CN106395218B - Overhead baggage rack unit, shelf, goods sorting system and goods sorting method - Google Patents
Overhead baggage rack unit, shelf, goods sorting system and goods sorting method Download PDFInfo
- Publication number
- CN106395218B CN106395218B CN201610818531.0A CN201610818531A CN106395218B CN 106395218 B CN106395218 B CN 106395218B CN 201610818531 A CN201610818531 A CN 201610818531A CN 106395218 B CN106395218 B CN 106395218B
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- Prior art keywords
- baggage rack
- overhead baggage
- pallet
- rack unit
- shelf
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
Abstract
The invention discloses a kind of overhead baggage rack unit, shelf, goods sorting system and goods sorting methods.Overhead baggage rack unit includes hollow and the open main supporting structure in front side and the open pallet bearing structure in hollow and front side that is supported on main supporting structure, pallet bearing structure includes being used to support the pallet loading end of pallet, overhead baggage rack unit has hollow region and the front side being connected to hollow region open, wherein, front side opening, hollow region and pallet loading end are set as：Hollow region can be entered from front side opening by carrying the robot of pallet, and pallet is positioned on pallet loading end in hollow region；Pallet can be removed from pallet loading end and be carried in unloaded robot in hollow region, and the robot for carrying pallet can be driven out to hollow region from front side opening.The present invention can improve the load rate of robot.
Description
Technical field
The present invention relates to storage technique field, more particularly to a kind of overhead baggage rack unit, shelf, goods sorting system and cargo point
Pick method.
Background technology
Make goods sorting from tradition in the goods sorting system for sorting cargo using Kiva robots of warehousing industry, Amazon
People's arrival pick pattern and upgrade to goods and pick pattern to people.
The goods sorting system provides a kind of novel automation order and fulfils scheme.By using hundreds of movement
The control software of robot (Kiva robots), moveable shelf, work station and complexity completes sorting, the packet of home-delivery center
Dress and conveying operation.Its capital equipment has storage device and haulage equipment (Kiva robots).The storage of the goods sorting system
Equipment is using mobile plastic processing frame (Pods).According to the difference of storage properties, the storage device in the goods sorting system
It is divided into two kinds of stock shelf (Inventory Pods) and conveying shelf (Shipping Pods).
Stock shelf are made of metal material similar to the square table shape of 1 meter of square with four legs.Stock shelf
Upper plane placement tray, pallet carry commodity.When Kiva robots transportation tray, jacked together with this stock shelf and pallet
And it advances.
Conveying shelf are the step shelf shelf of 1 meter of square, and there are four supporting legs for shelf lower section band.When carrying, Kiva
Robot can pierce the space below conveying shelf, and jacking conveys shelf and advances.
In the implementation of the present invention, designer has found, the goods sorting system of the above prior art is in the presence of as follows
Shortcoming：
1, robot before transportation tray must first by a stock shelf top above it, lacked this procedure,
It just can not transportation tray.
2, during runing, pallet is not only managed, it is also necessary to manage stock shelf, management cost is higher.
If the commodity that 3, put one's child in a boarding nursery are stored on high-level shelf, it must use special equipment that the commodity that put one's child in a boarding nursery are removed after pallet undercarriage
Onto Kiva robots.
Invention content
The purpose of the present invention is to provide a kind of overhead baggage rack unit, shelf, goods sorting system and goods sorting methods, it is intended to
When realizing robot transportation tray, without being carried together with stock shelf, to improve the load rate of robot.
First aspect present invention provides a kind of overhead baggage rack unit, and the overhead baggage rack unit includes hollow and the open main support in front side
Structure and the open pallet bearing structure in the hollow and front side being supported on the main supporting structure, the pallet bearing structure packet
Include the pallet loading end for being used to support pallet, the front side that the overhead baggage rack unit has hollow region and is connected to the hollow region
It is open, wherein the front side opening, the hollow region and the pallet loading end are set as：Carry the robot of pallet
The hollow region can be entered from the front side opening, and the pallet is positioned over the pallet in the hollow region
On loading end；The unloaded robot can remove from the pallet loading end in the hollow region and carry the support
Disk, and the robot for carrying the pallet can be driven out to the hollow region from the front side opening.
