handling is inflexible, and multiple handling robots traveling in the same aisle need to avoid each other. All of these factors lead to low efficiency in picking up and placing goods in the warehousing system.
[0035] To improve the efficiency of picking and placing goods in a warehousing system, this application provides a warehousing system and shelving. First, the warehousing system provided in this application will be described in detail.
[0036] See Figures 1 to 3; Figure 1 is a perspective structural diagram of the warehousing system according to the first embodiment of this application; Figure 2 is a partial schematic diagram of the warehousing system shown in Figure 1; Figure 3 is a side view schematic diagram of the warehousing system shown in Figure 1.
[0037] As shown in Figures 1 to 3, the warehousing system provided in the first embodiment of this application includes: multiple shelves 100 spaced apart, a sorting robot 200, and a handling robot 300.
[0038] The shelf 100 includes a bin storage space 110 and a robot docking space 120 arranged from top to bottom; the bin storage space 110 is provided with multiple bin storage layers 111; the bottom of the bin storage space 110 is provided with a bin docking layer 112; the bin docking layer 112 has a preset height from the ground to form the robot docking space 120.
[0039] Aisles 130 extending along the length of adjacent shelves 100 are formed between them.
[0040] The sorting robot 200 is installed in the aisle 130 to sort and pick up the boxes 400 on the adjacent shelves 100, and to move the boxes 400 between the box storage layer 111 and the box docking layer 112 of the adjacent shelves 100.
[0041] The handling robot 300 is used to move the material bins 400 outside the shelf 100 to the material bin docking layer 112, or to move the material bins 400 on the material bin docking layer 112 away from the shelf 100.
[0042] The height of the robot docking space 120 is greater than the minimum height of the material box 400 carried by the handling robot 300, which allows the handling robot 300 to move freely in the robot docking space 120 and the aisle 130 while the material box 400 is moving.
[0043] The warehousing system provided in this application embodiment includes a sorting robot 200 that moves within aisle 130 to pick up and place boxes 400 between adjacent shelves 100, and a transport robot 300 that transports boxes 400 between shelves 100 and their exteriors. This division of labor between the two types of robots improves the retrieval and handling efficiency of the warehousing system. The robot docking space 120 of the shelves 100 and the aisle 130 both allow the transport robot 300 to pass while carrying boxes 400, increasing the movement path of the transport robot 300, making handling more flexible, reducing collisions between transport robots 300, and ensuring that the transport robot 300 does not interfere with the sorting robot 200 when moving within the robot docking space 120, thus improving the retrieval and handling efficiency of the transport robot 300 and consequently improving the overall retrieval and handling efficiency of the warehousing system.
[0044] In this embodiment, as shown in Figures 1 to 3, in the robot docking space 120 of the first shelf 100A in the adjacent shelves 100, a first channel 121 and a second channel 122 are arranged sequentially along the direction close to the aisle 130; in the robot docking space 120 of the second shelf 100B in the adjacent shelves 100, a third channel 123 and a fourth channel 124 are arranged sequentially along the direction close to the aisle 130.
[0045] The first aisle 121, the second aisle 122, the third aisle 123 and the fourth aisle 124 are all parallel to the aisle 130 and extend to the outside of the shelving 100.
[0046] The handling robot 300 can carry the material box 400 and move it freely in the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 and the aisle 130.
[0047] Specifically, as shown in Figures 1 and 3, the first aisle 121, the second aisle 122, the third aisle 123, the fourth aisle 124 and the lane 130 can extend to the workstation 500 outside the shelf 100. The handling robot 300 travels along the first aisle 121, the second aisle 122, the third aisle 123, the fourth aisle 124 and the lane 130 to transport the material box 400 between the shelf 100 and the workstation 500 for storage or retrieval of the material box 400.
[0048] The first aisle 121, the second aisle 122, the third aisle 123, the fourth aisle 124, and the lane 130 are bidirectional channels for the transport robots 300 to travel back and forth. Multiple transport robots 300 can be used. When a transport robot 300 is traveling in any of the aisles 121, 122, 123, 124, or 130, if other transport robots 300 are in its path, it can move to the side of the current aisle to avoid them. When the transport robots 300 are traveling in the first aisle 121, 122, 123, or 124, they will not interfere with the sorting robots 200, thus improving the transport efficiency of the warehousing system.
[0049] In the embodiments of this application, the first channel 121, the second channel 122, the third channel 123, the fourth channel 124, and the aisle 130 all allow the transport robot 300 carrying the material box 400 to pass through, increasing the movable path of the transport robot 300, reducing the avoidance between transport robots 300, and the transport robot 300 will not interfere with the sorting robot 200 when traveling in the first channel 121, the second channel 122, the third channel 123, or the fourth channel 124, thereby improving the picking and placing efficiency and transport efficiency of the transport robot 300, and thus improving the picking and placing efficiency and transport efficiency of the entire warehousing system.
[0050] In the embodiment shown in Figure 1, as shown in Figures 1 to 3, at least one shelf 100 on both sides of the aisle 130 is provided with multiple horizontal rails 140, which are spaced apart in the vertical direction.
[0051] The sorting robot 200 is mounted on at least one shelf 100 located on one side of an aisle 130 via a horizontal track 140 and is able to move within the aisle 130 along the horizontal track 140.
[0052] The bottom of the sorting robot 200 is higher than the minimum height of the material box 400 of the handling robot 300, so that the handling robot 300 can move freely within the aisle 130 while the material box 400 is moving.
