CN108584264B - Two-way mutual storage device and system - Google Patents
Two-way mutual storage device and system Download PDFInfo
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- CN108584264B CN108584264B CN201810413063.8A CN201810413063A CN108584264B CN 108584264 B CN108584264 B CN 108584264B CN 201810413063 A CN201810413063 A CN 201810413063A CN 108584264 B CN108584264 B CN 108584264B
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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
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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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The invention relates to the technical field of warehousing structures, and particularly discloses a bidirectional interaction warehousing device, which comprises: the system comprises a cargo bin, a cargo taking robot, a vertical cargo channel, a horizontal shuttle car and a picking platform, wherein the cargo bin is divided into a plurality of sub cargo bins by brackets along the transverse direction and the longitudinal direction; the goods taking robot is positioned on a bracket at the top of the goods warehouse; the vertical cargo channel is arranged in the plurality of sub cargo bins; the horizontal cargo channel is communicated with the vertical cargo channel; the horizontal shuttle car is positioned in the horizontal cargo way, and the horizontal shuttle car can shuttle in the horizontal cargo way to transport a container; the picking platform is located at one end of the horizontal goods channel and connected with the horizontal goods channel, and the picking platform can pick a plurality of containers to obtain needed goods. The invention also discloses a bidirectional interactive warehousing system. The bidirectional interactive warehousing device provided by the invention improves the work efficiency of division of labor.
Description
Technical Field
The invention relates to the technical field of warehousing structures, in particular to a bidirectional interactive warehousing device and a bidirectional interactive warehousing system comprising the bidirectional interactive warehousing device.
Background
With the development of the logistics industry, higher requirements are put forward on storage structures and storage equipment. For goods with different weights and sizes, a targeted structural design is needed so as to obtain better space utilization rate and work efficiency. Meanwhile, for the transformation of an old warehouse, due to the influence of buildings, the existing common vertical warehouse is difficult to adapt, so that a design with site universality is urgently needed.
The vertical warehousing system which is common at present basically comprises goods shelves, containers, a stacker, a conveyor and other equipment. Goods are taken and placed by the stacker from the side face of the goods shelf, so that a running channel of the stacker needs to be reserved between every two groups of goods shelves, and a large amount of space is wasted.
From the aspect of site adaptability, one vertical warehouse is high in mechanical investment cost, and in order to ensure sufficient cost performance, the vertical warehouse is generally required to be built to be high, so that restriction requirements are imposed on use places. Secondly, the high-rise structure needs the foundation to be firm, so this kind of goods shelves are usually permanent or semi-permanent building, once construction, it is difficult to remove the reconstruction. Thirdly, to the old warehouse that has the support column in the place, traditional stereoscopic warehouse can't bypass the stand.
In view of the above problems, a new solution is proposed in the prior art, in which containers are stacked one by one, and the top of the container is taken and placed by several robots (similar to a stacking operation). The scheme well solves the problem of site adaptability and simultaneously obtains extremely high space utilization rate. However, the control requirement of the prior art for the goods-taking robot is too high, and particularly in a large warehouse, the difficulty is exponentially increased along with the number of the robots. Meanwhile, each robot is designed to be the same, and although the advantage of improving the flexibility of the system can be obtained, the problems that each robot is a full-function player, the cost is too high, and the single body efficiency is low are brought.
Therefore, how to improve the work efficiency of division of labor and reduce the control difficulty becomes a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The present invention is directed to solve at least one of the technical problems of the prior art, and provides a bidirectional interactive warehousing device and a bidirectional interactive warehousing system including the bidirectional interactive warehousing device, so as to solve the problems of the prior art.
As a first aspect of the present invention, there is provided a bidirectional interactive stocker, wherein the bidirectional interactive stocker comprises: a cargo cabin, a cargo taking robot, a vertical cargo channel, a horizontal shuttle car and a picking platform,
the cargo compartment is divided by brackets along the transverse direction and the longitudinal direction to form a plurality of sub cargo compartments, and a plurality of containers can be stacked in each sub cargo compartment;
the goods taking robot is positioned on the bracket at the top of the goods warehouse and can do plane motion on the bracket at the top of the goods warehouse;
the vertical cargo channel is arranged in the plurality of sub cargo bins;
the horizontal cargo channel is communicated with the vertical cargo channel;
the horizontal shuttle car is positioned in the horizontal cargo way, and the horizontal shuttle car can shuttle in the horizontal cargo way to transport a container;
the picking platform is located at one end of the horizontal goods channel and connected with the horizontal goods channel, and the picking platform can pick a plurality of containers to obtain needed goods.