Preferably, the main supporting structure includes spaced four supporting legs, and four supporting legs include being set to a left side
The left front supporting leg in front, the right anterior branch leg for being set to right front, the left back supporting leg for being set to left back and it is set to right back
Right rear support leg, the pallet bearing structure are separately connected with four supporting legs.
Preferably, the left front supporting leg, the left back supporting leg and the pallet bearing structure are formed for the unloaded machine
Device people by entrance；And/or the right anterior branch leg, the right rear support leg are formed with the pallet bearing structure for zero load
The robot by entrance；And/or the right rear support leg, the left back supporting leg and the pallet bearing structure shape
At for the unloaded robot by entrance.
Preferably, the pallet bearing structure includes three tie-beams, and three tie-beams include being connected to the left side
The left tie-beam on the top of front leg strut and left back supporting leg, the right tie-beam for being connected to the right anterior branch leg and right rear support leg top and
It is connected to the rear tie-beam of the left back supporting leg and right rear support leg top, the pallet loading end includes at least the left tie-beam
Top surface, the right tie-beam top surface with it is described after tie-beam top surface in the above two.
Preferably, the left tie-beam, the right tie-beam and the rear tie-beam form door case type beam.
Preferably, the door case type beam is formed by monoblock plate cutting.
Preferably, the overhead baggage rack unit further includes being connected between the main supporting structure and the pallet bearing structure
Auxiliary support structure.
Preferably, the auxiliary support structure includes being connected between the main supporting structure and the pallet bearing structure
Bracing piece, the bracing piece, the main supporting structure and the pallet bearing structure form three-legged structure.
Preferably, the overhead baggage rack unit further includes interconnecting piece, and the interconnecting piece is for making more than two overhead baggage rack units
Combination forms combined goods shelf.
Preferably, the interconnecting piece includes connecting hole or clamping structure.
Preferably, the interconnecting piece includes the connecting hole being set on the main supporting structure, and the connecting hole is set to
1/3 height of the main supporting structure is nearby and/or near 2/3 height.
Second aspect of the present invention provides a kind of shelf, and the shelf include the goods described in any one of first aspect present invention
Frame unit.
Preferably, the shelf are combined goods shelf, and the combined goods shelf includes more than two overhead baggage rack units, the goods
The front side opening of frame unit is towards the outside of the combined goods shelf.
Preferably, the overhead baggage rack unit adjacent in the combined goods shelf is fixedly connected.
Preferably, more than two overhead baggage rack units of the combined goods shelf form row overhead baggage rack unit row, wherein a row
The direction of the front side opening of each overhead baggage rack unit of overhead baggage rack unit row is identical；Alternatively, row overhead baggage rack unit row include the
One overhead baggage rack unit group and the second overhead baggage rack unit group, the front side opening direction of each overhead baggage rack unit of the first overhead baggage rack unit group
First direction, the front side opening of each overhead baggage rack unit of the second overhead baggage rack unit group is towards opposite to the first direction
Second direction.
Preferably, more than two overhead baggage rack units of the combined goods shelf form two row overhead baggage rack units arranged side by side and arrange, and two
The front side opening for arranging each overhead baggage rack unit that first row overhead baggage rack unit arranges in the overhead baggage rack unit row is arranged towards first direction, two
Front side opening direction and the first direction for each overhead baggage rack unit that secondary series overhead baggage rack unit arranges in the overhead baggage rack unit row
Opposite second direction.
Third aspect present invention provides a kind of goods sorting system, including robot and shelf, and the shelf are the present invention
Shelf described in any one of second aspect, wherein the robot for carrying pallet can be from the shelf list of the shelf
The front side opening of member enters the hollow region of the overhead baggage rack unit, and the pallet is positioned over the goods in the hollow region
On the pallet loading end of frame unit；The unloaded robot can be removed in the hollow region from the pallet loading end
And the pallet is carried, and the robot for carrying the pallet can be driven out to the hollow area from the front side opening
Domain.
Fourth aspect present invention provides a kind of goods sorting method, is united using the goods sorting described in third aspect present invention
Cargo is sorted, the goods sorting method includes：The robot for carrying pallet is open from the front side of the overhead baggage rack unit
Into the hollow region of the overhead baggage rack unit, the pallet that the pallet is positioned over to the overhead baggage rack unit in the hollow region is held
On section；The unloaded robot takes on the pallet loading end in the hollow region by the pallet from the overhead baggage rack unit
Descend and be carried in the robot, carry the robot of pallet be driven out to from the front side opening of the overhead baggage rack unit it is described
Hollow region.