[0053] Specifically, when the handling robot 300 carrying the material box 400 travels in the aisle 130 at its lowest height, its height is lower than that of the sorting robot 200, and it will not interfere with the sorting robot 200. Applying this embodiment, when the handling robot 300 carrying the material box 400 travels in the robot docking space 120 or the aisle 130 at its lowest height, it will not interfere with the sorting robot 200, solving the problem of the two robots needing to avoid each other and improving the picking, placing, and handling efficiency of the warehousing system.
[0054] In the embodiment shown in FIG1, referring to FIG4a, FIG4a is a perspective structural diagram of the first embodiment of the handling robot shown in FIG1. As shown in FIG1 to FIG4a, the handling robot 300 includes: a first mobile chassis 310a, a first lifting mechanism 320a and a first lifting platform 330a arranged sequentially from bottom to top.
[0055] The bin docking layer 112 includes multiple docking storage positions 1121; the multiple docking storage positions 1121 are arranged sequentially along the length of the aisle 130 and are used to dock with the sorting robot 200 or the handling robot 300 to temporarily store the bins 400 to be picked up or put away.
[0056] Each docking storage position 1121 has a through groove 1123 at the bottom, which is perpendicular to the tunnel 130, so that the first lifting mechanism 320a can drive the first lifting platform 330a through the through groove 1123 to lift or place the material box 400.
[0057] In this embodiment, multiple docking storage positions 1121 are provided on the bin docking layer 112 to temporarily store bins 400, allowing multiple handling robots 300 to simultaneously pick up and place them for outbound or inbound storage of bins 400, thereby improving the retrieval and handling efficiency of the warehousing system. The handling robots 300 can pick up and place bins 400 from the bottom of the bin docking layer 112 by lifting the first lifting platform 330a through the through slot 1123.
[0058] Specifically, the first mobile chassis 310a is disposed at the bottom of the handling robot 300 and is used to drive the first lifting mechanism 320a and the first lifting platform 330a to move on the ground. It may include casters to achieve multi-directional movement. The first lifting mechanism 320a and the first lifting platform 330a are disposed at the top of the first mobile chassis 310a.
[0059] In this embodiment, the first lifting platform 330a is flat and is used to support the material box 400. It can move the material box horizontally under the drive of the first moving chassis 310a and lift or lower the material box 400 under the drive of the first lifting mechanism 320a.
[0060] The width of the through slot 1123 is configured to be smaller than the size of the material box 400 and larger than the size of the first lifting platform 330a, so that the first lifting platform 330a can pass through the through slot 1123 to lift or lower the material box 400, and also prevent the material box 400 from falling out of the through slot 1123.
[0061] In the embodiment shown in Figure 1, as shown in Figures 1 to 3, the bin docking layer 112 of the first shelf 100A and the second shelf 100B is a single-depth shelf, which is set from the side of the shelf 100 located in the aisle 130 towards the inside of the shelf 100, and is located above the second aisle 122 and the fourth aisle 124 respectively.
[0062] Specifically, the shelving 100 can be a double-deep shelving or a multi-deep shelving. Correspondingly, the width of the first aisle 121 or the third aisle 123 is greater than or equal to the width of the second aisle 122 or the third aisle 123. For multi-deep shelving, the width of the first aisle 121 or the third aisle 123 is greater than the width of the second aisle 122 or the fourth aisle 124. The first aisle 121 or the third aisle 123 can be further divided into multiple aisles for the passage of the handling robot 300, thereby further improving the picking and placing efficiency and handling efficiency of the handling robot 300.
[0063] As shown in Figures 1 to 3, in a specific embodiment of this application, the shelf 100 is a double-deep shelf, and the sorting robot 200 is mounted on the first shelf 100A, which can pick up and put the double-deep material box 400 on the first shelf 100A and the second shelf 100B.
[0064] The handling operations of the sorting robot 200 are specifically divided into the following four types: First, moving the material box 400 on the material box storage space 110 of the first shelf 100A to the target docking storage position 1121 of the material box docking layer 112 of the first shelf 100A or the second shelf 100B; Second, moving the material box 400 on the material box storage space 110 of the second shelf 100B to the target docking storage position 1121 of the material box docking layer 112 of the first shelf 100A or the second shelf 100B; Third, moving the material box 400 on the material box storage position 1111 of the material box storage space 110 of the first shelf 100A to the target material box storage position 1111 of the first shelf 100A or the second shelf 100B; Fourth, moving the material box 400 on the material box storage position 1111 of the material box storage space 110 of the second shelf 100B to the target material box storage position 1111 of the first shelf 100A or the second shelf 100B.
[0065] The bottommost bin storage layer 111 of the bin storage space 110, located above the first channel 121 or the third channel 123, forms the robot docking space 120, which is the area enclosed by the bin docking layer 112 and the shelf legs. The height through which the handling robot 300 carrying the bin 400 passes in the first channel 121 or the third channel 123 is greater than the height through which the handling robot 300 carrying the bin 400 passes in the second channel 122 or the fourth channel 124.
[0066] In this embodiment, the bin docking layer 112 is a single-depth layer, which increases the robot docking space 120, allowing the first channel 121 or the third channel 123 to allow the handling robot 300 to carry the bin 400 through at a higher height. The handling robot 300 can adjust its height in the first channel 121 or the third channel 123.
[0067] In the embodiment shown in Figure 1, as shown in Figures 1 to 3, the handling robot 300, when outbound, moves unloaded from any of the first channel 121, second channel 122, third channel 123, fourth channel 124, or aisle 130 to below the target docking storage position 1121 where the material box 400 is temporarily stored. The first lifting mechanism 320a drives the first lifting platform 330a to rise through the through channel 1123 and lift the material box 400. Then, based on the first moving chassis 310a, the material box 400 is moved along the moving through channel 1123 to the first channel 121, third channel 123, or aisle 130. After the first lifting platform 330a descends to the lowest state, the handling robot 300 moves the material box 400 from any of the first channel 121, second channel 122, third channel 123, fourth channel 124, or aisle 130 out of the first shelf 100A or second shelf 100B.
