CN111924394B - Batch goods taking and placing system and batch goods taking and placing method - Google Patents
Batch goods taking and placing system and batch goods taking and placing method Download PDFInfo
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- CN111924394B CN111924394B CN202010801505.3A CN202010801505A CN111924394B CN 111924394 B CN111924394 B CN 111924394B CN 202010801505 A CN202010801505 A CN 202010801505A CN 111924394 B CN111924394 B CN 111924394B
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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
- B65G1/137—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
- B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
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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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- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/64—Switching conveyors
- B65G47/641—Switching conveyors by a linear displacement of the switching conveyor
- B65G47/643—Switching conveyors by a linear displacement of the switching conveyor in a vertical plane
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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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
- B65G65/00—Loading or unloading
Abstract
The invention discloses a batch goods taking and placing system and a batch goods taking and placing method. The mobile robot is provided with a plurality of goods placing positions arranged in a vertical linear array; the pick-and-place device is provided with a connecting device, a loading cache area and an unloading cache area; the connecting device comprises pick-and-place units with the number equal to that of the goods placing positions; the goods stored in the goods loading buffer area can be transferred to the connecting device in batches; the cargos unloaded by the connecting device can be transferred to the unloading buffer area in batches; the controller can control the mobile robot and the pick-and-place device to operate. According to the invention, by arranging the pick-and-place device with the connecting device, each pick-and-place unit of the connecting device can load the cargos to each cargo placing position on the mobile robot in batches or unload the cargos on all the cargo placing positions together, so that the loading and unloading time is greatly saved, and the operation efficiency of the mobile robot is improved.
Description
Technical Field
The invention relates to the technical field of storage, in particular to a batch goods taking and placing system and a batch goods taking and placing method.
Background
For the mobile robot shown in the attached figure 1, which is provided with a plurality of goods placing positions, all the goods placing positions are arranged in a linear array in the vertical direction, the robot can transport goods in batches, so that the reciprocating times are reduced, and the operation efficiency is improved. In the prior art, the robot needs to stop at the loading or unloading position when unloading and loading goods, and loads the goods into or takes out the goods from each loading position in sequence by means of its own elevator or an external elevator, that is, how many loading positions there are, how many times of loading or unloading processes need to be executed, and this loading and unloading manner seriously slows down the operation efficiency of the robot, so it is necessary to optimize the loading and unloading processes of the robot, and improve the loading and unloading efficiency.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides a batch goods taking and placing system with high loading and unloading efficiency and a batch goods taking and placing method.
The technical scheme is as follows: in order to achieve the above object, the present invention provides a batch picking and placing system for goods, comprising:
a mobile robot having a plurality of cargo spaces arranged in a vertical linear array;
a pick-and-place device provided with a connection device, a loading buffer area and an unloading buffer area; the connecting device comprises pick-and-place units with the number equal to that of the goods placing positions; the goods stored in the goods loading buffer area can be transferred to the connecting device in batches; the cargos unloaded by the connecting device can be transferred to the unloading buffer area in batches; and
and the controller can control the mobile robot and the pick-and-place device to operate.
Furthermore, the pick-and-place device further comprises a loading elevator and a unloading elevator which are respectively butted with the loading cache region and the unloading cache region.
Further, the taking and placing device further comprises a transition area, and the loading buffer area and the unloading buffer area establish a circulation relationship with the connection device through the transition area.
Furthermore, the loading buffer area and the unloading buffer area are both strip-shaped with a plurality of buffer positions and are arranged in parallel, one of the two buffer areas is in collinear butt joint with the loading buffer area, and a pushing mechanism is arranged between the other buffer area and the loading buffer area.
Furthermore, the mobile robot is also provided with a lifting and unloading mechanism, and the lifting and unloading mechanism can carry out loading and unloading operations on each goods placing position.
Further, the pick-and-place unit, each of the buffer positions of the upper stage of the loading buffer area, and each of the buffer positions of the lower stage of the unloading buffer area are provided with a conveying device.
The method for picking and placing the goods in batches is applied to the controller of the system for picking and placing the goods in batches, and comprises the following steps:
controlling the mobile robot to move to a preset position, and enabling each goods placing position on the mobile robot to be in butt joint with each goods placing and taking unit;
controlling the pick-and-place device to operate so as to transfer the goods from the goods placing positions on the mobile robot to the connecting device in a goods unloading process or transfer the goods from the connecting device to the goods placing positions on the mobile robot in a goods picking process;
controlling the pick-and-place device to operate so as to transfer the goods on the connecting device to the unloading buffer area in the unloading process or transfer the goods on the loading buffer area to the connecting device in the picking process.