Include based on overhead baggage rack unit provided by the invention, shelf, goods sorting system and goods sorting method, overhead baggage rack unit
The open main supporting structure in hollow and front side and the open pallet bearing structure in the hollow and front side being supported on main supporting structure,
Pallet bearing structure includes being used to support the pallet loading end of pallet, and overhead baggage rack unit has hollow region and is connected to hollow region
Front side it is open, wherein front side is open, hollow region and pallet loading end are set as：The robot for carrying pallet can be from
Front side opening enters hollow region, and pallet is positioned on pallet loading end in hollow region；Unloaded robot can
Pallet is removed and carried from pallet loading end in hollow region, and the robot for carrying pallet can be sailed from front side opening
Go out hollow region.As it can be seen that the front side of overhead baggage rack unit is open, the setting of hollow region and pallet loading end makes robot carry support
When disk and cargo thereon, without being carried together with stock shelf, so as to improve the load rate of robot.
The present invention shelf, goods sorting system and goods sorting method all have the present invention overhead baggage rack unit have it is excellent
Point.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the dimensional structure diagram of the overhead baggage rack unit of the embodiment of the present invention.
Fig. 2 is the dimensional structure diagram of the shelf of the embodiment of the present invention.
Fig. 3 is the attachment structure schematic diagram of two overhead baggage rack units connected in left-right direction in shelf shown in Fig. 2.
Fig. 4 is the attachment structure schematic diagram of four overhead baggage rack units in shelf shown in Fig. 2.
Fig. 5 is the dimensional structure diagram of the goods sorting system of the embodiment of the present invention.
Fig. 6 illustrates for robot in the goods sorting method of the embodiment of the present invention to the flow of overhead baggage rack unit placement tray
Figure.
Fig. 7 takes out the flow signal of pallet for robot in the goods sorting method of the embodiment of the present invention from overhead baggage rack unit
Figure.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, is never used as to the present invention and its application or makes
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for ease of description, attached each portion shown in the drawings
The size divided not is to be drawn according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part for book.In shown here and discussion all examples, any occurrence should be construed as merely illustrative, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：Similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It need not be further discussed in figure.
For ease of description, herein can with use space relative terms, as " ... on ", " in ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (be rotated by 90 ° or be in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Below in the description of overhead baggage rack unit, one where so-called " preceding " front side for referring to overhead baggage rack unit is open
Side；" rear " is referred to " preceding " opposite side, the left and right directions that " left side " and " right side " is formed when referring to observing from front to back.
The upper and lower upper and lower referred to when overhead baggage rack unit is in running order to.Also, direction described herein and the direction of Fig. 1 one
It causes.
As shown in Figure 1, the overhead baggage rack unit 100 of the present embodiment includes the open main supporting structure 110 in hollow and front side and branch
It supports in the open pallet bearing structure in hollow and front side on main supporting structure 110 120.Pallet bearing structure 120 includes being used for
Support the pallet loading end of pallet.Overhead baggage rack unit 100 has hollow region 130 and the front side being connected to hollow region 130 open
140.Wherein, front side opening 140, hollow region 130 and pallet loading end are set as：The robot 300 for carrying pallet can
Enter hollow region 130 from front side opening 140, and pallet is positioned on pallet loading end in hollow region 130；Unloaded
Pallet can be removed from pallet loading end and be carried in robot 300 in hollow region 130, and carry the robot of pallet
300 can be driven out to hollow region 130 from front side opening 140.
As it can be seen that the setting of the front side opening 140 of overhead baggage rack unit, hollow region 130 and pallet loading end makes robot 300
When transportation tray and cargo thereon, without being carried together with stock shelf, so as to improve effective load of robot 300
Rate again.Wherein load rate refers to the ratio of commodity weight and airlift.
As shown in Figure 1, main supporting structure 110 includes spaced four supporting legs.Four supporting legs are left front including being set to
The left front supporting leg 111 of side, is set to the left back supporting leg 113 of left back and is set to the right side right anterior branch leg 112 for being set to right front
The right rear support leg 114 at rear.Pallet bearing structure 120 is separately connected with four supporting legs.Main supporting structure 110 is set as four branch
The form of leg, simple in structure, supporting & stablizing can mitigate the overall weight of overhead baggage rack unit 100, also in overhead baggage rack unit 100
Left and right and trailing flank provides aftermentioned entrance 150 and provides convenience condition.
