CN115196240A

CN115196240A - Warehousing system and warehousing and ex-warehousing control method

Info

Publication number: CN115196240A
Application number: CN202211037730.XA
Authority: CN
Inventors: 刘渊博
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2022-08-26
Filing date: 2022-08-26
Publication date: 2022-10-18

Abstract

The embodiment of the disclosure relates to a storage system and an in-out control method, and belongs to the technical field of intelligent storage logistics. The disclosed embodiment aims to solve the technical problem of low cargo carrying efficiency in the related art. The warehousing system of the embodiment of the disclosure comprises a first workstation; the storage rack comprises a storage plate and a first temporary storage plate positioned above the storage plate, wherein the first temporary storage plate is provided with a first temporary storage position, and the storage plate is provided with a storage position; the traveling track group is arranged on the goods shelf; the first transfer robot is configured to transfer goods on the storage position to the first temporary storage position or transfer the goods on the first temporary storage position to the storage position; and the second transfer robot is configured to move along the walking track group and transfer the goods on the first temporary storage position to the first workstation or transfer the goods on the first workstation to the first temporary storage position. The warehousing system of the embodiment can improve the efficiency of goods handling.

Description

Warehousing system and warehousing and ex-warehousing control method

Technical Field

The embodiment of the disclosure belongs to the technical field of intelligent logistics, and particularly relates to a storage system and a warehouse-in and warehouse-out control method.

Background

In the intelligent logistics technology, the warehousing system can intelligently manage and execute logistics activities of goods such as warehousing, storage, sorting, distribution and the like so as to reduce heavy manual labor. In the related art, a stocker system generally includes a rack, a work station, and a transfer robot for moving between the rack and the work station to load a carrier. However, the transfer robot takes a lot of time to move, and the efficiency of transferring the goods is reduced.

Disclosure of Invention

In view of this, the present disclosure provides a storage system and an in-out control method to solve the technical problem of low cargo handling efficiency.

A first aspect of an embodiment of the present disclosure provides a storage system, including:

a first workstation;

the storage rack comprises a storage plate and a first temporary storage plate which are arranged in parallel and at intervals, wherein the first temporary storage plate is positioned above the storage plate and is provided with a first temporary storage position, and the storage plate is provided with storage positions;

the traveling track group is arranged on the goods shelf and is positioned above the first temporary storage plate;

a first transfer robot configured to transfer the goods on the storage bit to the first temporary storage bit or transfer the goods on the first temporary storage bit to the storage bit;

and the second transfer robot is configured to move along the walking track group and transfer the goods on the first temporary storage position to the first workstation or transfer the goods on the first workstation to the first temporary storage position.

The warehousing system of the embodiment of the disclosure comprises a first transfer robot and a second transfer robot, wherein the goods shelf is provided with a first temporary storage position above the storage position and a walking track group above the first temporary storage position. The first transfer robot transfers goods between the storage position and the first temporary storage position, and the second transfer robot transfers goods between the first temporary storage position and the first workstation. When goods are put in storage, the second transfer robot walks on the walking track group and transfers the goods of the first workstation to the first temporary storage position; the first transfer robot transfers the goods on the first temporary storage position to the storage position. When goods are delivered out of the warehouse, the first transfer robot transfers the goods on the storage position to the first temporary storage position; the second transfer robot walks on the walking track and transfers the goods on the first temporary storage position to the first workstation.

Because first transfer robot transports the goods between storage bit and first temporary storage position, then first transfer robot moves near goods shelves, has shortened first transfer robot's movement distance, has reduced first transfer robot and has consumeed the time on moving, has improved the efficiency of goods transport. Meanwhile, the second transfer robot transfers goods between the first temporary storage position and the first workstation, and does not need to be provided with a supporting device and a first driving device.

In a possible implementation manner, the goods shelf is provided with a plurality of goods shelves, and the goods shelves are arranged in parallel and at intervals; the first temporary storage plate of each shelf is provided with a plurality of first temporary storage positions which are arranged along the extending direction of the first temporary storage plate;

the walking track group has a plurality ofly, every the walking track group all includes the walking track of two parallels, and is a plurality of the walking track forms latticed track, latticed track has a plurality of openings that are used for getting and put the goods, and is a plurality of the opening is with a plurality of first position one-to-one of keeping in.

