CN113998364A

CN113998364A - Goods shelf device, material box transferring system and material box transferring method

Info

Publication number: CN113998364A
Application number: CN202111401660.7A
Authority: CN
Inventors: 曹董锋; 陈泽乔; 刘伟荫; 艾鑫
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-11-19
Filing date: 2021-11-19
Publication date: 2022-02-01

Abstract

The application provides a goods shelves device, material case transfer system and material case transfer method, the goods shelves device that this application provided, including control assembly, goods shelves, support frame and at least one delivery unit, have a plurality of buffer memory positions that are used for depositing the material case on the goods shelves, have the delivery position on the support frame, the delivery unit moves on the delivery position, control assembly is used for controlling the delivery unit and carries the material case that treats processing to the buffer memory position, perhaps control the delivery unit and carry the material case to the target location after handling on the buffer memory position. The application provides a goods shelf device can improve the efficiency of the whole operation of leaving warehouse of goods.

Description

Goods shelf device, material box transferring system and material box transferring method

Technical Field

The application relates to the field of warehouse logistics, in particular to a goods shelf device, a material box transferring system and a material box transferring method.

Background

Warehousing is an important link in the logistics process. The robot can replace manual goods handling, and plays an important role in intelligent warehouse logistics.

The warehousing system may include a robot that places goods of the shelves in the material boxes and carries the material boxes with the goods to the manual workstation, and a seeding wall. The operating personnel process the material box according to the order, deliver the goods in the material box to the material box on the seeding wall, push the material box which is processed from the seeding wall, and supplement a new empty material box to the vacancy of the seeding wall.

However, the work of completing the processing of the goods in the order by the operator, feeding out the processed material box, and replenishing the new material box results in inefficient work of discharging the entire goods out of the warehouse.

Disclosure of Invention

The application provides a goods shelf device, a material box transferring system and a material box transferring method, which can improve the efficiency of the whole goods warehouse-out operation.

In a first aspect, the application provides a shelf device, including control assembly goods shelves, support frame and at least one delivery unit, have a plurality of buffer memory positions that are used for depositing the material case on the goods shelves, have the delivery position on the support frame, the delivery unit moves on the delivery position, control assembly is used for controlling the delivery unit to carry the material case that treats processing to the buffer memory position, perhaps controls the delivery unit to carry the material case after processing to the target position on the buffer memory position.

In a possible implementation manner, the shelf device further comprises a detection assembly, the detection assembly is electrically connected with the control assembly, and the detection assembly is used for detecting whether the material box is arranged on each cache position or not.

In a possible implementation manner, in the shelf device provided by the present application, the number of the carrying positions is multiple, and the carrying positions and the cache positions are set in a one-to-one correspondence manner.

In a possible implementation manner, the shelf device provided by the application has the advantages that the support frame is provided with a plurality of support layers, each support layer is provided with a plurality of carrying positions, and the support layers are arranged at intervals along the vertical direction;

the carrying unit comprises at least one tray trolley, the tray trolley is used for carrying the material box, the tray trolley moves among the carrying positions of the same supporting layer, and the tray trolley is transferred among different supporting layers.

In a possible implementation manner, the present application provides that the carrying unit further comprises at least one elevator for driving the pallet cars to shift between different supporting layers.

In one possible implementation, the application provides a shelf device, and the lifting machine is located on the outer side of the support frame.

In a possible implementation manner, in the shelf device provided by the application, the elevator is located in the support frame, and the support frame is internally provided with a channel for the elevator to lift.

In a possible implementation manner, the goods shelf device provided by the application has the advantages that the tray trolley comprises a tray trolley body and a carrying device connected to the tray trolley body, and the carrying device is used for carrying the material box to the tray trolley body or carrying the material box on the tray trolley body out of the tray trolley body.

In one possible implementation manner, in the shelf device provided by the present application, the carrying device is at least one of a robot, a fork assembly, or a suction cup assembly.

In a possible implementation mode, the application provides a shelf device, support frame include along the support body of vertical direction setting and along a plurality of crossbeams of horizontal direction setting, have two crossbeams on the same height along vertical direction, be located the same supporting layer of crossbeam formation of same height, tray dolly and two crossbeam roll connection of same height.

In a possible implementation manner, the shelf device provided by the application has the advantages that the cross beam is provided with the sliding groove, the extending direction of the sliding groove is consistent with the extending direction of the cross beam, and the notch of the sliding groove faces the tray trolley;

the tray trolley further comprises wheels and a driving piece, the number of the wheels is at least two, the two wheels are respectively connected to two opposite sides of the tray trolley body, the wheels are inserted into sliding grooves opposite to the wheels, and the driving piece drives the wheels to roll along the extending direction of the sliding grooves.

In a possible implementation manner, in the shelf device provided by the application, the number of the hoists is two, and the two hoists are respectively located at two ends of the supporting layer.

In a possible implementation manner, the shelf device further comprises a first conveying line and/or a second conveying line, the first conveying line and the second conveying line are adjacent to the supporting frame, the first conveying line is used for conveying the material box to be processed to the carrying unit, and the second conveying line is used for receiving the processed material box conveyed by the carrying unit from the buffering position.

In a possible implementation manner, the shelf device provided by the application has the advantages that the detection assemblies are located on the shelf, the number of the detection assemblies is multiple, and the detection assemblies are arranged in one-to-one correspondence with the cache positions to detect whether the cache positions corresponding to the detection assemblies are provided with the material boxes or not.

In a possible implementation manner, in the shelf device provided by the present application, the detection component is at least one of a photoelectric door detection component, a pressure sensor, a visual sensor, a laser sensor, an acoustic wave sensor, or a code scanning component.

In one possible implementation, the shelf device provided by the application has a camera on the shelf.

In a second aspect, the present application further provides a material box transfer system, comprising a third conveyor line and at least one shelf device of the first aspect, wherein the third conveyor line is used for conveying material boxes with goods.

In a possible implementation, this application provides a material case transfer system, the quantity of goods shelves device is at least two, and each goods shelves device sets up along the transmission direction interval of third transfer chain, and two liang of a set of workstation that forms of goods shelves device, the goods shelves of the goods shelves device in the same workstation are adjacent.

In a third aspect, the present application further provides a method for transferring a material tank, including:

acquiring the position of a cache position above a goods shelf;

and controlling the carrying unit to move to a carrying position of the supporting frame corresponding to the empty cache position, and controlling the carrying unit to carry the material box to be processed on the carrying unit to the empty cache position.