Wherein, left front supporting leg 111, left back supporting leg 113 are formed logical for unloaded robot 300 with pallet bearing structure 120
The entrance 150 crossed；And/or right anterior branch leg 112, right rear support leg 114 are formed with pallet bearing structure 120 for unloaded machine
People 300 by entrance 150；And/or right rear support leg 114, left back supporting leg 113 are formed with pallet bearing structure 120 for zero load
Robot 300 by entrance 150.The setting allows the robot 300 of light condition more freely to pass in and out shelf
The hollow region 130 of unit 100 reduces unloaded robot 300 and passes in and out overhead baggage rack unit 100 or spent when replacing overhead baggage rack unit 100
Time, occupancy channel, so as to improve control flexibility, improve working efficiency.
As shown in Figure 1, pallet bearing structure 120 includes three tie-beams.Three tie-beams include being connected to left front supporting leg
111 and left back supporting leg 113 top left tie-beam 121, be connected to the right company on 114 top of right anterior branch leg 112 and right rear support leg
Connect beam 122 and the rear tie-beam 123 for being connected to 114 top of left back supporting leg 113 and right rear support leg.Pallet loading end includes at least a left side
In the top surface of tie-beam 121, the top surface of right tie-beam 122 and the top surface of rear tie-beam 123 the above two.In the present embodiment, pallet
Loading end include the top surface of left tie-beam 121, right tie-beam 122 top surface and rear tie-beam 123 top surface.
As shown in Figure 1, left tie-beam 121, right tie-beam 122 form door case type beam with rear tie-beam 123.The door case type beam
It is formed by monoblock plate cutting.The setting makes pallet loading end smooth, and pallet and cargo thereon can be stably placed at
On pallet loading end.In addition, processing is simple, it is easy to connect with main supporting structure 110.
Preferably, overhead baggage rack unit 100 further include be connected to it is auxiliary between main supporting structure 110 and pallet bearing structure 120
Help support construction.
As shown in Figure 1, in the present embodiment, auxiliary support structure includes being connected to main supporting structure 110 to tie with pallet carrying
Bracing piece 171 between structure 120, bracing piece 171, main supporting structure 110 and pallet bearing structure 120 form three-legged structure.It should
It is arranged so that the overall stability of overhead baggage rack unit is preferable, and overall weight is lighter.Specifically, every supporting leg and corresponding tie-beam
Between two bracing pieces 171 of different directions are all set.
In addition, overhead baggage rack unit 100 further includes interconnecting piece, interconnecting piece is for making more than two overhead baggage rack units combine to form combination
Shelf.Interconnecting piece may include connecting hole or clamping structure.
Certainly, interconnecting piece may not be necessary, and in order to realize the connection of different overhead baggage rack units, can also be arranged U-shaped
The external connection structures such as clamp, anchor ear link together different overhead baggage rack units.
In the present embodiment, interconnecting piece includes the connecting hole being set on main supporting structure 110.Setting connecting hole may be used
Pin or screw connection structure connect different overhead baggage rack units, and connection and dismounting are more convenient, and connector easily obtains.
As shown in Figure 1 to Figure 3, connecting hole is preferably provided near 1/3 height of main supporting structure 110 in the present embodiment
And/or 2/3 near height.Connecting hole, which is set to the position, can make the structure for the shelf being made of overhead baggage rack unit relatively stable.
As shown in Figure 1, in the present embodiment, connecting hole includes for being connected to two overhead baggage rack units 100 from left and right directions
The first connecting hole 161 together.The direction of first connecting hole 161 is arranged along the left and right directions of overhead baggage rack unit 100.Connecting hole also wraps
Include the second connecting hole 162 for the rear side of two overhead baggage rack units 100 to link together.The axis edge of second connecting hole 162
The front-rear direction of overhead baggage rack unit 100 is arranged.
Wherein, it is equipped with the first connecting hole 161 on four supporting legs.It is additionally provided on left back supporting leg 113 and right rear support leg 114
Second connecting hole 162.
To keep overhead baggage rack unit 100 firm, light, main supporting structure 110, pallet bearing structure 120 and defeated support construction is helped
Cold-rolled steel making can be all made of.