[0068] Furthermore, upon receiving the material, the handling robot 300 carrying the target material box 400, based on the first mobile chassis 310a, travels at its lowest height from any of the first channel 121, second channel 122, third channel 123, fourth channel 124, or aisle 130 to the position corresponding to the vacant target docking storage space 1121 on the first channel 121, third channel 123, or aisle 130. The first lifting mechanism 320a then lifts the first lifting platform 330a to raise the material box. 400, and based on the first mobile chassis 310a, moves toward the through slot 1123 of the target docking storage position 1121, and then drives the first lifting platform 330a to descend through the first lifting mechanism 320a to place the material box 400 in the target docking storage position 1121; finally, the first lifting platform 330a is lowered and moved out of the first shelf 100A or the second shelf 100B unloaded from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the aisle 130.
[0069] Specifically, as shown in Figure 3, the inbound and outbound process when the target docking storage location 1121 is located on the first shelf 100A is explained.
[0070] When leaving the warehouse, the unloaded handling robot 300 can first travel along any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the alley 130, and finally switch to the second channel 122 below the target docking storage position 1121.
[0071] After the material box 400 is lifted by the first lifting platform 330a and passes through the channel 1123, the handling robot 300, based on the first mobile chassis 310a, moves the material box 400 along the mobile channel 1123 to the first channel 121 or aisle 130 adjacent to the second channel 122. After the first lifting platform 330a is lowered to the lowest state, the handling robot 300 moves the material box 400 out of the shelf 100 from any of the first channel 121, second channel 122, third channel 123, fourth channel 124 or aisle 130 and proceeds to the workstation 500 for outbound processing.
[0072] Upon receiving the goods, the handling robot 300 moves to the position corresponding to the vacant target docking storage position 1121 on the first channel 121 or aisle 130. The first lifting platform 330a rises and lifts the material box 400, and moves it toward the through slot 1123 of the target docking storage position 1121. After lowering the first lifting platform 330a, it moves the rack 100 out of the warehouse unloaded from any of the first channel 121, second channel 122, third channel 123, fourth channel 124 or aisle 130.
[0073] The following describes the inbound and outbound process when the target docking storage location 1121 is located on the second shelf 100B.
[0074] When leaving the warehouse, the unloaded handling robot 300 can first travel along any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the alley 130, and finally switch to the fourth channel 124 below the target docking storage position 1121.
[0075] After the first lifting platform 330a lifts the material box 400 through the channel 1123, the handling robot 300, based on the first mobile chassis 310a, moves the material box 400 along the mobile channel 1123 to the third channel 123 or aisle 130 adjacent to the fourth channel 124. After the first lifting platform 330a descends to its lowest state, the handling robot 300 moves the material box 400 out of the shelf 100 from any of the first channel 121, second channel 122, third channel 123, fourth channel 124 or aisle 130 and proceeds to the workstation 500 for outbound processing.
[0076] Upon receiving the goods, the handling robot 300 moves to the position corresponding to the vacant target docking storage position 1121 on the third channel 123 or aisle 130. The first lifting platform 330a rises and lifts the material box 400, and moves it toward the through slot 1123 of the target docking storage position 1121. After lowering the first lifting platform 330a, it moves the rack 100 out of the warehouse unloaded from any of the first channel 121, second channel 122, third channel 123, fourth channel 124 or aisle 130.
[0077] The vertical movement of the first lifting mechanism 320a and the horizontal movement of the first mobile chassis 310a can be carried out simultaneously. That is, during the process of the first mobile chassis 310a driving into or out of the target docking storage position 1121, the first lifting mechanism 320a can raise or lower the material box 400, thereby improving the handling efficiency of the handling robot 300.
[0078] The warehousing system also includes control equipment that communicates with the control modules installed on each of the sorting robots 200 and the handling robots 300. The control equipment can plan the movement route of the handling robots 300 based on the location of the target docking storage location 1121 and the current occupancy status of each aisle in the warehousing system. When the handling robot 300 is moving along the planned movement route, if there are other handling robots 300 in the path, it can send a command to the handling robot 300 to move to the aisles on either side of the current aisle to avoid them.
[0079] By applying this embodiment and planning the inbound and outbound routes of the handling robot 300 as described above, the inbound and outbound operations of the handling robot 300 become more flexible, improving the picking, placing, and handling efficiency of the handling robot 300, thereby improving the picking, placing, and handling efficiency of the entire warehousing system. The handling robot 300 can pick up and place the material box 400 without stopping or only briefly stopping, which can improve the efficiency of the handling robot 300 in picking up and placing the material box 400. In addition, the handling robot 300 can pick up and place the material box 400 below the docking storage position 1121, which can improve the space utilization rate of the shelf 100.
[0080] In other embodiments, the specific structure of the handling robot 300 and the manner in which it docks with the material handling box 400 can be varied.
[0081] The handling robot 300 can move to the position below the target docking storage position 1121 as described in the above embodiment, that is, on the second channel 122 or the fourth channel 124, and pick up and put down the material box 400 by lifting; or it can be located on the side of the target docking storage position 1121, that is, on the first channel 121, the third channel 123 or the aisle 130, and move the material box 400 by lateral extension and retraction through the telescopic picking and placing mechanism. For example, the telescopic picking and placing mechanism can be a lever mechanism.
[0082] Referring to Figure 4b, which is a perspective structural diagram of the second embodiment of the handling robot shown in Figure 1, the handling robot 300 includes: a second mobile chassis 310b, a second lifting mechanism 320b, and a second lifting platform 330b arranged sequentially from bottom to top; the second lifting platform 330b is comb-shaped.