In a possible implementation manner, in the method for transferring the material box, the carrying unit comprises at least one tray trolley, and the tray trolley comprises a tray trolley body and a carrying device connected to the tray trolley body;

control the carrying unit to move to the carrying position with the support frame that empty buffer memory position corresponds to control the carrying unit and carry the material case that treats on the carrying unit to empty buffer memory position, include:

controlling the pallet trolley body to move between the carrying positions on the support frame so as to enable the pallet trolley body to move to the carrying position corresponding to the empty cache position;

controlling a carrying device to carry the material box to be processed to an empty cache position; when the initial position of the tray trolley body is different from the height of the material box to be processed, the tray trolley body is controlled to move to the position which is consistent with the height of the material box to be processed.

In a possible implementation manner, in the method for transferring the material tank provided by the application, the carrying unit comprises at least one lifting machine;

the control tray dolly body shifts to and includes with the highly uniform of pending material case:

and controlling the elevator to move the tray trolley body to be consistent with the height of the material box to be processed.

In a possible implementation manner, the method for transferring a material tank, provided by the application, after obtaining a position of an empty buffer location on a shelf, and before controlling a carrying unit to move to a carrying location of a support frame corresponding to the empty buffer location, includes:

controlling a first conveying line to convey a material box to be processed to a preset position, wherein the preset position is adjacent to a first preset carrying position on a supporting frame, and the height of the first preset carrying position is consistent with that of the first conveying line;

controlling the pallet trolley body to move between carrying positions on the support frame so as to enable the pallet trolley body to move to a first preset carrying position;

controlling the carrying device to carry the material box to be processed on the first conveying line to the tray trolley body; when the initial position of the tray trolley body is different from the height of the first preset carrying position, the lifting machine is controlled to move the tray trolley body to be consistent with the height of the first preset carrying position.

In a possible implementation manner, the method for transferring a material tank, which is provided by the present application, acquires a position of a cache bit above a shelf, and includes:

controlling a detection assembly to detect a cache position above a shelf;

the location information of the empty cache bits is transmitted to the management system.

In a possible implementation manner, the method for transferring material tanks, provided by the application, for controlling the first conveying line to convey the material tank to be processed to the first preset carrying position of the support frame, includes:

detecting whether a material box to be processed is arranged on a first preset carrying position or not;

and if the first preset carrying position does not have the material box to be processed, transmitting the position information of the empty cache position to the management system.

In a fourth aspect, the present application further provides a method for transferring a material tank, including:

acquiring the position of a cache position corresponding to a processed material box on a goods shelf;

controlling the carrying unit to move to a carrying position of the supporting frame corresponding to the processed material box, and carrying the processed material box on the cache position to the carrying unit;

and controlling the carrying unit to move to the target position.

control carrying unit moves to the carrying position with the support frame that the material case after handling corresponds to on carrying unit with the material case after the processing on the buffer memory position, include:

controlling the pallet trolley body to move between the carrying positions on the support frame so as to enable the pallet trolley body to move to the carrying position corresponding to the cache position;

controlling the carrying device to carry the processed material box to the tray trolley body; when the initial position of the tray trolley body is different from the height of the processed material box, the tray trolley body is controlled to move to the position which is consistent with the height of the processed material box.

the control lifting machine moves tray dolly body to and the highly uniform of the material case after handling include:

and controlling the elevator to move the tray trolley body to be consistent with the height of the processed material box.

In one possible implementation manner, the method for transferring a material tank, which controls a carrying unit to move to a target position, includes:

controlling the pallet trolley body to move between the carrying positions on the support frame so as to enable the pallet trolley body to move to a second preset carrying position on the support frame; the lifting machine is controlled to move the tray trolley body to be consistent with the height of the first preset carrying position when the initial position of the tray trolley body is different from the height of the second preset carrying position;

and controlling the carrying device to carry the material box processed on the tray trolley body to the second conveying line.

In a fifth aspect, the present application further provides a method for transferring a material tank, which employs the material tank transferring system provided in the second aspect,

the material box transferring method comprises the following steps:

controlling the carrying unit to move to the target position;

acquiring the position of a cache position above a goods shelf;

and controlling the carrying unit to move to a carrying position of the supporting frame corresponding to the empty cache position, and controlling the carrying unit to carry the material box operated on the carrying unit to the empty cache position.

In a sixth aspect, the present application further provides a control apparatus, including:

at least one processor; and

a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to cause the control apparatus to perform the method of bin diversion as provided in the third to fifth aspects above.

In a seventh aspect, the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the processor executes the computer-executable instructions, the method for transferring the material tank provided in the third aspect to the fifth aspect is implemented.

In an eighth aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the method of bin diversion as provided in the third to fifth aspects above.

The application provides a goods shelves device, material case transfer system and material case transfer method, goods shelves device has a plurality of buffering positions through setting up goods shelves, support frame and at least one delivery unit on the goods shelves, has the delivery position on the support frame, and one or more delivery unit move on the support frame, and each delivery unit can move on the delivery position, has saved the space that material case transfer system occupy from this. In the process that the carrying unit moves between the carrying positions, the material boxes processed on the cache positions corresponding to the carrying positions can be conveyed to the target position, or the material boxes to be processed can be moved to the empty cache positions opposite to the carrying positions through the carrying positions. Therefore, the operation of sending out the material box which is selected and supplementing the new material box is completed through the plurality of carrying units, and the operation personnel only need to select the goods, so that the efficiency of the whole goods warehouse-out operation is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a shelf device according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a support frame and a carrying unit in a shelf device according to an embodiment of the present application;

FIG. 3 is a left side view of FIG. 2;

FIG. 4 is a top view of FIG. 2;

fig. 5 is a schematic structural diagram of a material tank transfer system provided in the second embodiment of the present application;

fig. 6 is a first flowchart of a method for transferring a material tank according to a third embodiment of the present application;

fig. 7 is a second flowchart of a method for transferring a material tank according to a third embodiment of the present application;

fig. 8 is a flowchart of a method for transferring a material tank according to a fourth embodiment of the present disclosure;

fig. 9 is a flowchart of a method for transferring a material tank according to a fifth embodiment of the present application;

fig. 10 is a schematic structural diagram of a control device according to a sixth embodiment of the present application.