The overhead baggage rack unit 100 of the present embodiment is suitable for single layer and stores a pallet.
As shown in Figures 2 to 5, the present embodiment also provides a kind of shelf, and shelf include overhead baggage rack unit 100 above-mentioned.
In the present embodiment, shelf are combined goods shelf, and combined goods shelf includes more than two overhead baggage rack units 100, overhead baggage rack unit 100
Front side opening 140 towards the outside of combined goods shelf.
Preferably, overhead baggage rack unit 100 adjacent in combined goods shelf is fixedly connected.As shown in Figures 2 to 5, in the present embodiment,
Adjacent overhead baggage rack unit 100 is connected through a screw thread structure 200 and is fixedly connected.
In the present embodiment, screw connection structure 200 includes bolt and the nut with bolt cooperation.Bolt passes through to be connected accordingly
Kong Houyong nuts are connect to be attached.The length of bolt is unsuitable long, occurs to do with bolt when preventing robot 300 from passing through entrance
It relates to.To ensure bonding strength.The material of screw bolt and nut can select low-carbon alloy steel.
In other embodiments, adjacent overhead baggage rack unit 100 can also be fixedly connected on by pin, clamp, anchor ear etc.
Together.
In one embodiment, more than two overhead baggage rack units 100 of combined goods shelf can form row overhead baggage rack unit row.One
The direction of the front side opening 140 of each overhead baggage rack unit 100 of row overhead baggage rack unit row can be all identical.Alternatively, a row overhead baggage rack unit
Row include the first overhead baggage rack unit group and the second overhead baggage rack unit group, and the front side of each overhead baggage rack unit 100 of the first overhead baggage rack unit group is open
140 towards first direction, and 140 direction of front side opening of each overhead baggage rack unit 100 of the second overhead baggage rack unit group is opposite with first direction
Second direction.Wherein, each overhead baggage rack unit 100 of the first overhead baggage rack unit group can be all adjacent, can also be with the second shelf list
Each overhead baggage rack unit 100 of tuple is arranged in a crossed manner.The setting makes the setting of combined goods shelf and the control more spirit of robot 300
It is living.
In the present embodiment, as illustrated in fig. 2 or fig. 5, more than two overhead baggage rack units 100 of combined goods shelf, which are formed, to be arranged side by side
Two row overhead baggage rack units arrange, open 140 courts in front side for each overhead baggage rack unit 100 that first row overhead baggage rack unit arranges in two row overhead baggage rack units row
To first direction, two row overhead baggage rack units row in secondary series overhead baggage rack unit arrange each overhead baggage rack unit 100 front side opening 140 towards with
The opposite second direction of first direction.The setting can more fully utilize storage space；Meanwhile two row overhead baggage rack unit row adopt
With back-to-back combining form, the structure of combined goods shelf is made more to stablize.
In the present embodiment preferably, first row overhead baggage rack unit row are symmetrical arranged with secondary series overhead baggage rack unit row.Such as Fig. 2 and figure
Shown in 5, each overhead baggage rack unit 100 is vertical during each overhead baggage rack unit 100 and secondary series overhead baggage rack unit arrange in first row overhead baggage rack unit row
In alignment setting correspondingly on the direction of row.
The present embodiment also provides a kind of goods sorting system, including robot 300 and preceding shelf.Wherein, support is carried
The robot 300 of disk can enter the hollow region of overhead baggage rack unit 100 from the front side of the overhead baggage rack unit 100 of shelf opening 140
130, and pallet is positioned on the pallet loading end of overhead baggage rack unit 100 in hollow region 130.Unloaded robot 300 can
Pallet is removed and carried from pallet loading end in hollow region 130, and the robot 300 for carrying pallet can be from front side
Opening 140 is driven out to hollow region 130.Robot 300 is ground moving transfer robot.