[0083] As shown in Figure 3, the bin docking layer 112 includes multiple docking storage positions 1121; the multiple docking storage positions 1121 are arranged sequentially along the length of the aisle 130 and are used to dock with the sorting robot 200 or the handling robot 300 to temporarily store the bins 400 to be picked up or put away.
[0084] Each docking storage position 1121 has a comb-shaped opening at the bottom facing the inside of the shelf, which is used to cooperate with the second lifting platform 330b of the handling robot 300, so that the second lifting mechanism 320b can drive the second lifting platform 330b through the comb-shaped opening to lift or place the material box 400.
[0085] Specifically, the second lifting platform 330b is comb-shaped, with multiple protrusions arranged in a comb-like pattern on the top. Each of the comb-shaped openings of the docking storage position 1121 has a gap between the comb teeth and the top protrusion of the second lifting platform 330b, so that the comb-shaped protrusions of the second lifting platform 330b can pass through the comb-shaped openings, thereby lifting or placing the material box 400.
[0086] The comb-shaped opening of the docking storage position 1121 of the first shelf 100A faces the first channel 121, and the comb-shaped opening of the docking storage position 1121 of the second shelf 100B faces the third channel 123. The structure of the second movable chassis 310b and the second lifting mechanism 320b can be the same as that of the first movable chassis 310a and the first lifting mechanism 320a in the above embodiment.
[0087] In this embodiment, the handling robot 300, when outgoing from the warehouse, moves unloaded from any of the following paths: first channel 121, second channel 122, third channel 123, fourth channel 124, or aisle 130, to below the target docking storage position 1121 where the material box 400 is temporarily stored. The second lifting mechanism 320b drives the second lifting platform 330b to rise through the comb-shaped opening and lift the material box 400. Then, based on the second mobile chassis 310b, the material box 400 moves along the comb-shaped opening to the first channel 121 or third channel 123. After the second lifting platform 330b descends to its lowest position, the handling robot 300 moves the material box 400 from any of the following paths: first channel 121, second channel 122, third channel 123, fourth channel 124, or aisle 130, out of the first shelf 100A or second shelf 100B.
[0088] Furthermore, upon warehousing, the handling robot 300 carrying the target material box 400, based on the second mobile chassis 310b, travels at its lowest height from any of the first channel 121, second channel 122, third channel 123, fourth channel 124, or aisle 130 to the position on the first channel 121 or third channel 123 corresponding to the vacant target docking storage position 1121. The second lifting mechanism 320b then drives the second lifting platform 330b to rise, thereby lifting the material box 400. 0, and based on the second mobile chassis 310b, move toward the comb-shaped opening of the target docking storage position 1121, and then drive the second lifting platform 330b to descend through the second lifting mechanism 320b to place the material box 400 in the target docking storage position 1121; finally, lower the second lifting platform 330b and move out of the first shelf 100A or the second shelf 100B unloaded from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the aisle 130.
[0089] In the embodiment shown in Figure 1, as shown in Figures 1 to 3, the sorting robot 200 includes a column gantry 210 and a picking and placing component 220; the column gantry 210 is vertically installed on a horizontal track 140; the picking and placing component 220 is disposed on the column gantry 210 and can move along the horizontal track 140 with the column gantry 210 and rise and fall along the column gantry 210.
[0090] The bin storage layer 111 includes multiple bin storage locations 1111. The sorting robot 200 is used to sort and pick up bins 400 on multiple bin storage locations 1111 of adjacent shelves 100 based on the movement of the picking and placing component 220 along the horizontal track 140 with the column mast 210 and / or the lifting and lowering along the column mast 210, and to move bins 400 between the bin storage layer 111 and the bin docking layer 112 of adjacent shelves 100.
[0091] Using the embodiments of this application, the picking and placing component moves along the horizontal track 140 with the column gantry 210, and can pick up and place different material boxes 400 in the length direction of adjacent shelves 100. The picking and placing component moves up and down along the column gantry 210, and can pick up and place material boxes 400 at different heights on adjacent shelves 100. For details on the specific picking and placing method, please refer to the following description.
[0092] In the embodiment shown in Figure 1, as shown in Figures 1 and 5, the picking and placing component 220 of the sorting robot 200 is used to move the material box 400 on the material box storage layer 111 of the adjacent shelf 100 to the material box docking layer 112, or move the material box 400 on the material box docking layer 112 of the adjacent shelf 100 to the target material box storage position 1111, or move the material box 400 on the material box storage position 1111 of the adjacent shelf 100 to the target material box storage position 1111.
[0093] Specifically, the picking and placing component 220 has a telescopic function, capable of extending or retracting towards the first shelf 100A or the second shelf 100B to pick up or place the material box 400. The specific structure of the picking and placing component 220 can be a fork, a clamping plate, a suction cup, a hook, etc., which are not limited in this application.
[0094] By applying the embodiments of this application, the picking and placing component 220 can be used to organize the material boxes 400 on adjacent shelves 100 and to pick up and place the material boxes 400 waiting to be put into or out of the warehouse on the material box docking layer 112.
[0095] As mentioned above, in the storage system of the first embodiment shown in Figure 1, the bin docking layer 112 of the first shelf 100A and the second shelf 100B is a single-depth shelf. In other embodiments of the storage system, the bin docking layer 112 of the first shelf 100A and the second shelf 100B can be a double-depth shelf.