Furthermore, the batch cargo taking and placing system further comprises a loading elevator and a unloading elevator which are respectively butted with the loading cache region and the unloading cache region; the method further comprises the following steps:
controlling the loading elevator to sequentially load each layer of cache positions of the loading cache region;
and controlling the unloading elevator to sequentially unload the buffer positions on each layer of the unloading elevator.
Furthermore, the mobile robot is also provided with a lifting and unloading mechanism, and the lifting and unloading mechanism can carry out loading and unloading operations on each goods placing position; the method further comprises the following steps:
controlling the loading and unloading mechanism to load the goods in the goods placing positions one by one;
and controlling the loading and unloading mechanism to unload the cargos on the cargo placing positions one by one.
Further, the taking and placing device further comprises a transition area; the transferring the goods on the docking device to the unloading buffer area in the unloading process comprises:
controlling the pick-and-place device to operate, so that the goods on the connecting device are transferred to the transition area firstly and then transferred to the unloading buffer area from the transition area;
the transferring the goods on the goods loading buffer area to the connecting device in the goods taking process comprises the following steps:
and controlling the pick-and-place device to operate, so that the goods on the goods loading cache region are transferred to the transition region firstly and then transferred to the connecting device from the transition region.
Has the advantages that: according to the batch goods taking and placing system and the batch goods taking and placing method, the taking and placing device with the connecting device is arranged, and each taking and placing unit of the connecting device can load the goods to each goods placing position on the mobile robot in batches or can unload the goods on all the goods placing positions together, so that the time for loading and unloading is greatly saved, and the operation efficiency of the mobile robot is improved.
Drawings
Fig. 1 is a structural view of a mobile robot;
FIG. 2 is a top view structural diagram of a batch cargo handling system;
FIG. 3 is a side view of the batch pick-and-place system;
FIG. 4 is a schematic flow chart of an unloading process in the method for batch picking and placing of goods;
fig. 5 is a schematic flow chart of a goods picking process in the method for picking and placing goods in batches.
In the figure: 1-a mobile robot; 11-a goods placing position; 12-a handling mechanism; 13-a movable chassis; 2-a pick-and-place device; 21-a docking device; 211-pick-and-place unit; 22-a loading buffer area; 23-a dump buffer; 24-a loading elevator; 25-a discharge elevator; 26-a transition zone; 27-a pushing mechanism; and 3, a controller.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The batch picking and placing system for goods as shown in fig. 2 and fig. 3 comprises a mobile robot 1, a picking and placing device 2 and a controller 3.
The mobile robot 1 is provided with a movable chassis 13, the movable chassis 13 is provided with a plurality of goods placing positions 11 arranged in a vertical linear array, and each goods placing position 11 can be loaded with goods; the mobile robot 1 further includes a loading/unloading mechanism 12 that is movable up and down with respect to the movable chassis 13, and the loading/unloading mechanism 12 is operable to load/unload the load to/from each of the loading/unloading positions 11. In actual use, the loading and unloading mechanism 12 of the mobile robot 1 may load the loads sequentially on the loading positions 11 by taking the loads from the racks, or may unload the loads on the loading positions 11 sequentially and return the loads to the racks.
The pick-and-place device 2 includes a docking device 21, a loading buffer area 22, and a unloading buffer area 23; the docking device 21 includes pick-and-place units 211 equal in number to the number of the loading locations 11, the loading buffer area 22 and the unloading buffer area 23 each have buffer locations equal in number to the number of the loading locations 11, and each layer includes at least one buffer location, in this embodiment, each layer of the loading buffer area 22 includes two buffer locations, and each layer of the unloading buffer area 23 includes three buffer locations; during the loading process, the goods stored in the loading buffer area 22 can be transferred to the docking device 21 in bulk; during the unloading process, the goods unloaded by the docking device 21 can be transferred in bulk to the unloading buffer zone 23.
In the embodiment, all the pick-and-place units 211 can synchronously perform pick-and-place operations, and all the pick-and-place units 211 can synchronously lift and lower to achieve operations of unloading and loading in batches.
In practical use, the pick-and-place device 2 further includes a loading elevator 24 and a unloading elevator 25, which are respectively connected to the loading buffer area 22 and the unloading buffer area 23, in order to facilitate the above process. The loading elevator 24 may interface with the buffer locations at each level of the loading buffer area 22 for loading operations on the buffer locations at each level, and the unloading elevator 25 may interface with the buffer locations at each level of the unloading buffer area 23 for unloading operations on the buffer locations at each level.