In the goods sorting system of the present invention, the overhead baggage rack unit 100 of shelf uses frame-like structures as minimum unit, by
Four supporting legs are as supporting point.The rear side of overhead baggage rack unit 100 reinforces entire overhead baggage rack unit 100 and shelf by rear tie-beam 123
Stability.The top surface of the top surface of left tie-beam 121, the top surface of right tie-beam 122 and rear tie-beam 123, which is formed, has three goods
The pallet loading end of frame supporting part, can be such that pallet is steadily carried on pallet loading end.The front side of overhead baggage rack unit 100 is open
140 can facilitate the robot 300 of carrying pallet to drive directly into hollow region 130.Positioned at the left and right side of overhead baggage rack unit 100
Facilitate the traveling transposition of unloaded robot 300 with the entrance 150 of trailing flank.On four supporting legs of overhead baggage rack unit 100, set respectively
The connecting hole of other overhead baggage rack units 100 can be connected by setting, and 100 groups of multiple overhead baggage rack units can be reached by being connected through a screw thread structure 200
At stable structure, marshalling when shelf.
In the goods sorting system of the present invention, shelf need not fix on the ground, may be implemented in plane warehouse
Easily layout.And the 300 direct transportation tray of robot in ground moving can be made without by stock shelf and specially
Pick and place the other equipments such as tray apparatus.Since robot 300 can direct transportation tray so that robot 300 and piler,
The linking link of the equipment such as pallet shuttle vehicle is more unobstructed.
The present embodiment also provides a kind of goods sorting method.The goods sorting method utilizes goods sorting above-mentioned system sorting
Cargo.Goods sorting method includes：The robot 300 for carrying pallet enters shelf from the front side of overhead baggage rack unit 100 opening 140
Pallet is positioned on the pallet loading end of overhead baggage rack unit 100 by the hollow region 130 of unit 100 in hollow region 130；It is unloaded
Pallet loading end of the robot 300 in hollow region 130 by pallet from overhead baggage rack unit 100 on remove and be carried on robot
On 300, the robot 300 for carrying pallet is driven out to hollow region 130 from the front side opening 140 of overhead baggage rack unit 100.
As shown in fig. 6, in the present embodiment, pallet is positioned on the pallet loading end of overhead baggage rack unit 100 by robot 300
Detailed process is as follows：
Carry pallet robot 300 be moved to the front side opening 140 of overhead baggage rack unit 100 before, towards overhead baggage rack unit
100, hollow region 130 is driven into preparation；
300 lifting tray of robot is extremely more than the height of pallet loading end；
Robot 300 carries the hollow region 130 that pallet drives into overhead baggage rack unit 100 from front side opening 140, stops afterwards in place
Only；
Robot 300 puts down pallet in hollow region 140, and pallet is placed on pallet loading end, and 300 state of robot becomes
For zero load, and adjusts posture preparation and be driven out to；
Unloaded robot 300 is driven out to hollow region from a certain entrance 150 of front side opening 140 or overhead baggage rack unit 100
130。
As shown in fig. 7, in the present embodiment, robot 300 takes out pallet from the pallet loading end of overhead baggage rack unit 100
Detailed process is as follows：
Unloaded robot 300 is from the front side of overhead baggage rack unit 100 opening 140 or a certain entrance 150 of overhead baggage rack unit 100
Hollow region 130 is driven into, is stopped afterwards in place；
Robot 300 jacks pallet in hollow region 140, and pallet is made to be higher than the height of pallet loading end.
Robot 300 adjusts posture, and the front side opening 140 towards overhead baggage rack unit 100 prepares to be driven out to.
The robot 300 for carrying pallet is driven out to hollow region 130 from the front side opening 140 of overhead baggage rack unit 100.
Robot 300 turns down pallet height, adjusts posture, pallet is moved to destination.
From the above description, it can be seen that the above embodiment of the present invention at least one has the following technical effects：
1, robot need not jack stock shelf and move together, but can directly jack pallet, to improve machine
The load rate of device people.
2, entire operation process reduces the management of stock shelf, effectively cuts operating costs.
3, robot can directly jack pallet and be carried, more convenient with plugging into for other equipment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to the specific implementation mode of the present invention or equivalent replacement is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (18)
1. a kind of overhead baggage rack unit (100), which is characterized in that the overhead baggage rack unit (100) includes hollow and the open main branch in front side
The open pallet bearing structure (120) of support structure (110) and the hollow and front side being supported on the main supporting structure (110),
The pallet bearing structure (120) includes the pallet loading end for being used to support pallet, and the overhead baggage rack unit (100) has hollow area
Domain (130) and the front side that is connected to the hollow region (130) are open (140), wherein the front side open (140), it is described in
Empty region (130) and the pallet loading end are set as：
The hollow region (130) can be entered from the front side open (140) by carrying the robot (300) of pallet, and
The pallet is positioned on the pallet loading end in the hollow region (130), the robot (300) is ground moving
Transfer robot；
The unloaded robot (300) can be removed and carry from the pallet loading end in the hollow region (130)
The pallet, and the robot (300) for carrying the pallet can be driven out to from the front side open (140) it is described in
Empty region (130).