Description of reference numerals:

100-a shelf device; 110-a shelf; 111-cache bits; 120-a support frame; 121-carry position; 121 a-a first preset carry position; 121 b-a second preset carry position; 122-a support layer; 123-frame body; 1231-support column; 1232-connecting column; 124-a cross beam; 1241-divider; 1242-chute; 130-a carrier unit; 131-a hoisting machine; 132-a pallet cart; 1321-pallet car body; 1322-a wheel; 140-a first conveyor line; 150-a second transfer line;

200-a third conveyor line;

300-a processor;

400-memory.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In the description of the present application, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., such that a first connection, a second connection, an indirect connection via an intermediary, a connection between two elements, or an interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientation or positional relationships illustrated in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application.

The terms "first," "second," and "third" (if any) in the description and claims of this application and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.

Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or display that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or display.

The sorting system of storage can include robot and seeding wall, and one side of seeding wall has manual work station, has the grid of placing the material case of a plurality of mutual isolations on the seeding wall. In a sorting system for warehouses, a robot places goods on a rack in a material box and carries the material box with the goods to a manual workstation. And the operating personnel at the manual workstation pick the goods from the material boxes according to the order and deliver the goods in the material boxes into the material boxes in the corresponding grids on the sowing wall. After the operator finishes the treatment of the material box, the operator pushes the treated material box out of the grid opening on the shelf device to the transmission line, and then the new empty material box is supplemented to the vacant position of the grid opening of the sowing wall. However, in the above process, the worker finishes picking and delivering the goods in the order, and the worker supplements the new goods box, which results in low efficiency of the whole goods delivery operation.

Based on this, this application embodiment provides a goods shelves device, can improve the efficiency of the whole operation of leaving warehouse of goods.

Example one

Fig. 1 is a schematic structural diagram of a shelf device according to an embodiment of the present application. Referring to fig. 1, a shelf device 100 according to an embodiment of the present invention includes a control assembly (not shown in the drawings), a shelf 110, a support frame 120, and at least one carrying unit 130, where the shelf 110 has a plurality of buffer locations 111 for storing material tanks, the support frame 120 has a carrying location 121, the carrying unit 130 moves on the carrying location 121, and the control assembly is configured to control the carrying unit 130 to carry a material tank to be processed to an empty buffer location 111, or control the carrying unit 130 to carry a material tank processed at the buffer location 111 to a target location.

The shelf device 100 provided in the present application can be applied to work stations having different functions. For example, the shelf device 100 may be used as a seeding wall or a sorting buffer rack during delivery. The shelf device 100 may be used as a temporary storage rack for placing source boxes when warehousing, replenishment, returning or tallying, a workstation places target boxes, and the items in the source boxes are collated into the target boxes, as opposed to being delivered. For convenience of description, the embodiment of the present application is illustrated with the shelf device 100 as a sowing wall.

Specifically, the control component may be a control component that receives a control instruction from the shelf device 100, or may be a control module that is integrally controlled by a server and a workstation computer in a management system of the warehouse.

The shelf 110 may include a shelf body and a plurality of partitions located on the shelf body, the partitions divide the shelf body into a plurality of buffer locations 111 for storing the material box, and the buffer locations 111 are arranged at intervals in a row and column manner. Each buffering position 111 is provided with a material box inlet and a material box outlet, the material box inlet and the material box outlet are arranged oppositely, the material box enters the buffering position 111 through the material box inlet, and the material box is carried out of the goods shelf 110 through the material box outlet. The material box to be processed can be placed on the cache position 111, and the operator delivers the goods into the material box to be processed on the cache position 111 to form the processed material box.

The support frame 120 has a carrying position 121, and the carrying position 121 may be a general name of positions on the support frame 120 corresponding to all the buffer positions 111. For convenience of corresponding to the buffer bits 111, the positions of the supporting frame 120 corresponding to the buffer bits 111 may also be described in segments, at this time, the number of the carrying bits 121 may be multiple, the carrying bits 121 and the buffer bits 111 correspond to each other one by one, that is, one buffer bit 111 corresponds to one carrying bit 121, and the carrying unit 130 may move on the carrying bits 121. The control component controls the carrying unit 130 to carry the material box to be processed to the buffer position 111 of the empty material box or carry the material box processed on the buffer position 111 to the target position in the process of moving between the carrying positions 121.

It should be noted that the target position may be any position designated on the support frame 120. When there are multiple carrying positions 121, the target position may be any one of the carrying positions 121 on the supporting rack 120, the carrying unit 130 may move the material box to be processed to another carrying position 121 on the supporting rack 120 through the carrying position 121, or the carrying unit 130 moves the material box processed on the buffering position 111 to the carrying position 121 through another carrying position 121.

According to the shelf device 100 provided by the embodiment of the application, the shelf 110, the support frame 120 and the at least one carrying unit 130 are arranged, the shelf 110 is provided with the plurality of buffer positions 111, the support frame 120 is provided with the carrying positions 121, one or more carrying units 130 move on the support frame 120, and each carrying unit 130 can move on the carrying positions 121, so that the space occupied by the material box transferring system is saved. While the carrying unit 130 moves on the carrying positions 121, the material boxes processed on the buffer positions 111 corresponding to the carrying positions 121 may be carried to a target position, or the material boxes to be processed may be moved to an empty buffer position 111 opposite to the carrying positions 121 through each carrying position 121. Therefore, the operation of sending out the material box which is selected and supplementing the new material box is completed through the plurality of carrying units 130, and the operator only needs to select the goods, so that the efficiency of the whole goods warehouse-out operation is improved.

In addition, the shelf device 100 further includes a detection component (not shown in the figure), the detection component is electrically connected to the control component, and the detection component is used for detecting whether the buffer positions 111 have material tanks.

Fig. 2 is a schematic structural diagram of a support frame and a carrying unit in a shelf device according to an embodiment of the present application; FIG. 3 is a left side view of FIG. 2; fig. 4 is a top view of fig. 2. Referring to fig. 1 to 4, in the shelf device 100 according to the embodiment of the present disclosure, the supporting frame 120 has a plurality of supporting layers 122, each supporting layer 122 has a plurality of carrying positions 121, and the supporting layers 122 are spaced apart in a vertical direction. The carrying unit 130 comprises at least one tray trolley 132, the tray trolley 132 is used for carrying material boxes, the tray trolley 132 moves among the carrying positions 121 of the same supporting layer 122, and the tray trolley 132 is transferred among different supporting layers 122.