[0096] Referring to Figures 5 to 7, Figure 5 is a perspective structural diagram of the storage system according to the second embodiment of this application; Figure 6 is a partial schematic diagram of the storage system shown in Figure 5; and Figure 7 is a side view schematic diagram of the storage system shown in Figure 5. As shown in Figures 5 to 7, in the storage system of the second embodiment of this application, both the first shelf 100A and the second shelf 100B are double-deep shelves. The bin docking layer 112 of the first shelf 100A and the second shelf 100B is a double-deep shelf, and multiple docking storage positions 1121 are arranged in two rows along the length direction of the aisle 130. In the two rows of docking storage positions 1121, the through slots 1123 of two adjacent docking storage positions 1121 along the width direction of the aisle 130 are connected.
[0097] Specifically, the sorting robot 200 can be configured in the same way as in the first embodiment shown in Figure 1, mounted on the first shelf 100A, and capable of picking up and placing the double-deep material boxes 400 on the first shelf 100A and the second shelf 100B. The picking method is also the same as in the first embodiment shown in Figure 1, and will not be described again here. The handling robot 300 adopts the handling robot 300 of the first embodiment shown in Figure 4a.
[0098] As shown in Figures 5 to 7, the sorting robot 200 can also be a robot for picking up and placing single-depth storage bins 400, and it only picks up and places bins between the storage layer 111 and the docking layer 112 of the first shelf 100A, or between the storage layer 111 and the docking layer 112 of the second shelf 100B. Since the docking storage positions 1121 are arranged in two rows, sorting robots 200 are installed in the aisles 130 next to both rows of docking storage positions 1121. Among them, sorting robots 200 need to be installed on both sides of the outermost shelf 100 of the shelf array.
[0099] Multiple shelves 100 in a warehousing system can be arranged in a straight line or in a square array.
[0100] As shown in Figure 5, multiple shelves 100 form a square array. The shelves 100 located on both sides of the square array can also be set as single-depth shelves to avoid the waste caused by the need to set up sorting robots 200 on both sides of the outermost shelf 100 of the shelf array.
[0101] The area enclosed by the bin docking layer 112 and the shelf legs is the robot docking space 120. The first channel 121 or the third channel 123 allows the handling robot 300 to pass through carrying the bin 400 at a height equal to that of the second channel 122 or the fourth channel 124.
[0102] In the embodiments of this application, the bin docking layer 112 is configured as a double-deep shelf, including two rows of docking storage positions 1121, which improves the space utilization of the robot docking space 120 of the shelf 100, increases the temporary storage capacity of the bin docking layer 112, and thus improves the picking and placing efficiency and handling efficiency of the warehousing system.
[0103] In the second embodiment of this application, as shown in Figures 5 to 7, the handling robot 300, when outbound, moves unloaded from any of the first channel 121, second channel 122, third channel 123, fourth channel 124, or aisle 130 to below the target docking storage position 1121 where the material box 400 is temporarily stored. The first lifting mechanism 320a drives the first lifting platform 330a to rise through the through channel 1123 and lift the material box 400. Then, based on the first moving chassis 310a, the material box 400 is moved along the moving through channel 1123 to aisle 130. After the first lifting platform 330a is lowered to the lowest state, the handling robot 300 moves the material box 400 from any of the first channel 121, second channel 122, third channel 123, fourth channel 124, or aisle 130 out of the first shelf 100A or second shelf 100B.
[0104] Furthermore, upon warehousing, the handling robot 300 carrying the target material box 400, based on the first mobile chassis 310a, travels at its lowest height, moving from any of the first channel 121, second channel 122, third channel 123, fourth channel 124, or aisle 130 to the position on aisle 130 corresponding to the vacant target docking storage position 1121. The first lifting mechanism 320a drives the first lifting platform 330a to rise, lifting the material box 400, and based on the first... A mobile chassis 310a moves toward the through slot 1123 of the target docking storage position 1121, and then the first lifting platform 330a is lowered by the first lifting mechanism 320a to place the material box 400 in the target docking storage position 1121; finally, the first lifting platform 330a is lowered and moved out of the first shelf 100A or the second shelf 100B unloaded from any of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the aisle 130.
[0105] Specifically, when entering or leaving the warehouse, the handling robot 300 needs to travel on the aisle 130 after picking up the material box 400 or going to place the material box 400. However, if it is necessary to avoid it, it can avoid it to the first aisle 121, the second aisle 122, the third aisle 123 or the fourth aisle 124 in the lowest possible state. Finally, it will start docking with the target docking storage position 1121 on the side of the aisle 130.
[0106] By applying the embodiments of this application, the above-mentioned planning of the inbound and outbound routes of the handling robot 300 makes the inbound and outbound operations of the handling robot 300 more flexible, improves the picking and placing efficiency and handling efficiency of the handling robot 300, and thus improves the picking and placing efficiency and handling efficiency of the entire warehousing system.
[0107] In addition, in the second embodiment shown in Figure 5, apart from the arrangement of the sorting robot 200, the structure of the bin docking layer 112, and the handling method of the sorting robot 200 and the handling robot 300, the structures of the remaining bin storage space 110, sorting robot 200, and handling robot 300 can be exactly the same as the structures of the bin storage space 110, sorting robot 200, and handling robot 300 in the first embodiment shown in Figure 1, and will not be described again here.
[0108] In other words, the main difference between the second embodiment shown in Figure 5 and the first embodiment shown in Figure 1 lies in the setting of the sorting robot 200, the structure of the bin docking layer 112, and the handling method of the sorting robot 200 and the handling robot 300. Everything else can be set the same.