Preferably, the pick robot includes a plurality of actuators, each actuator being capable of picking up a container.
Preferably, horizontal goods way includes the horizontal goods way that many intervals set up, and every horizontal goods way all communicates with a plurality of vertical goods ways of setting on this horizontal goods way.
Preferably, a plurality of vertical cargo ways on each horizontal cargo way are arranged at intervals.
Preferably, the horizontal lane is located at the bottom of the warehouse.
As a second aspect of the present invention, a bidirectional interactive warehousing system is provided, wherein the bidirectional interactive warehousing system includes a control device and the bidirectional interactive warehousing device, the control device is connected to the pick-up robot in the bidirectional interactive warehousing device, and the pick-up robot can transmit the picked-up container data to the control device and can perform a pick-up action according to the feedback of the control device.
According to the bidirectional interactive storage device provided by the invention, the horizontal goods channel and the vertical goods channel which are communicated are arranged in the goods warehouse, the goods box is picked up and placed into the vertical goods channel through the goods taking robot, enters the horizontal shuttle car positioned in the horizontal goods channel through the vertical goods channel, and shuttles and conveys the goods box to the picking platform through the horizontal shuttle car in the horizontal goods channel to finish picking, so that the frequent staggered movement of a large number of goods taking robots is avoided, the system efficiency is improved, and the control difficulty is greatly reduced. In addition, the horizontal shuttle is a mature product in the logistics industry, is low in price, reliable in quality and high in efficiency, and due to the introduction of the horizontal shuttle, the workload of the system is greatly reduced in principle, and the work originally completed by the goods taking robot is greatly replaced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a bidirectional interactive stocker provided in the present invention.
Fig. 2 is a schematic diagram illustrating the division of the work area of the pickup robot according to the present invention.
Fig. 3 is a schematic diagram of the division of the working area of the horizontal shuttle provided by the invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As a first aspect of the present invention, there is provided a bidirectional interactive stocker, wherein, as shown in fig. 1 and 2, the bidirectional interactive stocker 10 includes: a cargo cabin 1, a cargo taking robot 3, a vertical cargo channel 2, a horizontal cargo channel 4, a horizontal shuttle car 5 and a picking platform 6,
the cargo compartment 1 is divided by brackets along the transverse direction and the longitudinal direction to form a plurality of sub cargo compartments, and a plurality of containers can be stacked in each sub cargo compartment;
the goods taking robot 3 is positioned on a bracket at the top of the goods warehouse 1, and the goods taking robot 3 can do plane motion on the bracket at the top of the goods warehouse 1;
the vertical cargo channel 2 is arranged in a plurality of sub cargo bins;
the horizontal cargo channel 4 is communicated with the vertical cargo channel 2;
the horizontal shuttle cars 5 are located within the horizontal cargo way 4, the horizontal shuttle cars 5 being shuttled within the horizontal cargo way 4 for transporting cargo containers;
the picking platform 6 is located at one end of the horizontal cargo channel 4 and connected with the horizontal cargo channel 4, and the picking platform 6 can pick a plurality of containers to obtain required goods.
According to the bidirectional interactive storage device provided by the invention, the horizontal goods channel and the vertical goods channel which are communicated are arranged in the goods warehouse, the goods box is picked up and placed into the vertical goods channel through the goods taking robot, enters the horizontal shuttle car positioned in the horizontal goods channel through the vertical goods channel, and shuttles and conveys the goods box to the picking platform through the horizontal shuttle car in the horizontal goods channel to finish picking, so that the frequent staggered movement of a large number of goods taking robots is avoided, the system efficiency is improved, and the control difficulty is greatly reduced. In addition, the horizontal shuttle is a mature product in the logistics industry, is low in price, reliable in quality and high in efficiency, and due to the introduction of the horizontal shuttle, the workload of the system is greatly reduced in principle, and the work originally completed by the goods taking robot is greatly replaced.
In the horizontal plane, a direction parallel to the horizontal lane 4 is referred to as a longitudinal direction, and a direction perpendicular to the horizontal lane 4 is referred to as a lateral direction.