Specifically, the carrying unit 130 further includes at least one elevator 131, and the elevator 131 is used for driving the pallet cart 132 to move between different support layers 122.

Specifically, the carrying sites 121 on each layer of the supporting layer 122 are arranged at intervals, and the carrying sites 121 between different layers may be arranged oppositely in the vertical direction. Because the tray trolley 132 moves on the carrying positions 121, the carrying positions 121 correspond to the buffer positions 111 one by one, and meanwhile, the distance between the carrying positions 121 can be larger than or equal to the distance between the buffer positions 111, so that the tray trolley 132 is convenient to carry the material box.

In the shelf device 100 provided by the embodiment of the application, the pallet trolley 132 moves between the carrying positions 121 on the same floor, and the pallet trolley 132 is moved to different supporting layers 122 by the elevator 131, so that the pallet trolley 132 moves between all the carrying positions 121. Wherein, tray dolly 132 can set up two at least, and through setting up two at least tray dollies 132, each tray dolly 132 can carry the operation of carrying the material case after handling or carrying the material case of treating respectively, from this, has improved work efficiency.

The elevator 131 may be a lifting structure that is conventional to those skilled in the art. For example, the lifter 131 may include an upright rail and a support plate coupled to the upright rail, the upright rail driving the support plate to be lifted and lowered in a vertical direction so that the support plate is flush with the different support layers 122, respectively. The support frame 120 may include a frame body 123, and in order to save space, the vertical guide rail may be integrally formed with the support frame 120, that is, the vertical guide rail is a part of the support frame 120, for example, the support frame 120 is a part of the frame body 123 of the support frame 120. The number of the lifters 131 may be two or more.

In the present application, the locations of the hoists 131 may have a variety of distributions. In one possible implementation, the hoists 131 are located outside of the support frame 120. For example, the hoists 131 are located at the ends of the support frame 120 and/or at the sides of the support frame 120.

In another possible implementation, the elevator 131 is located in the support frame 120, and the support frame 120 has a passage for the elevator 131 to ascend and descend. For example, the end of the support frame 120 near the support frame 120 has a passage for the elevator 131 to lift and lower, and the elevator is located in the passage. Or a channel is arranged in the support frame 120 at any position corresponding to the carrying position 121 along the X direction in fig. 2, that is, the carrying position 121 is not arranged in the Y direction in fig. 2, so as to form a channel for the lifting machine 131 to lift, at this time, the support plate of the lifting machine 131 is lifted or lowered to the layer of the support layer 122, and the support plate serves as one carrying position 121 in the support layer 122.

In some embodiments, pallet cart 132 includes a pallet cart body 1321 and a handling device coupled to pallet cart body 1321 for handling the material container to pallet cart body 1321 or for moving the material container from pallet cart body 1321 to pallet cart body 1321.

In particular implementations, the handling device may be at least one of a robot, a fork assembly, or a chuck assembly. The manipulator can grip the side plates of the material tank and pull the material tank onto the pallet trolley body 1321 or push out the pallet trolley body 1321. The fork assembly may be of a push-pull rod type, a drag hook type, a clamp type or a fork-lift like type.

Specifically, the structure of push-pull rod formula can be including flexible arm and the rotating member of connection on flexible wall, and the quantity of flexible arm can be two, and two flexible walls are located the relative both sides of tray dolly body 1321 respectively, and flexible arm stretches out to the rear of material case, and the rotating member is rotatory for flexible arm to rotatory rear to the material case, flexible arm shrink in order to pull the material case to tray dolly body 1321 on, and flexible arm continues the shrink, in order to release tray dolly body 1321 with the material case. The difference of the towing hook type structure, the clamping type structure or the forking type structure lies in that the structures on the telescopic arms are different, and the structures of the rest parts can be the same. For example, in the hook-pulling type structure, a hook is arranged on the telescopic arm and is connected with a connecting part matched with the hook on the material tank through the hook, so that the material tank is pulled into or pulled out of the pallet trolley body 1321. The telescoping arms of the clasping structure can be directly clamped on both sides of the material box to move the material box into or out of the pallet trolley body 1321. The fork-lift structure is similar to a forklift and is not described in detail here.

The sucker assembly can comprise a telescopic arm and a plurality of adsorption pieces connected to the telescopic arm, and the adsorption pieces adsorb the material box, so that the material box is pulled to the tray trolley body 1321, or the tray trolley body 1321 is pushed out. Wherein, the adsorption piece can be a vacuum chuck (also can be called as a vacuum lifting appliance), or an electromagnet or a magnet, and an adsorbed piece which can be adsorbed by the adsorption piece is arranged on the corresponding material box.

This application does not do the restriction to handling device's structure, as long as can realize carrying the material case to tray dolly body 1321 on, perhaps carry out tray dolly body 1321 with the material case on the tray dolly body 1321 can.

In some embodiments, the supporting frame 120 includes a frame body 123 arranged in a vertical direction and a plurality of cross beams 124 arranged in a horizontal direction, two cross beams 124 are arranged at the same height in the vertical direction, the cross beams 124 at the same height form the same supporting layer 122, the tray trolley 132 is connected with the two cross beams 124 at the same height in a rolling manner, and the tray trolley 132 moves along the extending direction of the cross beams 124.

Specifically, the frame body 123 may include at least four support columns 1231 and a plurality of connection columns 1232, the four support columns 1231 enclose a rectangular frame, the connection columns 1232 are connected between two support columns 1231 in the width direction, and the cross beam 124 is connected between two support columns 1231 in the length direction. The cross beam 124 is provided with a sliding chute 1242, the extending direction of the sliding chute 1242 is the same as the extending direction of the cross beam 124, the sliding chute 1242 faces the tray trolley 132, the tray trolley 132 further comprises at least two wheels 1322, the two wheels 1322 are respectively connected to two opposite sides of the tray trolley body 1321, the wheels 1322 are inserted in the sliding chute 1242 opposite to the wheels 1322, and the driving member drives the wheels 1322 to roll along the extending direction of the sliding chute 1242, so that the tray trolley 132 moves between the carrying positions 121 on the same floor.

Each wheel 1322 may be driven to roll by the same driving member, or each wheel 1322 may correspond to one driving member, which is not limited herein.

In a specific implementation, a plurality of partitions 1241 are provided at intervals in the extending direction of the beam 124, and the adjacent partitions 1241 and the beam 124 between the adjacent partitions 1241 form the carrying space 121.