2. overhead baggage rack unit (100) according to claim 1, which is characterized in that the main supporting structure (110) includes interval
Four supporting legs being arranged, four supporting legs include the left front supporting leg (111) for being set to left front, be set to the right side of right front before
Supporting leg (112), the left back supporting leg (113) for being set to left back and the right rear support leg (114) for being set to right back, the pallet are held
Structure (120) is carried to be separately connected with four supporting legs.
3. overhead baggage rack unit (100) according to claim 2, which is characterized in that
The left front supporting leg (111), the left back supporting leg (113) and the pallet bearing structure (120) are formed for unloaded institute
State robot (300) by entrance (150)；And/or
The right anterior branch leg (112), the right rear support leg (114) and the pallet bearing structure (120) are formed for unloaded institute
State robot (300) by entrance (150)；And/or
The right rear support leg (114), the left back supporting leg (113) and the pallet bearing structure (120) are formed for unloaded institute
State robot (300) by entrance (150).
4. overhead baggage rack unit (100) according to claim 2, which is characterized in that the pallet bearing structure (120) includes three
Root tie-beam, three tie-beams include the left company on the top for being connected to the left front supporting leg (111) and left back supporting leg (113)
Beam (121) is connect, the right anterior branch leg (112) is connected to and the right tie-beam (122) on right rear support leg (114) top and is connected to institute
The rear tie-beam (123) of left back supporting leg (113) and right rear support leg (114) top is stated, the pallet loading end includes at least described
The top surface of left tie-beam (121), the right tie-beam (122) top surface with it is described after tie-beam (123) top surface in the above two.
5. overhead baggage rack unit (100) according to claim 4, which is characterized in that the left tie-beam (121), the right company
It connects beam (122) and forms door case type beam with the rear tie-beam (123).
6. overhead baggage rack unit (100) according to claim 5, which is characterized in that the door case type beam is by monoblock plate cutting
It is formed.
7. overhead baggage rack unit (100) according to claim 1, which is characterized in that the overhead baggage rack unit (100) further includes connection
Auxiliary support structure between the main supporting structure (110) and the pallet bearing structure (120).
8. overhead baggage rack unit (100) according to claim 7, which is characterized in that the auxiliary support structure includes being connected to
Bracing piece (171) between the main supporting structure (110) and the pallet bearing structure (120), the bracing piece (171),
The main supporting structure (110) forms three-legged structure with the pallet bearing structure (120).
9. overhead baggage rack unit (100) according to claim 1, which is characterized in that the overhead baggage rack unit (100) further includes connection
Portion, the interconnecting piece is for making more than two overhead baggage rack units combine to form combined goods shelf.
10. overhead baggage rack unit (100) according to claim 9, which is characterized in that the interconnecting piece includes connecting hole or clamping
Structure.
11. overhead baggage rack unit (100) according to claim 10, which is characterized in that the interconnecting piece is described including being set to
Connecting hole on main supporting structure (110), the connecting hole be set to the main supporting structure (110) 1/3 height nearby and/
Or 2/3 near height.
12. a kind of shelf, which is characterized in that the shelf include shelf list according to any one of claim 1 to 11
First (100).
13. shelf according to claim 12, which is characterized in that the shelf are combined goods shelf, the combined goods shelf packet
Include more than two overhead baggage rack units (100), the front side open (140) of the overhead baggage rack unit (100) is towards the combined goods shelf
Outside.
14. shelf according to claim 13, which is characterized in that the adjacent overhead baggage rack unit in the combined goods shelf
(100) it is fixedly connected.
15. shelf according to claim 13, which is characterized in that more than two overhead baggage rack units of the combined goods shelf
(100) row overhead baggage rack unit row are formed, wherein
The direction of the front side open (140) of each overhead baggage rack unit (100) of the one row overhead baggage rack unit row is identical；Alternatively,
One row overhead baggage rack unit row include the first overhead baggage rack unit group and the second overhead baggage rack unit group, the first overhead baggage rack unit group
The front side of each overhead baggage rack unit (100) open (140) is towards first direction, each shelf of the second overhead baggage rack unit group
The front side of unit (100) open (140) is towards second direction opposite to the first direction.