The controller 3 may control the mobile robot 1 and the pick-and-place device 2 to operate. It should be noted that the controller 3 is a general name, in an embodiment, the controller 3 may be a general control system, the general control system schedules each mobile robot 1 and the pick-and-place device 2, and all actions performed by the mobile robot 1 and the pick-and-place device 2 are controlled by the general control system; in another embodiment, the controller 3 may include a control center and a plurality of sub-control units, the controller 3 is a general name of all the control centers and the sub-control units, each of the mobile robot 1 and the pick-and-place device 2 is provided with one sub-control unit, each sub-control unit is in communication connection with the control center, the control center is responsible for assigning tasks to each sub-control unit, and each sub-control unit is responsible for controlling the main body in which the sub-control unit is located.
The goods batch taking and placing system is applied to a sorting scene of taking and placing goods on a goods shelf, when orders need to be processed, the taking and placing device 2 on the mobile robot 1 can sequentially obtain corresponding goods (the goods are generally goods frames, and a plurality of goods are filled in the goods frames) from the goods shelf and sequentially place the goods in each goods placing position 11, then the mobile robot 1 drives all the goods to uniformly move to the taking and placing device 2 for uniform unloading, and the goods unloaded by the taking and placing device 2 are sequentially placed on a sorting line through the unloading lifter 25. The sorted goods frames move to the position of the goods loading elevator 24 through the sorting line, the goods loading elevator 24 can sequentially load the goods frames to each layer of buffer storage positions of the goods loading buffer area 22, when goods are required to be loaded to the mobile robot 1, the goods are firstly transferred to the connecting device 21 by the goods loading buffer area 22, and then the goods on each layer of the taking and placing unit 211 are loaded to each layer of the goods placement positions 11 of the mobile robot 1 in batches by the connecting device 21. After the mobile robot 1 receives the goods, the mobile robot moves to the goods shelf with the goods and puts the goods back to the original position.
Preferably, the pick-and-place device 2 further comprises a transition region 26, and the loading buffer region 22 and the unloading buffer region 23 are both in flow communication with the docking device 21 through the transition region 26. The loading buffer area 22 and the unloading buffer area 23 are both strip-shaped with a plurality of buffer positions, and are arranged in parallel, one of the two buffer areas is in collinear butt joint with the loading buffer area 22, a pushing mechanism 27 is arranged between the other buffer area and the loading buffer area 22, and the pushing direction of the pushing mechanism 27 is perpendicular to the flow direction of the goods on the loading buffer area 22 and the unloading buffer area 23. In addition, in order to facilitate the flow of the goods, the pick-and-place unit 211, the buffer positions of each layer of the loading buffer area 22, the buffer positions of each layer of the unloading buffer area 23, and the transition positions on the transition area 26 are all provided with conveying devices.
Based on the batch picking and placing system for goods, the invention further provides a batch picking and placing method for goods, which is applied to the batch picking and placing system for goods, the method is implemented by the controller 3, the method includes the following steps S301 to S303, and it should be noted that the sequence numbers of the following steps do not represent the actual implementation sequence of the steps, and some steps may be implemented by replacing positions or synchronously.
Step S301, controlling the mobile robot 1 to move to a preset position, and enabling each goods placing position 11 on the mobile robot to be in butt joint with each picking and placing unit 211;
step S302, controlling the pick-and-place device 2 to operate so as to transfer the goods from the respective goods placement positions 11 on the mobile robot 1 to the docking device 21 in a unloading process, or transfer the goods from the docking device 21 to the respective goods placement positions 11 on the mobile robot 1 in a picking process;
step S303, controlling the pick-and-place device 2 to operate, so as to transfer the goods on the connecting device 21 to the unloading buffer area 23 in the unloading process, or transfer the goods on the loading buffer area 22 to the connecting device 21 in the picking process.
In order to make the process of the pickup process or the unloading process clearer, the pickup process and the unloading process are described separately below.
As shown in FIG. 4, the unloading process comprises the following steps A1-A3:
step A1, controlling the mobile robot 1 to move to a preset position, and enabling each goods placing position 11 on the mobile robot to be in butt joint with each taking and placing unit 211;
in this step, the mobile robot 1 is provided with a goods placing position on which goods are placed.