The dividing portion 1241 may be a notch communicating with the chute 1242.

With continued reference to fig. 1 and fig. 2, in the shelving device 100 provided in the embodiment of the application, the number of the hoists 131 is two, and the two hoists 131 are respectively located at two ends of the supporting layer 122. In this way, the efficiency of the movement of the pallet car 132 between the different support layers 122 can be improved.

In order to improve the work efficiency of the shelf device 100, the shelf device 100 provided in the embodiment of the present application further includes a first conveyor line 140 and/or a second conveyor line 150, where the first conveyor line 140 and the second conveyor line 150 are both adjacent to the supporting frame 120, the first conveyor line 140 is used for conveying the material boxes to be processed to the carrying unit 130, and the second conveyor line 150 is used for receiving the processed material boxes carried by the carrying unit 130 from the buffering position 111.

In a specific implementation, the first conveying line 140 is adjacent to any one of the carrying positions 121 on the support frame 120, wherein the first conveying line 140 is adjacent to any one of the carrying positions 121 on the bottom layer of the support frame 120, the first conveying line 140 conveys the material tank to be processed to the carrying position 121 adjacent thereto, the carrying device in the carrying unit 130 on the carrying position 121 carries the material tank to be processed to the tray trolley 132, and the material tank to be processed is moved to the empty buffer position 111 by the tray trolley 132.

The second conveyor line 150 is adjacent to any one of the carrying positions 121 on the support frame 120, wherein the second conveyor line 150 is adjacent to any one of the carrying positions 121 on the bottom layer of the support frame 120, the carrying unit 130 carries the processed material box from the storage position 111 and moves to the carrying position 121 adjacent to the second conveyor line 150, and the carrying device in the carrying unit 130 carries the processed material box to the second conveyor line 150.

When the first conveyor line 140 and the second conveyor line 150 are arranged at the same time, the first carrying position 121 of the bottom layer of the support frame 120 is adjacent to the first conveyor line 140, and the last carrying position 121 of the bottom layer of the support frame 120 is adjacent to the second conveyor line 150. That is, there is a space between the first conveyor line 140 and the second conveyor line 150, so that it is convenient to place the material tank to be processed on the first conveyor line 140 and take the processed material tank on the second conveyor line 150. Thereby, the first transfer line 140 and the second transfer line 150 are prevented from interfering with each other.

In addition, in the shelf device 100 provided in the embodiment of the present application, the detection assemblies are located on the shelf 110, the number of the detection assemblies is multiple, the detection assemblies are arranged in one-to-one correspondence with the cache positions 111, and the detection assemblies are used for detecting whether the cache positions 111 corresponding to the detection assemblies have material tanks. The detection assembly is electrically connected with the control assembly, the driving piece on the tray trolley 132 is wirelessly connected with the control assembly, and the control assembly controls the tray trolley 132 to move to the cache position 111 without the material box according to the detection result of the detection assembly, so that the material box to be processed is placed on the cache position 111.

Wherein, the detection component is at least one of a photoelectric door detection component, a pressure sensor, a visual sensor, a laser sensor, an acoustic wave sensor or a code scanning component. Exemplarily, light-emitting spare and receiving piece are located the relative both sides of buffer position 111 respectively including light-emitting spare and receiving the spare, and when having the material case in buffer position 111, the material case shelters from the light that light-emitting spare sent to lead to receiving the unable light that receives light-emitting spare and send, thereby can judge and have the material case in the buffer position 111. When the receiving part can receive the light emitted by the light emitting part, the fact that no material box exists in the cache position 111 can be judged. Two-dimensional codes or bar codes are pasted on the material boxes, and the material boxes are scanned through the code scanning assembly so as to detect whether the material boxes are arranged on the cache bits 111 or not.

In some embodiments, the shelf 110 has a camera thereon. The speed of picking the goods by the operator can be acquired through the camera, the speed of conveying the material boxes to be processed to the carrying unit 130 by the first conveying line 140 can be controlled according to the speed of picking the goods, and the speed of receiving the processed material boxes conveyed from the buffer position 111 by the carrying unit 130 by the second conveying line 150.

Example two

Fig. 5 is a schematic structural diagram of a material tank transfer system provided in the second embodiment of the present application. Referring to fig. 1 to 5, an embodiment of the present application further provides a material box transferring system, which includes a third conveying line 200 and at least one shelf device 100 provided in the above embodiment, where the third conveying line 200 is used for conveying material boxes with goods.

The structure and the operation principle of the shelf device 100 are explained in detail in the above embodiments, and are not described in detail herein.

In this application, the third conveyor line 200 conveys the material box with the goods to the position where the operator is located, the operator picks the goods, places the picked goods in the material box to be processed on the buffer position 111 to form the processed material box, and the carrying unit 130 moves between the carrying positions 121 to carry the material box processed on the buffer position 111 to the target position. The carrying unit 130 may also carry the material box to be processed to the buffer position 111. Therefore, goods feeding, material box feeding to be processed and material box carrying after processing are automatically completed, operation personnel are not required to feed the material box to be processed and carry the material box after processing, and the working efficiency of the material box transferring system is improved.

The material case transfer system that this application embodiment provided, the quantity of shelf device 100 is at least two, and each shelf device 100 sets up along the transmission direction interval of third transfer chain 200, and two liang of a set of workstation that forms of shelf device 100, and the goods shelves 110 of shelf device 100 in the same workstation are adjacent. That is, at least two shelf devices 100 can be arranged in the same workstation, so that the space of a material box transfer system is saved, the moving range of operators is reduced, and the working efficiency of the operators is improved.

EXAMPLE III

Fig. 6 is a first flowchart of a method for transferring a material tank according to a third embodiment of the present application. Referring to fig. 1 to 6, in the method for transferring a material tank, the material tank transfer system provided in the second embodiment is adopted, and the structure of the material tank transfer system is described in detail in the second embodiment, which is not described again.

The application provides a method for transferring a material box, which comprises the following steps:

s101, acquiring the position of the buffer position 111 above the shelf 110.

Specifically, the control detection component detects the cache position 111 above the shelf 110; the location information of the empty cache bits 111 is transmitted to the warehouse management system. The warehouse management system issues a warehouse-out work instruction, and the detection component corresponding to the cache bit 111 detects whether the cache bit 111 has a material box. The detection component transmits the information of the cache position 111 without the material box to the control component of the warehouse management system, and the control component acquires the coordinate information of the cache position 111 without the material box, so that the position of the cache position 111 above the shelf 110 is acquired.