In one possible implementation manner, the second transfer robot comprises a body, a walking roller set, a second goods taking device and a second driving device; the walking roller group is arranged below the body, and the roller surface of the walking roller group can be pressed on the track surface of the walking track group; the second driving device is connected with the walking roller group to drive the walking roller group to roll on the walking track group; the second goods taking device is connected to the body and used for taking and placing goods on the first temporary storage position through the opening.

In one possible implementation, the second goods taking device comprises a reel, a pull rope, a first motor and a claw; the reel is horizontally arranged; the first motor is connected with the reel to drive the reel to rotate; one end of the pull rope is connected with the outer circumferential surface of the reel, the pull rope is wound on the reel, and the other end of the pull rope extends downwards and is connected with the clamping jaw.

In one possible implementation, the warehousing system further comprises a vertically arranged climbing track group;

the second transfer robot is provided with a climbing mechanism, and the climbing mechanism is used for being clamped with the climbing track group so as to drive the second transfer robot to descend to the ground along the climbing track group or drive the second transfer robot to ascend to the walking track group along the climbing track group.

In a possible implementation manner, the climbing rail set includes at least two rack rails vertically arranged at intervals, and the at least two rack rails are connected to the rack.

In a possible implementation manner, the climbing mechanism comprises at least two gears and a third driving device, wherein the at least two gears are respectively used for being meshed with the at least two rack rails; the third driving device is connected with the gear to drive the gear to roll along the rack rail.

In a possible implementation manner, the warehousing system further comprises a supporting platform and a second workstation, the first workstation is arranged at the upper part of the supporting platform, and the second workstation is arranged below the first workstation;

the goods shelf also comprises a second temporary storage plate, the second temporary storage plate is positioned below the storage plate, and the second temporary storage plate is provided with a second temporary storage position;

the first transfer robot is also configured to transfer the goods on the second temporary storage position to the storage position or transfer the goods on the storage position to the second temporary storage position.

In one possible implementation, the second transfer robot is further configured to transfer the goods on the second temporary storage location to the second workstation, or transfer the goods of the second workstation to the second temporary storage location.

In a possible implementation manner, the second transfer robot is further provided with a second jacking device and a fork arm, the second jacking device is mounted at the top end of the second transfer robot, and the second jacking device is connected with the fork arm to drive the fork arm to lift;

the second temporary storage plate is provided with a groove for the fork arm to pass through, and the groove is located in the second temporary storage position.

In a possible implementation manner, the warehousing system further includes a third transfer robot configured to transfer the goods on the second temporary storage location to the second workstation or transfer the goods of the second workstation to the second temporary storage location.

In a possible implementation manner, the third transfer robot comprises a second mobile chassis, a second jacking device and a fork arm, wherein the second jacking device is mounted at the top end of the second mobile chassis, and the second jacking device is connected with the fork arm so as to drive the fork arm to lift;

the third transfer robot is provided with a climbing mechanism which is used for being clamped with the climbing track group so as to drive the third transfer robot to ascend to the walking track group along the climbing track group or drive the third transfer robot to descend to the ground along the climbing track group;

the third transfer robot comprises a second moving chassis and a fourth driving device, the second moving chassis comprises a walking roller set, and when the third transfer robot rises to the walking track set, the roller surface of the walking roller set is pressed on the track surface of the walking track set; the fourth driving device is connected with the walking roller group to drive the walking roller group to roll on the walking track group.

In a possible implementation manner, the third transfer robot is further provided with a second goods taking device for taking and placing goods on the first temporary storage position.

the warehousing system further comprises a fourth transfer robot, wherein the fourth transfer robot is provided with a climbing mechanism and is used for being clamped with the climbing track group so as to drive the fourth transfer robot to ascend and descend along the climbing track group.

In a possible implementation manner, the fourth transfer robot is further provided with a third goods taking device, and the third goods taking device is used for taking and placing goods on the storage position, the first temporary storage position and/or the second temporary storage position.

A second aspect of the embodiments of the present disclosure provides a warehousing control method, which applies any one of the warehousing systems, and the method includes:

instructing a second transfer robot to transfer the goods to be warehoused at the first workstation to a first temporary storage position;

and instructing a first transfer robot to transfer the goods to be warehoused of the first temporary storage position to a target storage position corresponding to the goods to be warehoused.

According to the warehousing control method, the second transfer robot transfers the goods to be warehoused of the first workstation to the first temporary storage position, the second transfer robot does not need to be provided with the supporting device and the first driving device, compared with the first transfer robot, the second transfer robot is light in weight and high in moving speed, and the goods transfer efficiency is improved. The first transfer robot transfers the goods to be warehoused in the first temporary storage position to the storage position corresponding to the goods to be warehoused, so that the first transfer robot moves near the goods shelf, the moving distance of the first transfer robot is shortened, the moving time consumed by the first transfer robot is shortened, and the goods transfer efficiency is further improved.