16. shelf according to claim 13, which is characterized in that more than two overhead baggage rack units of the combined goods shelf
(100) two row overhead baggage rack units row arranged side by side, each institute that first row overhead baggage rack unit arranges during the two row overhead baggage rack units arrange are formed
The front side open (140) of overhead baggage rack unit (100) is stated towards first direction, two arrange secondary series overhead baggage rack unit in the overhead baggage rack units row
The front side open (140) of each overhead baggage rack unit (100) of row is towards second direction opposite to the first direction.
17. a kind of goods sorting system, including robot (300) and shelf, which is characterized in that the shelf are to be wanted according to right
Seek the shelf described in any one of 12 to 16, wherein
Carry pallet the robot (300) can from the front side of the overhead baggage rack unit (100) of the shelf open (140) into
Enter the hollow region (130) of the overhead baggage rack unit (100), and in the hollow region (130) is positioned over the pallet described
On the pallet loading end of overhead baggage rack unit (100)；
The unloaded robot (300) can be removed and carry from the pallet loading end in the hollow region (130)
The pallet, and the robot (300) for carrying the pallet can be driven out to from the front side open (140) it is described in
Empty region (130).
18. a kind of goods sorting method, which is characterized in that utilize the goods sorting system sorting cargo described in claim 17, institute
Stating goods sorting method includes：
The robot (300) for carrying pallet enters the shelf from the front side of the overhead baggage rack unit (100) open (140)
The pallet is positioned over the overhead baggage rack unit (100) by the hollow region (130) of unit (100) in the hollow region (130)
Pallet loading end on；
The unloaded robot (300) is in the hollow region (130) by the pallet from the support of the overhead baggage rack unit (100)
It removes and is carried in the robot (300) on disk loading end, carry the robot (300) of pallet from the shelf
The front side of unit (100) open (140) is driven out to the hollow region (130).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610818531.0A CN106395218B (en) | 2016-09-13 | 2016-09-13 | Overhead baggage rack unit, shelf, goods sorting system and goods sorting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610818531.0A CN106395218B (en) | 2016-09-13 | 2016-09-13 | Overhead baggage rack unit, shelf, goods sorting system and goods sorting method |
Publications (2)
| Publication Number | Publication Date |
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| CN106395218A CN106395218A (en) | 2017-02-15 |
| CN106395218B true CN106395218B (en) | 2018-11-13 |
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| CN201610818531.0A Active CN106395218B (en) | 2016-09-13 | 2016-09-13 | Overhead baggage rack unit, shelf, goods sorting system and goods sorting method |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020030063A1 (en) | 2018-08-10 | 2020-02-13 | 北京极智嘉科技有限公司 | Dense storage-based article moving method and device, storage medium and dense storage system |
| CN109279249B (en) * | 2018-10-17 | 2020-06-05 | 北京极智嘉科技有限公司 | Goods intensive storage method, device, system and storage medium |
| CN110143393B (en) * | 2019-06-17 | 2024-02-06 | 隆链智能科技（上海）有限公司 | Stereoscopic warehouse picking system based on four-way shuttle and control method thereof |
| CN113753510B (en) * | 2021-09-06 | 2023-09-15 | 红云红河烟草(集团)有限责任公司 | Efficient full-automatic loading and unloading system with small occupied area |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001225906A (en) * | 2000-02-10 | 2001-08-21 | Sumitomo Heavy Ind Ltd | Automated storage and retrieval warehouse |
| WO2008038393A1 (en) * | 2006-09-28 | 2008-04-03 | Hirata Corporation | Automatic warehouse |
| CN201647542U (en) * | 2010-01-28 | 2010-11-24 | 浙江吉利汽车有限公司 | Lower storage transfer device of automobile trunk shell plate |
| CN203266614U (en) * | 2013-04-16 | 2013-11-06 | 中国重汽集团成都王牌商用车有限公司 | Stacked goods shelf with guiding and limiting device |
| CN104973370A (en) * | 2015-06-18 | 2015-10-14 | 芜湖扬宇机电技术开发有限公司 | Storage shelf |
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