S102, controlling the carrying unit 130 to move to the carrying position 121 of the supporting rack 120 corresponding to the empty buffer position 111, and controlling the carrying unit 130 to carry the material box to be processed on the carrying unit 130 to the empty buffer position 111.

Specifically, the control component is wirelessly connected to the carrying unit 130, and controls the tray trolley body 1321 to move between the carrying positions 121 on the supporting frame 120 through the control component, so that the tray trolley body 1321 moves to the carrying position 121 corresponding to the empty buffer position 111.

Controlling a carrying device on the tray trolley 132 to carry the material box to be processed to an empty buffer position 111; when the initial position of the tray trolley body 1321 is different from the height of the material tank to be processed, the tray trolley body 1321 is controlled to move to be consistent with the height of the material tank to be processed, for example, the lifting machine 131 is controlled to move the tray trolley body 1321 to be consistent with the height of the material tank to be processed. From this, material bin transfer is achieved to replenish the empty buffer bit 111 with the operation of the material bin to be processed. After the empty buffer bit 111 supplements the material box to be processed, the status information of the buffer bit 111 on the shelf 110 can be updated in the warehouse management system, and the buffer bit 111 with the material box to be processed and the buffer bit 111 without the material box to be processed are respectively marked in the warehouse management system, so as to supplement the material box to be processed in time.

Fig. 7 is a second flowchart of a method for transferring a material tank according to a third embodiment of the present application. Referring to fig. 1 to 7, in some embodiments, after acquiring the position of the empty buffer position 111 on the shelf 110, the controlling the carrying unit 130 to move to the front of the carrying position 121 of the rack 120 corresponding to the empty buffer position 111 includes:

s201, the first conveying line 140 is controlled to convey the material box to be processed to a preset position, wherein the preset position is adjacent to a first preset carrying position 121a of the support frame 120, and the height of the first preset carrying position 121a is consistent with that of the first conveying line 140.

Specifically, the first preset carrying position 121a may be any one of the carrying positions 121 at the bottom of the supporting frame 120, one end of the first conveying line 140 may abut against the supporting layer 122 at the bottom of the supporting frame 120, and the preset position may be a position on the first conveying line 140 adjacent to one end of the first conveying line 140. The material boxes to be processed transported by the first transport line 140 may be similar to the type of the goods in the material boxes already on the buffer storage location 111, or the number of the goods may be similar. When the warehouse-out workstation (namely a material box transfer system) of the warehouse works for the first time on the day, the warehouse management system establishes the times according to the order types and dispatches the orders of the same times to the same warehouse-out workstation at one time.

S202, the tray trolley body 1321 is controlled to move between the carrying positions 121 on the support frame 120, so that the tray trolley body 1321 moves to the first preset carrying position 121 a.

S203, controlling the carrying device to carry the material box to be processed on the first conveying line 140 to the tray trolley body 1321; when the initial position of the tray trolley body 1321 is different from the height of the first preset carrying position 121a, the elevator 131 is controlled to move the tray trolley body 1321 to be consistent with the height of the first preset carrying position 121 a.

In some embodiments, after controlling the first conveying line 140 to convey the material box to be processed to the first preset carrying position 121a of the supporting frame 120, the method includes:

whether the first preset carrying position 121a has a material tank to be processed is detected. Specifically, a detection assembly may be also disposed on the first preset carrying position 121a, and the detection assembly detects whether the first preset carrying position 121a has a material tank to be processed.

If there is no bin to be processed on the first preset carry bit 121a, the position information of the empty buffer bit 111 is transmitted to the management system. That is, when there is no material tank to be processed on the first preset carrying position 121a, it indicates that the first conveying line 140 does not complete the operation of conveying the material tank to be processed to the first preset carrying position 121a of the supporting frame 120. Therefore, the position information of the empty buffer position 111 needs to be transmitted to the management system again, and then the first conveying line 140 is controlled to convey the material box to be processed to the first preset carrying position 121a of the supporting frame 120.

It should be noted that the material tank transfer system method is a method for supplementing the material tank to be processed by using the material tank transfer system provided in the second embodiment. The material box transfer system provided by the second embodiment can also be used for transporting the processed material boxes.

The method for transporting the treated product tank is explained below with reference to examples.

Example four

Fig. 8 is a flowchart of a method for transferring a material tank according to the fourth embodiment of the present application. Referring to fig. 1 to 5 and 8, the method for transferring the material tank adopts the material tank transfer system provided in the second embodiment, and the structure of the material tank transfer system is described in detail in the second embodiment, which is not described again.

and S301, acquiring the position of the cache position 111 corresponding to the processed material box on the shelf 110.

Specifically, after the operator delivers the goods into the material box to be processed of the material box above the cache position 111, the processed material box is formed. The operator gives an instruction to the warehouse management system to sort the finished material boxes and discharge the sorted finished material boxes from the warehouse, wherein the instruction may include the position information of the cache bit 111. After the warehouse management system obtains the instruction, the position of the cache bit 111 corresponding to the processed material box on the shelf 110 is obtained from the instruction.

Wherein, can set up the camera at goods shelves 110, the camera is connected with warehouse management system electricity, selects the goods process through the camera monitoring, does not select the goods progress automatically.

S302, the carrying unit 130 is controlled to move to the carrying position 121 of the supporting rack 120 corresponding to the processed material box, and the processed material box on the buffering position 111 is carried to the carrying unit 130.

Specifically, the tray trolley body 1321 is controlled to move between the carrying positions 121 on the support frame 120, so that the tray trolley body 1321 moves to the carrying position 121 corresponding to the material box processed on the buffer position 111.

Controlling the carrying device to carry the processed material box to the tray trolley body 1321; when the initial position of the tray trolley body 1321 is different from the height of the processed material box, the elevator 131 is controlled to move the tray trolley body 1321 to be consistent with the height of the processed material box.

And S303, controlling the carrying unit 130 to move to the target position.