In particular, in order to increase the picking efficiency of the pick robot 3, the pick robot 3 comprises a plurality of actuators, each of which is capable of picking one container.
Specifically, horizontal goods way 4 includes the horizontal goods way that many intervals set up, and every horizontal goods way all communicates with a plurality of vertical goods ways that set up on this horizontal goods way.
Preferably, a plurality of vertical lanes 2 on each horizontal lane are spaced apart.
Preferably, the horizontal lane 4 is located at the bottom of the warehouse 1.
It will be appreciated that when the horizontal lane 4 is at the bottom of the warehouse 1, the picking platform 6 is also at the bottom of the warehouse 1 at this time because the picking platform 6 is at one end of the horizontal lane 4 and is connected to the horizontal lane 4.
The working principle of the bidirectional interactive warehousing device provided by the invention is described in detail with reference to fig. 2 and 3.
The bidirectional interactive storage device provided by the invention comprises a storage bin 1 consisting of a plurality of containers, wherein the top of the storage bin 1 is paved with a bracket which has the same size as the containers and is arranged along the transverse direction and the longitudinal direction, and a goods taking robot 3 performs two transverse and longitudinal plane motions on the bracket at the top of the storage bin 1. After the goods taking robot 3 moves to the position above the goods box to be taken, the goods box is taken out by some execution mechanism and is transmitted to the horizontal shuttle car 5 through the vertical goods channel 2, and for the goods boxes on the middle layer and the bottom layer, the goods boxes above the goods box can be taken out one by one and placed aside until the goods boxes are taken out and formulated. After the horizontal shuttle car 5 obtains the containers, the containers are transferred to the picking platform 6 to finish picking work, and then the containers are sent to the lower part of the proper vertical goods channel to wait for the goods picking robot to take back the containers.
In order to ensure system efficiency and reliability, the working areas of the preferred robots may overlap and may change from time to time, but in principle the pick-up robot 3 works in sub-areas. The goods taking robot 3 does not need to send the goods to the edge of the goods warehouse close to the picking platform, but only needs to send the goods box to the nearby vertical goods channel, the control device allocates the horizontal shuttle 5 to be matched with the horizontal shuttle 5, and the horizontal shuttle 5 is responsible for bidirectional goods conveying.
It should be noted that the working area/responsible area shown in fig. 2 and 3 is not completely fixed, and can be adjusted by the controller in real time according to specific working requirements, which is intended to illustrate the working principle.
As a second aspect of the present invention, a bidirectional interactive warehousing system is provided, wherein the bidirectional interactive warehousing system includes a control device and the bidirectional interactive warehousing device, the control device is connected to the pick-up robot in the bidirectional interactive warehousing device, and the pick-up robot can transmit the picked-up container data to the control device and can perform a pick-up action according to the feedback of the control device.
According to the bidirectional interactive warehousing system provided by the invention, the horizontal goods channel and the vertical goods channel which are communicated are arranged in the goods warehouse, the goods box is picked up and placed into the vertical goods channel through the goods taking robot, enters the horizontal shuttle car positioned in the horizontal goods channel through the vertical goods channel, and shuttles and conveys the goods box to the picking platform through the horizontal shuttle car in the horizontal goods channel to finish picking, so that frequent staggered movement of a large number of goods taking robots is avoided, the efficiency of the system is improved, and the control difficulty is greatly reduced. In addition, the horizontal shuttle is a mature product in the logistics industry, is low in price, reliable in quality and high in efficiency, and due to the introduction of the horizontal shuttle, the workload of the system is greatly reduced in principle, and the work originally completed by the goods taking robot is greatly replaced.