[0109] In practical applications, regardless of whether the first embodiment, the second embodiment, or a variation thereof is adopted, the two robots can cooperate to improve the retrieval and handling efficiency of the warehousing system. The sorting robot 200 moves within the aisle 130, picking up and placing boxes 400 between adjacent shelves 100, while the transport robot 300 transports boxes 400 between shelves 100 and their external surfaces. Both the robot docking space 120 and the aisle 130 allow the transport robot 300 to pass while carrying boxes 400, increasing the movement path of the transport robot 300, reducing collisions between them, and ensuring that the transport robot 300 does not interfere with the sorting robot 200 when moving within the robot docking space 120. This further improves the retrieval and handling efficiency of the transport robot 300, thereby enhancing the overall retrieval and handling efficiency of the warehousing system.
[0110] Finally, the shelving provided in the embodiments of this application will be described in detail. Referring to Figures 1 to 3 and Figures 5 to 7, the shelving includes: a bin storage space 110 and a robot docking space 120 arranged from top to bottom; the bin storage space 110 is provided with multiple bin storage layers 111; the bottom of the bin storage space 110 is provided with a bin docking layer 112; the bin docking layer 112 has a preset height with the ground to form the robot docking space 120, which is used for the movement of the handling robot 300 and docking to pick up and put down the bins 400; an aisle 130 extending along the length of the shelving is formed between adjacent shelves 100; a sorting robot 200 is arranged in the aisle 130; the height of the robot docking space 120 is greater than the minimum height of the handling robot 300 carrying the bins 400, so that the handling robot 300 can move arbitrarily in the robot docking space 120 and the aisle 130 while carrying the bins 400.
[0111] In this embodiment, the shelf 100 is divided into a bin storage space 110 and a robot docking space 120, used for storing bins 400 and temporarily storing bins 400 awaiting entry or exit, respectively. This clear zoning improves the space utilization of the shelf 100 and the efficiency of the sorting robot 200 and the handling robot 300 in docking with the bin docking layer 112 to retrieve and place bins 400. Both the robot docking space 120 and the aisle 130 allow the handling robot 300 to pass while carrying bins 400, increasing the movement path of the handling robot 300, reducing collisions between handling robots 300, and ensuring that the handling robot 300 does not interfere with the sorting robot 200 when moving in the robot docking space 120, thus improving the retrieval and handling efficiency of the handling robot 300.
[0112] In some embodiments of this application, as shown in Figures 1 to 3 and Figures 5 to 7, within the robot docking space 120 of the first shelf 100A in adjacent shelves 100, a first channel 121 and a second channel 122 are sequentially arranged along the direction close to the aisle 130; within the robot docking space 120 of the second shelf 100B in adjacent shelves 100, a third channel 123 and a fourth channel 124 are sequentially arranged along the direction close to the aisle 130. The first channel 121, the second channel 122, the third channel 123, and the fourth channel 124 are all parallel to the aisle 130 and extend to the outside of the shelf 100.
[0113] By applying the embodiments of this application, the first channel 121, the second channel 122, the third channel 123 and the fourth channel 124 and the aisle 130 are set up so that the handling robot 300 can travel between the bottom of the shelf 100 and adjacent shelves 100, which increases the movable path of the handling robot 300, reduces the avoidance between handling robots 300, improves the space utilization of the shelf 100 and the efficiency of docking and picking up the material box 400.
[0114] In some embodiments of this application, the bin docking layer 112 includes a plurality of docking storage positions 1121; the plurality of docking storage positions 1121 are arranged sequentially along the length direction of the aisle 130 for docking with the sorting robot 200 or the handling robot 300 to temporarily store the bins 400 to be picked up or put away.
[0115] Each docking storage position 1121 has a through groove 1123 at the bottom, which is perpendicular to the aisle 130, so that the handling robot 300 can pass through the through groove 1123 to lift or place the material box 400.
[0116] In this embodiment of the application, multiple docking storage positions 1121 are provided on the bin docking layer 112 to temporarily store bins 400, allowing multiple handling robots 300 to simultaneously pick up and place them for outbound or inbound processing of bins 400, thereby improving the picking and placing efficiency and handling efficiency of the warehousing system. The handling robots 300 can pick up and place bins 400 from the bottom of the bin docking layer 112 by lifting the first lifting platform 330a through the through slot 1123.
[0117] In some embodiments of this application, as shown in Figures 1 to 3, the bin docking layer 112 of the first shelf 100A and the second shelf 100B is a single-depth shelf, which is set from the side of the shelf 100 located in the aisle 130 towards the interior of the shelf 100, and is located above the second channel 122 and the fourth channel 124 respectively.
[0118] In the embodiments of this application, the bin docking layer 112 is a single-depth layer, which increases the robot docking space 120, allowing the first channel 121 or the third channel 123 to allow the handling robot 300 to carry the bin 400 through at a higher height. The handling robot 300 can adjust its height in the first channel 121 or the third channel 123.
[0119] In some embodiments of this application, as shown in Figures 5 to 7, both the first shelf 100A and the second shelf 100B are double-deep shelves; the bin docking layer 112 of the first shelf 100A and the second shelf 100B is a double-deep shelf.
[0120] The material bin docking layer 112 includes multiple docking storage positions 1121; the multiple docking storage positions 1121 are arranged in two rows along the length direction of the aisle 130, and in the two rows of docking storage positions 1121, the through slots 1123 of two adjacent docking storage positions 1121 along the width direction of the aisle 130 are connected.
[0121] In the embodiments of this application, the bin docking layer 112 is set as a double-deep shelf, including two rows of docking storage positions 1121, which improves the space utilization of the robot docking space 120 of the shelf 100, increases the temporary storage capacity of the bin docking layer 112, and thus improves the picking and placing efficiency and handling efficiency of the warehousing system.