Step a2, controlling the pick-and-place device 2 to operate, so that the goods are transferred to the docking device 21 from each goods placing position 11 on the mobile robot 1;
in this step, the docking device 21 is in a lowered state in an initial state, and the whole body thereof is raised to a raised state by a set distance (50 mm in this embodiment) so that all the goods are separated from the goods placing position thereof and are held by the pick-and-place unit 211.
Step a3, controlling the pick-and-place device 2 to operate, so that all the goods on the docking device 21 are transferred to the discharge buffer area 23 synchronously.
In this step, the cargo on the docking device 21 is transferred to the transition area 26 first, and then transferred from the transition area 26 to the unloading buffer area 23; this is achieved by controlling the pick-and-place units 211, the transition locations in the transition zone 26 and the set of transfer rollers in the buffer locations in the discharge buffer zone 23 to operate together.
As shown in FIG. 5, the pick process includes the following steps B1-B3:
step B1, controlling the mobile robot 1 to move to a preset position, and enabling each goods placing position 11 on the mobile robot to be in butt joint with each taking and placing unit 211;
in this step, the mobile robot 1 has a cargo space in an empty state.
Step B2, controlling the pick-and-place device 2 to operate, so that the goods on the group of buffer positions on the goods loading buffer area 22 are transferred to the pick-and-place units 211 of the docking device 21;
in this step, the connecting device 21 is in a lifted state, the cargo on the upper cargo buffer area 22 is transferred to the buffer position closest to the transition area 26, then is pushed to the transition area 26 by the pushing mechanism 27, and then is transferred to the connecting device 21 from the transition area 26.
Step B3, controlling the pick-and-place device 2 to operate, so that the goods are transferred from the docking device 21 to each goods placement position 11 on the mobile robot 1;
in this step, the docking device 21 is lowered by a set distance (50 mm in this embodiment) so that all the goods are separated from the pick-and-place unit 211 where the goods are located and are held by the goods-placing locations.
In the actual implementation process, the general unloading process and the goods taking process are implemented in an intersecting manner, that is, the steps a1, a2, A3, B2 and B3 are sequentially executed, so that after the mobile robot 1 takes the goods from the goods shelf, the goods are carried to the pick-and-place device 2 for unloading, then a batch of sorted goods frames can be received and returned to the goods shelf, and the goods are placed back to the goods shelf, and thus, no process of the mobile robot 1 is an empty process, the operation time of the mobile robot 1 can be effectively utilized, and the goods transfer efficiency is improved.
Preferably, the method further comprises the following steps S401 and S402:
step S401, controlling the loading elevator 24 to sequentially load each layer of cache positions of the loading cache region 22;
in step S402, the unloading elevator 25 is controlled to sequentially unload the buffer positions of each floor of the unloading elevator 25.
The steps S401 and S402 can be performed synchronously.
Because the mobile robot 1 is also provided with a lifting and unloading mechanism 12, the lifting and unloading mechanism 12 can carry out loading and unloading operations on each goods placing position 11; the method further comprises the following steps S501 and S502:
step S501, controlling the loading and unloading mechanism 12 to load the goods in the goods placing positions 11 one by one;
this step is applied to the process of the mobile robot 1 taking goods from the shelves and loading the goods to the respective goods placing positions 11.
In step S502, the loading and unloading mechanism 12 is controlled to unload the loads on the loading positions 11 one by one.
The step is applied to the process that the mobile robot 1 returns the sorted goods frame to the goods shelf.
According to the batch goods taking and placing system and the batch goods taking and placing method, the taking and placing device with the connecting device is arranged, and each taking and placing unit of the connecting device can load the goods to each goods placing position on the mobile robot in batches or unload the goods on all the goods placing positions together, so that the time for loading and unloading is greatly saved, and the operation efficiency of the mobile robot is improved.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. Goods are get in batches and are put system, it includes:
a mobile robot having a plurality of cargo spaces arranged in a vertical linear array;
a pick-and-place device provided with a connection device, a loading buffer area and an unloading buffer area; the connecting device comprises pick-and-place units with the number equal to that of the goods placing positions; the goods stored in the goods loading buffer area can be transferred to the connecting device in batches; the cargos unloaded by the connecting device can be transferred to the unloading buffer area in batches; and
a controller which can control the mobile robot and the pick-and-place device to operate;
the pick-and-place device also comprises a loading elevator and a unloading elevator which are respectively butted with the loading cache region and the unloading cache region;
the loading buffer area and the unloading buffer area are both strip-shaped with a plurality of buffer positions and are arranged in parallel,
it is characterized in that the preparation method is characterized in that,
the picking and placing device further comprises a transition area, and the loading buffer area and the unloading buffer area are communicated with the connection device through the transition area;
one of the loading buffer area and the unloading buffer area is in collinear butt joint with the loading buffer area, and a pushing mechanism is arranged between the other one of the loading buffer area and the unloading buffer area.