In one possible implementation, the warehousing system further comprises a third transfer robot, and the method further comprises:

and if the second transfer robots are occupied, indicating a third transfer robot to climb to a walking track group, and transferring the goods to be warehoused of the first workstation to the first temporary storage position.

In one possible implementation, the warehousing system further includes a second workstation located below the first workstation, and a second staging location located below the first staging location; the method further comprises the following steps:

instructing a third transfer robot to transfer the goods to be warehoused at the second workstation to the second temporary storage position;

and instructing a first transfer robot to transfer the goods to be warehoused of the second temporary storage position to a corresponding target storage position.

In one possible implementation, the method further includes: if the third transfer robots are occupied, the second transfer robot is instructed to transfer the goods to be warehoused of the second workstation to a second temporary storage position or a first temporary storage position; and instructing a first transfer robot to transfer the goods to be warehoused on the first temporary storage position or the second temporary storage position to a corresponding storage position.

A third aspect of the embodiments of the present disclosure provides a warehouse-out control method, which applies any one of the warehousing systems, and the method includes:

determining a first storage position where goods to be delivered out of a warehouse are located and a corresponding first workstation;

instructing a first transfer robot to transfer the goods to be delivered from the warehouse to a first temporary storage position, wherein the goods to be delivered from the warehouse is stored in the first temporary storage position;

and instructing a second transfer robot to transfer the goods to be delivered from the first temporary storage position to the first workstation.

According to the warehouse-out control method, the first carrying robot carries the goods to be warehoused on the first storage position to the first temporary storage position, the first carrying robot moves near the goods shelf, the moving distance of the first carrying robot is shortened, the time consumed by the first carrying robot in moving is reduced, and the goods carrying efficiency is improved. Meanwhile, the second transfer robot transfers the goods to be delivered from the warehouse at the first temporary storage position to the first workstation, the second transfer robot does not need to be provided with a supporting device and a first driving device, and compared with the first transfer robot, the second transfer robot is light in weight and high in moving speed, and the goods transfer efficiency is further improved.

In some possible implementations, the warehousing system further includes a third transfer robot, the method further including:

and if the second transfer robots are occupied, indicating a third transfer robot to climb to a walking track set, and transferring the goods to be delivered out of the warehouse at the first temporary storage position to the first workstation.

In some possible implementations, the warehousing system further includes a second workstation located below the first workstation, and a second staging location located below the first staging location; the method further comprises the following steps:

determining a second storage position where goods to be delivered out of the warehouse are located and a corresponding second workstation;

instructing a first transfer robot to transfer the goods to be delivered from the warehouse to the second temporary storage position;

and instructing a third transfer robot to transfer the goods to be delivered from the second temporary storage position to the second workstation.

In some possible implementations, the method further includes: if the second carrying robots are occupied, the first carrying robot is instructed to place the goods to be delivered from the warehouse, with the first storage position, in a first temporary storage position or a second temporary storage position; and instructing a third transfer robot to transfer the goods to be delivered from the warehouse to the first workstation at the first temporary storage position or the second temporary storage position.

In some possible implementations, the method further includes: if the third transfer robots are occupied, the first transfer robot is instructed to place the goods to be delivered out of the warehouse with the second storage position in a first temporary storage position or a second temporary storage position; and instructing the second transfer robot to transfer the goods to be delivered from the warehouse to the second workstation at the first temporary storage position or the second temporary storage position.

A fourth aspect of the embodiments of the present disclosure provides a computer-readable storage medium having stored therein computer instructions, which when executed by a processor, are configured to implement the method as described in any one of the above.

A fifth aspect of embodiments of the present disclosure provides a computer program product comprising a computer program which, when executed by a processor, implements the method as defined in any one of the above.