Specifically, the tray trolley body 1321 is controlled to move between the carrying positions 121 on the support frame 120, so that the tray trolley body 1321 moves to the second preset carrying position 121b on the support frame 120; the second preset carrying position 121b may be any one of the carrying positions 121 at the bottom of the support frame 120 except the first preset carrying position 121a, one end of the second conveyor line 150 may abut against the support layer 122 at the bottom of the support frame 120, the second preset carrying position 121b is adjacent to the second conveyor line 150, the height of the second preset carrying position 121b is consistent with the height of the second conveyor line 150, when the initial position of the pallet cart body 1321 is different from the height of the second preset carrying position 121b, the pallet cart body 1321 is controlled to move to be consistent with the height of the first preset carrying position 121a, for example, the elevator 131 is controlled to move the pallet cart body 1321 to be consistent with the height of the first preset carrying position 121 a.

The material box processed on the tray cart body 1321 is transferred to the second transfer line 150 by the control transfer device.

It can be understood that the material tank transfer system provided in the second embodiment may also be used to replenish the material tank to be processed and to transport the processed material tank. The method for replenishing the material tank to be treated and for transporting the treated material tank is described below by means of a further embodiment.

EXAMPLE five

Fig. 9 is a flowchart of a method for transferring a material tank according to the fifth embodiment of the present application. Referring to fig. 1 to 9, in the method for transferring a material tank, the material tank transfer system provided in the second embodiment is adopted, and the structure of the material tank transfer system is described in detail in the second embodiment, which is not described again.

s401, obtaining the position of the cache position 111 corresponding to the processed material box on the shelf 110.

S402, controlling the carrying unit 130 to move to the carrying position 121 of the supporting rack 120 corresponding to the processed material box, and carrying the processed material box on the buffering position 111 to the carrying unit 130.

And S403, controlling the carrying unit 130 to move to the target position.

The steps S401 to S403 are methods for transporting the processed material box, and the steps S401 to S403 are the same as the methods provided in the fourth embodiment, and the detailed methods can refer to the fourth embodiment, which is not described again.

S404, acquiring the position of the buffer position 111 above the shelf 110;

s405, the carrier unit 130 is controlled to move to the carrier position 121 of the supporting rack 120 corresponding to the empty buffer position 111, and the carrier unit 130 is controlled to transport the material box of the job on the carrier unit 130 to the empty buffer position 111.

Step S404 and step S404 are methods for supplementing the material tank to be processed, and step S404 are the same as the methods provided in the third embodiment, and the detailed methods can refer to the third embodiment, and are not described again.

It should be noted that the method for transporting the treated material box and the method for replenishing the material box to be treated may not be in sequence, and both may be performed simultaneously. The carrying unit 130 may transport the processed material box, the carrying unit 130 may also transport the material box to be processed, and the carrying unit 130 may preferentially perform the operation of transporting the processed material box.

The warehouse management system starts to make a warehouse-out work order and the warehouse management system starts to initialize the state data of the rack devices 100. When the warehouse management system outputs the work order of the first processed material box, at least one cache position 111 on the shelf device 100 has the material box to be processed. The warehouse management system builds waves according to the similarity of the current orders (the types of goods in the orders are similar, the quantity of the goods in the orders is close, and the difference of the quantity of the goods is one or two). And each workstation (i.e. the same bin transfer system) will only receive orders on the same pass. And subsequently supplementing the material box to be processed, wherein the type of the order corresponding to the material box to be processed is based on the type of the order currently sorted in the workstation. Therefore, the complexity of operation work is reduced, and the picking efficiency of the workstation unit is improved.

After each picking is completed and the processed material box is sent out of the workstation, vacancy data updating of the cache position 111 on the shelf device 100 is performed once, the material box to be processed is supplemented according to the updated vacancy data, the process is continuously circulated until the vacancy number of the cache position 111 on the shelf device 100 is 0, and when the warehouse-out requirement is zero, the circulation of supplementing the material box to be processed is stopped.

EXAMPLE six

Fig. 10 is a schematic structural diagram of a control device according to a sixth embodiment of the present application. Referring to fig. 10, the control apparatus of the present embodiment may include:

at least one processor 300; and

a memory 400 communicatively coupled to the at least one processor;

the memory 400 stores instructions executable by the at least one processor 300, and the instructions are executed by the at least one processor 300 to cause the control device to perform the method of any one of the third to fifth embodiments.

The memory 400 may be separate or integrated with the processor 300.

For the implementation principle and the technical effect of the control device provided by this embodiment, reference may be made to the foregoing embodiments, and details are not described here.

EXAMPLE seven

The embodiment of the present application further provides a computer-readable storage medium, where a computer execution instruction is stored in the computer-readable storage medium, and when the processor executes the computer execution instruction, the method of any one of the third to fifth embodiments is implemented.

Example eight

The embodiment of the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method in any one of the third to fifth embodiments is implemented.

It is to be understood that the apparatus and methods disclosed herein may be embodied in other forms. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. The goods shelf device is characterized by comprising a control assembly, a goods shelf, a support frame and at least one carrying unit, wherein the goods shelf is provided with a plurality of cache positions for storing material boxes, and the support frame is provided with a carrying position;

the carrying unit moves on the carrying position, and the control assembly is used for controlling the carrying unit to carry the material box to be processed to the empty buffer position or controlling the carrying unit to carry the material box processed on the buffer position to a target position.

2. The shelf device of claim 1 further comprising a detection assembly electrically connected to the control assembly, the detection assembly being configured to detect whether a material tank is located at each of the buffer locations.

3. The rack device according to claim 1, wherein the number of the carrying positions is plural, and the carrying positions are arranged in one-to-one correspondence with the buffer positions.

4. The shelving unit defined in any one of claims 1 to 3 wherein the support frame has a plurality of support layers, each support layer having a plurality of carrying positions thereon, the support layers being vertically spaced apart;

the carrying unit comprises at least one tray trolley, the tray trolley is used for carrying the material box, the tray trolley moves between the carrying positions of the same supporting layer, and the tray trolley is transferred between different supporting layers.

5. The racking device according to claim 4 wherein said carrier unit further comprises at least one elevator for driving said pallet car to transition between different said support layers.

6. The shelving unit defined in claim 5, wherein the lift is located outside of the support shelf.

7. The shelving unit defined in claim 5, wherein the lift is located within the support frame, the support frame having a channel therein for the lift to rise and fall.

8. The rack device according to claim 4, wherein the pallet truck comprises a pallet truck body and a carrying device connected to the pallet truck body, and the carrying device is used for carrying the material tank to the pallet truck body or carrying the material tank on the pallet truck body out of the pallet truck body.

9. The rack device of claim 8, wherein the handling device is at least one of a robot, a fork assembly, or a suction cup assembly.