2. The system as claimed in claim 1, wherein the mobile robot further comprises a lifting mechanism, and the lifting mechanism can perform loading and unloading operations for each of the loading positions.
3. The system of claim 1, wherein the pick-and-place unit, the loading buffer, and the unloading buffer each have a conveyor thereon.
4. The method for picking and placing the batch of goods is applied to the controller of the system for picking and placing the batch of goods according to claim 1, and is characterized by comprising the following steps:
controlling the mobile robot to move to a preset position, and enabling each goods placing position on the mobile robot to be in butt joint with each goods placing and taking unit;
controlling the pick-and-place device to operate so as to transfer the goods from the goods placing positions on the mobile robot to the connecting device in a goods unloading process or transfer the goods from the connecting device to the goods placing positions on the mobile robot in a goods picking process;
controlling the pick-and-place device to operate so as to transfer the goods on the connecting device to the unloading buffer area in the unloading process or transfer the goods on the loading buffer area to the connecting device in the picking process.
5. The method as claimed in claim 4, wherein the system further comprises a loading elevator and a unloading elevator, which are respectively connected to the loading buffer and the unloading buffer; the method further comprises the following steps:
controlling the loading elevator to sequentially load each layer of cache positions of the loading cache region;
and controlling the unloading elevator to sequentially unload the buffer positions of each layer of the unloading elevator.
6. The method as claimed in claim 4, wherein the mobile robot further comprises a lifting mechanism, and the lifting mechanism can load and unload the goods at each of the loading positions; the method further comprises the following steps:
controlling the loading and unloading mechanism to load the goods in the goods placing positions one by one;
and controlling the loading and unloading mechanism to unload the cargos on the cargo placing positions one by one.
7. The method for batch taking and placing of goods according to claim 4, wherein the taking and placing device further comprises a transition region; the transferring the goods on the docking device to the unloading buffer area in the unloading process comprises:
controlling the pick-and-place device to operate, so that the goods on the connecting device are transferred to the transition area firstly and then transferred to the unloading buffer area from the transition area;
the transferring the goods on the goods loading buffer area to the connecting device in the goods taking process comprises the following steps:
and controlling the pick-and-place device to operate, so that the goods on the goods loading cache region are transferred to the transition region firstly and then transferred to the connecting device from the transition region.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010801505.3A CN111924394B (en) | 2020-08-11 | 2020-08-11 | Batch goods taking and placing system and batch goods taking and placing method |
| PCT/CN2021/084268 WO2022033043A1 (en) | 2020-08-11 | 2021-03-31 | Cargo batch pick-and-place system and cargo batch pick-and-place method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010801505.3A CN111924394B (en) | 2020-08-11 | 2020-08-11 | Batch goods taking and placing system and batch goods taking and placing method |
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| Publication Number | Publication Date |
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| CN111924394A CN111924394A (en) | 2020-11-13 |
| CN111924394B true CN111924394B (en) | 2022-05-13 |
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| CN202010801505.3A Active CN111924394B (en) | 2020-08-11 | 2020-08-11 | Batch goods taking and placing system and batch goods taking and placing method |
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| WO (1) | WO2022033043A1 (en) |
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| CN111924394B (en) * | 2020-08-11 | 2022-05-13 | 苏州牧星智能科技有限公司 | Batch goods taking and placing system and batch goods taking and placing method |
| CN113525483A (en) * | 2021-06-04 | 2021-10-22 | 邓小飞 | Wisdom commodity circulation transfer equipment |
| CN113233221A (en) * | 2021-06-15 | 2021-08-10 | 珠海格力智能装备有限公司 | Loading and unloading connection equipment, cargo loading and unloading system and cargo loading and unloading method |
| FR3138809A1 (en) * | 2022-08-09 | 2024-02-16 | Ifollow | SYSTEM FOR PREPARING ORDERS FOR PRODUCTS STORED IN A MULTI-LEVEL WAREHOUSE AND PICKED BY A PLURALITY OF AUTONOMOUS MOBILE ROBOTS |
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| CN111924394A (en) | 2020-11-13 |
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