[0122] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0123] 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: Multiple spaced shelves (100), sorting robots (200), and handling robots (300); The shelf (100) includes a bin storage space (110) and a robot docking space (120) arranged from top to bottom; the bin storage space (110) is provided with multiple bin storage layers (111); the bottom of the bin storage space (110) is provided with a bin docking layer (112); the bin docking layer (112) has a preset height with the ground to form the robot docking space (120); Aisles (130) extending along the length of the shelves are formed between adjacent shelves (100); The sorting robot (200) is set in the aisle (130) and is used to sort and pick up the boxes (400) on the adjacent shelves (100) and move the boxes (400) between the box storage layer (111) and the box docking layer (112) of the adjacent shelves (100). The handling robot (300) is used to transport the material box (400) outside the shelf (100) to the material box docking layer (112), or to move the material box (400) on the material box docking layer (112) away from the shelf (100); The height of the robot docking space (120) is greater than the minimum height of the material box (400) carried by the transport robot (300), so that the transport robot (300) can move freely in the robot docking space (120) and the aisle (130) while the material box (400) is moving.
2. The warehousing system according to claim 1, characterized in that, In the robot docking space (120) of the first shelf (100A) in the adjacent shelves (100), a first channel (121) and a second channel (122) are arranged sequentially along the direction close to the aisle (130); in the robot docking space (120) of the second shelf (100B) in the adjacent shelves (100), a third channel (123) and a fourth channel (124) are arranged sequentially along the direction close to the aisle (130); The first channel (121), the second channel (122), the third channel (123) and the fourth channel (124) are all parallel to the aisle (130) and extend to the outside of the shelf (100); The transport robot (300) can carry the hopper (400) and move it arbitrarily in the first channel (121), the second channel (122), the third channel (123), the fourth channel (124), and the alley (130).
3. The warehousing system according to claim 2, characterized in that, The transport robot (300) includes: a first mobile chassis (310a), a first lifting mechanism (320a) and a first lifting platform (330a) arranged sequentially from bottom to top; The bin docking layer (112) includes multiple docking storage positions (1121); the multiple docking storage positions (1121) are arranged sequentially along the length of the aisle (130) for docking with the sorting robot (200) or the handling robot (300) to temporarily store bins (400) to be picked up or put away. Each docking storage position (1121) has a through groove (1123) at its bottom, the through groove (1123) being perpendicular to the tunnel (130) so that the first lifting mechanism (320a) can drive the first lifting platform (330a) through the through groove (1123) to lift or place the material box (400).
4. The warehousing system according to claim 3, characterized in that, The bin docking layer (112) of the first shelf (100A) and the second shelf (100B) is a single-depth shelf, which is set from the side of the shelf (100) located in the aisle (130) and towards the inside of the shelf (100), respectively located above the second aisle (122) and the fourth aisle (124).
5. The warehousing system according to claim 4, characterized in that, The transport robot (300) is used, when leaving the warehouse, to move unloaded from any of the first channel (121), second channel (122), third channel (123), fourth channel (124) or alley (130) to the target docking storage position (1121) where the material box (400) is temporarily stored. The first lifting mechanism (320a) drives the first lifting platform (330a) to rise through the through channel (1123) and lift the material box (400). Then, it is based on the first mobile chassis (310a). The material bin (400) is moved along the moving channel (1123) to the first channel (121), the third channel (123) or the aisle (130). After the first lifting platform (330a) is lowered to the lowest state, the handling robot (300) moves the material bin (400) out of the first shelf (100A) or the second shelf (100B) from any of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the aisle (130). Furthermore, upon warehousing, the handling robot (300) carrying the target bin (400), based on the first mobile chassis (310a), travels at its lowest height from any of the first channel (121), second channel (122), third channel (123), fourth channel (124), or alleyway (130) to the position corresponding to the vacant target docking storage position (1121) on the first channel (121), third channel (123), or alleyway (130). The first lifting mechanism (320a) then lifts the first lifting platform (330a) to raise the bin (400). The first mobile chassis (310a) moves toward the through slot (1123) of the target docking storage position (1121) based on the first mobile chassis (310a). Then, the first lifting platform (330a) is lowered by the first lifting mechanism (320a) to place the hopper (400) in the target docking storage position (1121). Finally, the first lifting platform (330a) is lowered and moved out of the first shelf (100A) or the second shelf (100B) unloaded from any of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the aisle (130).
6. The warehousing system according to claim 3, characterized in that, Both the first shelf (100A) and the second shelf (100B) are double-deep shelves; The bin docking layer (112) of the first shelf (100A) and the second shelf (100B) is a double-deep shelf; The plurality of docking storage positions (1121) are arranged in two columns along the length of the tunnel (130). In the two columns of docking storage positions (1121), the through slots (1123) of two adjacent docking storage positions (1121) along the width of the tunnel (130) are connected.
7. The warehousing system according to claim 6, characterized in that, The transport robot (300) is used, when leaving the warehouse, to move unloaded from any of the first channel (121), second channel (122), third channel (123), fourth channel (124) or alleyway (130) to the target docking storage position (1121) where the material box (400) is temporarily stored. It then uses a first lifting mechanism (320a) to lift the first lifting platform (330a) through the through-slot (1123) to raise the material box (400), and then, based on the first... The mobile chassis (310a) drives the material box (400) to move along the mobile channel (1123) to the aisle (130). After the first lifting platform (330a) is lowered to the lowest state, the handling robot (300) drives the material box (400) to move out of the first shelf (100A) or the second shelf (100B) from any of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the aisle (130). Furthermore, upon warehousing, the handling robot (300) carrying the target material box (400), based on the first mobile chassis (310a), travels at its lowest height from any of the first channel (121), second channel (122), third channel (123), fourth channel (124), or aisle (130) to the position on the aisle (130) corresponding to the vacant target docking storage position (1121). The first lifting mechanism (320a) drives the first lifting platform (330a) to rise, lifting the material box (400), and based on the first mobile chassis (310a), the robot moves to the lowest height position. The moving chassis (310a) moves toward the through slot (1123) of the target docking storage position (1121), and then the first lifting platform (330a) is lowered by the first lifting mechanism (320a) to place the material box (400) in the target docking storage position (1121); finally, the first lifting platform (330a) is lowered and moved out of the first shelf (100A) or the second shelf (100B) unloaded from any of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the aisle (130).