10. The shelving device as defined in claim 8, wherein the support frame comprises a frame body arranged in a vertical direction and a plurality of cross beams arranged in a horizontal direction, two cross beams are arranged at the same height in the vertical direction, the cross beams at the same height form the same support layer, and the pallet trolley is in rolling connection with the two cross beams at the same height.

11. The shelving device as defined in claim 10, wherein the cross beam is provided with a sliding groove, the extending direction of the sliding groove is consistent with the extending direction of the cross beam, and a notch of the sliding groove faces the tray trolley;

the tray trolley further comprises at least two wheels and a driving piece, the two wheels are connected to two opposite sides of the tray trolley body respectively, the wheels are inserted into the sliding grooves opposite to the wheels, and the driving piece drives the wheels to roll along the extending direction of the sliding grooves.

12. The shelving unit defined in claim 5, wherein the number of lifters is at least two, the two lifters being located at opposite ends of the support layer.

13. The rack device according to any one of claims 1 to 3, further comprising a first conveyor line and/or a second conveyor line, the first conveyor line and the second conveyor line being adjacent to the support frame, the first conveyor line being configured to convey material boxes to be processed to the carrying unit, and the second conveyor line being configured to receive processed material boxes carried by the carrying unit from the buffer location.

14. The shelf device according to claim 2, wherein the detection assemblies are arranged on the shelf, the number of the detection assemblies is multiple, and the detection assemblies are arranged in one-to-one correspondence with the cache positions to detect whether the cache positions corresponding to the detection assemblies have the material tanks.

15. The shelving unit of claim 14, wherein the detection assembly is at least one of a light door detection assembly, a pressure sensor, a visual sensor, a laser sensor, a sonic sensor, or a code scanning assembly.

16. The shelving unit defined in any one of claims 1 to 3, wherein the shelves have cameras thereon.

17. A material bin transfer system, characterised by comprising at least one shelf arrangement according to any one of claims 1 to 16 and a third conveyor line for conveying material bins with goods.

18. The material bin transfer system according to claim 17 wherein the number of said shelf units is at least two, each said shelf unit being spaced apart along the transport direction of said third conveyor line, said shelf units being grouped in pairs to form workstations, the shelves of said shelf units in a same said workstation being adjacent.

19. A method of bin transferring, comprising:

acquiring the position of a cache position above a goods shelf;

20. Method for bin transferring according to claim 19,

the carrying unit comprises at least one tray trolley, and the tray trolley comprises a tray trolley body and a carrying device connected to the tray trolley body;

the controlling the carrying unit to move to a carrying position of the supporting frame corresponding to the empty buffering position, and controlling the carrying unit to carry the material box to be processed on the carrying unit to the empty buffering position includes:

controlling the tray trolley body to move between the carrying positions on the supporting frame so as to enable the tray trolley body to move to the carrying position corresponding to the empty cache position;

controlling the carrying device to carry the material box to be processed to the empty cache position; when the initial position of the tray trolley body is different from the height of the material box to be processed, the tray trolley body is controlled to be transferred to the position which is consistent with the height of the material box to be processed.

21. A method of bin transferring according to claim 20, wherein the carrying unit comprises at least one hoist;

the control the tray dolly body shifts to with the highly unanimous of pending material case includes:

22. A method of material bin transfer according to claim 21 wherein after said obtaining the location of an empty buffer position on a shelf, said controlling the carrier unit to move to before the carrier position of the support shelf corresponding to the empty buffer position comprises:

controlling the tray trolley body to move between the carrying positions on the supporting frame so as to enable the tray trolley body to move to the first preset carrying position;

23. The method of material bin transferring according to claim 19, wherein said obtaining a location of a buffer level above a shelf comprises:

controlling a detection assembly to detect a cache position above a shelf;

and transmitting the position information of the empty cache bit to a management system.

24. A method of material bin transfer according to claim 22, wherein the controlling of the first conveyor line to convey the material bin to be processed to the first predetermined carrying position of the support frame comprises:

detecting whether a material box to be processed is arranged on the first preset carrying position or not;

and if the first preset carrying position does not have the material box to be processed, transmitting the position information of the empty cache position to a management system.

25. A method of bin transferring, comprising:

controlling a carrying unit to move to a carrying position of a supporting frame corresponding to the processed material box, and carrying the processed material box on the cache position to the carrying unit;

controlling the carrying unit to move to the target position.

26. The method of bin transferring according to claim 25, wherein the carrying unit comprises at least one pallet car comprising a pallet car body and handling means connected to the pallet car body;

control the carrying unit move to with after handling the carrying position of the support frame that the material case corresponds to, and with after handling on the buffer memory position the material case transport to on the carrying unit, include:

controlling the tray trolley body to move between the carrying positions on the supporting frame so as to enable the tray trolley body to move to the carrying position corresponding to the processed cache position;

controlling the carrying device to carry the processed material box to the tray trolley body; when the initial position of the tray trolley body is different from the height of the processed material box, the tray trolley body is controlled to move to be consistent with the height of the processed material box.

27. A method of bin transferring according to claim 26,

the carrying unit comprises at least one hoist;

the control the lifting machine will tray dolly body move to with the height unanimity of material case after the processing includes:

28. Method for bin transferring according to claim 27,

the control carrier unit moving to a target position includes:

controlling the tray trolley body to move between the carrying positions on the support frame so as to enable the tray trolley body to move to a second preset carrying position on the support frame; the second preset carrying position is adjacent to the second conveying line, the height of the second preset carrying position is consistent with that of the second conveying line, and when the initial position of the pallet trolley body is different from that of the second preset carrying position, the lifting machine is controlled to move the pallet trolley body to be consistent with that of the first preset carrying position;

and controlling the carrying device to carry the material box processed on the tray trolley body to a second conveying line.

29. A method of bin dumping, characterised by using a bin dumping system according to claim 17 or 18,

the method for transferring the material box comprises the following steps:

controlling the carrying unit to move to a target position;

acquiring the position of a cache position above the goods shelf;

30. A control apparatus, characterized by comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to cause the control apparatus to perform the method of material bin diversion of any one of claims 19 to 29.

31. A computer readable storage medium having stored thereon computer executable instructions which, when executed by a processor, carry out a method of bin diversion according to any one of claims 19 to 29.

32. A computer program product comprising a computer program, characterized in that the computer program product comprises a computer program which, when executed by a processor, implements a method of material bin diversion according to any one of claims 19 to 29.