Specifically, the control device is connected with a horizontal shuttle vehicle in the bidirectional interaction storage device, and the control device can control the horizontal shuttle vehicle to shuttle bidirectionally in a horizontal cargo channel.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (6)
1. A bi-directional interactive warehousing device, comprising: a cargo cabin, a cargo taking robot, a vertical cargo channel, a horizontal shuttle car and a picking platform,
the cargo compartment is divided by brackets along the transverse direction and the longitudinal direction to form a plurality of sub cargo compartments, and a plurality of containers can be stacked in each sub cargo compartment;
the goods taking robot is positioned on the bracket at the top of the goods warehouse and can do plane motion on the bracket at the top of the goods warehouse;
the vertical cargo channel is arranged in the plurality of sub cargo bins;
the horizontal cargo channel is communicated with the vertical cargo channel;
the horizontal shuttle car is positioned in the horizontal cargo way, and the horizontal shuttle car can shuttle in the horizontal cargo way to transport a container;
the picking platform is positioned at one end of the horizontal cargo channel and is connected with the horizontal cargo channel, and the picking platform can pick a plurality of containers to obtain required goods;
wherein the pick robot includes a plurality of actuators, each actuator capable of picking up a container.
2. The bidirectional interactive warehousing device of claim 1, wherein the horizontal lanes comprise a plurality of spaced horizontal lanes, each horizontal lane being in communication with a plurality of vertical lanes disposed on the horizontal lane.
3. The bi-directional interactive warehousing device of claim 2, wherein the plurality of vertical lanes on each horizontal lane are spaced apart.
4. The bi-directional interactive warehouse device as claimed in any one of claims 1 to 3, wherein the horizontal lane is located at a floor of the warehouse.
5. A bidirectional interactive warehousing system, characterized in that the bidirectional interactive warehousing system comprises a control device and the bidirectional interactive warehousing device as claimed in any one of claims 1 to 4, the control device is connected with a pick-up robot in the bidirectional interactive warehousing device, and the pick-up robot can transmit picked-up container data to the control device and can perform a pick-up action according to feedback of the control device.
6. The interactive warehousing system of claim 5, wherein the control device is connected to a horizontal shuttle in the bidirectional interactive warehousing device, the control device capable of controlling the bidirectional shuttling of the horizontal shuttle in a horizontal cargo way.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810413063.8A CN108584264B (en) | 2018-05-03 | 2018-05-03 | Two-way mutual storage device and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810413063.8A CN108584264B (en) | 2018-05-03 | 2018-05-03 | Two-way mutual storage device and system |
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| CN108584264A CN108584264A (en) | 2018-09-28 |
| CN108584264B true CN108584264B (en) | 2020-05-08 |
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Citations (6)
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| CN102180326A (en) * | 2011-04-06 | 2011-09-14 | 深圳市当代通信技术有限公司 | Internet of things (IOT) intelligent concentrated storage system based on double-track-shuttling stacking machine |
| CN203294644U (en) * | 2013-05-17 | 2013-11-20 | 昆明欧迈科技有限公司 | Intensive bidirectional shuttle vehicle automatic storage and retrieval warehouse logistics device |
| WO2015193278A1 (en) * | 2014-06-19 | 2015-12-23 | Jakob Hatteland Logistics As | Robot for transporting storage bins |
| WO2017150005A1 (en) * | 2016-03-03 | 2017-09-08 | 村田機械株式会社 | Conveyance system |
| WO2017220651A1 (en) * | 2016-06-21 | 2017-12-28 | Ocado Innovation Limited | Robotic cargo handling system and method |
| CN107720066A (en) * | 2017-09-30 | 2018-02-23 | 山东兰剑物流科技股份有限公司 | Cellular system and hopper storage radio frequency |
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2018
- 2018-05-03 CN CN201810413063.8A patent/CN108584264B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102180326A (en) * | 2011-04-06 | 2011-09-14 | 深圳市当代通信技术有限公司 | Internet of things (IOT) intelligent concentrated storage system based on double-track-shuttling stacking machine |
| CN203294644U (en) * | 2013-05-17 | 2013-11-20 | 昆明欧迈科技有限公司 | Intensive bidirectional shuttle vehicle automatic storage and retrieval warehouse logistics device |
| WO2015193278A1 (en) * | 2014-06-19 | 2015-12-23 | Jakob Hatteland Logistics As | Robot for transporting storage bins |
| CN106660703A (en) * | 2014-06-19 | 2017-05-10 | 杰克布海特兰德物流有限公司 | Robot for transporting storage bins |
| WO2017150005A1 (en) * | 2016-03-03 | 2017-09-08 | 村田機械株式会社 | Conveyance system |
| WO2017220651A1 (en) * | 2016-06-21 | 2017-12-28 | Ocado Innovation Limited | Robotic cargo handling system and method |
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| CN108584264A (en) | 2018-09-28 |
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