8. The warehousing system according to claim 2, characterized in that, The transport robot (300) includes: a second mobile chassis (310b), a second lifting mechanism (320b), and a second lifting platform (330b) arranged sequentially from bottom to top; the second lifting platform (330b) is comb-shaped; The bin docking layer (112) includes multiple docking storage positions (1121); the multiple docking storage positions (1121) are arranged sequentially along the length of the aisle (130) for docking with the sorting robot (200) or the handling robot (300) to temporarily store bins (400) to be picked up or put away. Each of the docking storage positions (1121) has a comb-shaped opening at the bottom facing the inside of the shelf, for cooperating with the second lifting platform (330b) of the handling robot (300), so that the second lifting mechanism (320b) can drive the second lifting platform (330b) through the comb-shaped opening to lift or place the material box (400).
9. The warehousing system according to claim 1, characterized in that, At least one shelf (100) on both sides of the aisle (130) is provided with multiple horizontal rails (140); The multiple horizontal tracks (140) are spaced apart in the vertical direction; The sorting robot (200) is mounted on the horizontal track (140) on one side of the at least one shelf (100) located in the aisle (130) and is able to move along the horizontal track (140) within the aisle (130); The bottom of the sorting robot (200) is higher than the minimum height of the material box (400) carried by the handling robot (300), so that the handling robot (300) can move freely in the aisle (130) while the material box (400) is moving.
10. The warehousing system according to claim 9, characterized in that, The sorting robot (200) includes a column gantry (210) and a picking and placing component (220); the column gantry (210) is vertically installed on the horizontal track (140); the picking and placing component (220) is disposed on the column gantry (210) and can move along the horizontal track (140) with the column gantry (210) and rise and fall along the column gantry (210); The bin storage layer (111) includes multiple bin storage locations (1111). The sorting robot (200) is used to sort and pick up bins (400) on multiple bin storage locations (1111) of adjacent shelves (100) based on the movement of the picking and placing component (220) along the horizontal track (140) with the column mast (210) and / or the lifting and lowering along the column mast (210), and to move bins (400) between the bin storage layer (111) and the bin docking layer (112) of adjacent shelves (100).
11. The warehousing system according to claim 10, characterized in that, The picking and placing component (220) of the sorting robot (200) is used to move the bins (400) on the bin storage layer (111) of the adjacent shelf (100) to the bin docking layer (112), or to move the bins (400) on the bin docking layer (112) of the adjacent shelf (100) to the target bin storage position (1111), or to move the bins (400) on the bin storage position (1111) of the adjacent shelf (100) to the target bin storage position (1111).
12. A type of shelf, characterized in that, include: The material bin storage space (110) and robot docking space (120) are arranged from top to bottom; The material bin storage space (110) is provided with multiple material bin storage layers (111); the bottom of the material bin storage space (110) is provided with a material bin docking layer (112); the material bin docking layer (112) has a preset height with the ground to form the robot docking space (120), which is used for the handling robot (300) to move and dock to pick up and put down the material bin (400); Aisles (130) extending along the length of adjacent shelves (100) are formed between them; a sorting robot (200) is installed in the aisles (130); The height of the robot docking space (120) is greater than the minimum height of the material box (400) carried by the transport robot (300), so that the transport robot (300) can move freely in the robot docking space (120) and the aisle (130) while the material box (400) is moving.
13. The shelf according to claim 12, characterized in that, In the robot docking space (120) of the first shelf (100A) in the adjacent shelves (100), a first channel (121) and a second channel (122) are arranged sequentially along the direction close to the aisle (130); in the robot docking space (120) of the second shelf (100B) in the adjacent shelves (100), a third channel (123) and a fourth channel (124) are arranged sequentially along the direction close to the aisle (130); The first channel (121), the second channel (122), the third channel (123) and the fourth channel (124) are all parallel to the aisle (130) and extend to the outside of the shelf (100).
14. The shelf according to claim 13, characterized in that, The bin docking layer (112) includes multiple docking storage positions (1121); the multiple docking storage positions (1121) are arranged sequentially along the length direction of the aisle (130) for docking with the sorting robot (200) or the handling robot (300) to temporarily store bins (400) to be picked up or placed; each docking storage position (1121) has a through groove (1123) at the bottom, the through groove (1123) is perpendicular to the aisle (130) so that the handling robot (300) can pass through the through groove (1123) to lift or place the bin (400).
15. The shelf according to claim 14, characterized in that, The bin docking layer (112) of the first shelf (100A) and the second shelf (100B) is a single-depth shelf, which is set from the side of the shelf (100) located in the aisle (130) and towards the inside of the shelf (100), respectively located above the second aisle (122) and the fourth aisle (124).
16. The shelf according to claim 14, characterized in that, Both the first shelf (100A) and the second shelf (100B) are double-deep shelves; The bin docking layer (112) of the first shelf (100A) and the second shelf (100B) is a double-deep shelf; The plurality of docking storage positions (1121) are arranged in two columns along the length of the tunnel (130). In the two columns of docking storage positions (1121), the through slots (1123) of two adjacent docking storage positions (1121) along the width of the tunnel (130) are connected.