Drawings

In order to clearly illustrate the embodiments or technical solutions of the present disclosure, the drawings used in the embodiments or technical solutions of the present disclosure will be briefly described below, and it is easy to see that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic front view of a warehousing system provided in an embodiment of the present disclosure;

FIG. 2 is a schematic top view of the warehousing system of FIG. 1;

fig. 3 is a schematic structural view of the first transfer robot of fig. 1;

fig. 4 is a schematic structural view of the second transfer robot of fig. 1;

fig. 5 is a schematic view illustrating the second pickup device of the second transfer robot of fig. 4 transferring a load;

fig. 6 is a schematic view of the second transfer robot in fig. 4 being lifted and lowered along the climbing rail set;

fig. 7 is a schematic view illustrating the second transfer robot of fig. 4 lifting up the cargo;

fig. 8 is a schematic structural view of the third transfer robot of fig. 1;

fig. 9 is a schematic view of the third transfer robot in fig. 8 lifting a cargo;

fig. 10 is a schematic view illustrating the third transfer robot of fig. 8 being elevated and lowered along the climbing rail set;

fig. 11 is a schematic view of the second pickup device of the third transfer robot in fig. 8 transferring a load;

fig. 12 is a schematic flow diagram of a warehousing control method in some implementations of an embodiment of the present disclosure;

fig. 13 is a schematic flow chart of a warehousing control method in other implementations of the embodiment of the present disclosure;

fig. 14 is a schematic flow chart of a method for outbound control in some implementations of embodiments of the present disclosure;

fig. 15 is a flowchart illustrating a method for controlling ex-warehouse in another implementation manner of the embodiment of the present disclosure.

Description of reference numerals:

10-a shelf;

110-a storage plate; 111-a storage bit; 120-a first scratch pad;

121-first temporary storage bit; 130-a walking track group; 131-a walking track;

132-an opening; 140-a second scratch pad; 141-second temporary storage bit;

142-a groove; 150-climbing rail set; 151-rack rail;

160-channel; 170-support beam;

210-a first workstation; 220-a support platform; 230-a second workstation;

30-a first transfer robot;

310-a first mobile chassis; 320-a support device; 330-a first pick-up device;

40-a second transfer robot;

410-a body; 420-a second pick-up device; 421-a reel;

422-pulling a rope; 423-claw; 430-walking roller group;

440-a climbing mechanism; 441-gear; 450-a second jacking device;

460-yoke arm;

50-a third transfer robot;

510-a second mobile chassis;

60-a fourth transfer robot;

70-cargo.

Detailed Description

In the related art, the warehousing system generally includes a rack, a workstation and a transfer robot, the first transfer robot generally includes a mobile chassis, a supporting device, a goods taking device and a first driving device, the supporting device is installed on the mobile chassis, the goods taking device is connected with the supporting device in a vertical sliding manner, and the first driving device is connected with the goods taking device to drive the goods taking device to ascend and descend. When goods are transported, for example, in the process of warehousing the goods, the first driving device drives the goods taking device to lift to a specified height so as to be opposite to the goods on the workstation; the goods taking device takes the goods in the workstation; then the chassis is moved to drive the supporting device, the goods taking device and the goods on the goods taking device to move to the goods shelf; the first driving device drives the goods taking device to ascend and descend again so as to be opposite to the goods shelf; the goods taking device places the goods on the goods shelf. Since the first transfer robot is equipped with the support device, the first drive device, and the like, the first transfer robot has a large weight, and the moving speed of the first transfer robot is reduced, so that the first transfer robot takes a lot of time to move, thereby reducing the efficiency of transferring goods.

In view of this, the present disclosure provides a storage system, which is provided with a first transfer robot and a second transfer robot, and a shelf is provided with a first temporary storage location above a storage location and a traveling track group above the first temporary storage location. When the goods are transported, the first transporting robot transports the goods between the first temporary storage position and the storage position; the second transfer robot moves on the traveling rail and transfers the goods between the first temporary storage location and the first work station. Because first transfer robot transports the goods between storage bit and first temporary storage position, then first transfer robot moves near goods shelves, has shortened first transfer robot's movement distance, has reduced first transfer robot and has consumeed the time on moving, has improved the efficiency of goods transport. Meanwhile, the second transfer robot transfers goods between the first temporary storage position and the first workstation, and does not need to be provided with a supporting device and a first driving device.

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without inventive step, are intended to be within the scope of the present disclosure.

Referring to fig. 1, an embodiment of the present disclosure provides a warehousing system including a rack 10, a first workstation 210, a first transfer robot 30, and a second transfer robot 40. The shelf 10 includes a storage plate 110 and a first temporary storage plate 120 arranged in parallel and spaced apart. The storage plate 110 has a storage location 111, the storage location 111 for storing the cargo 70. The first temporary storage board 120 is located above the storage board 110, and the first temporary storage board 120 has a first temporary storage location 121, and the first temporary storage location 121 is used for temporarily storing the cargo 70. The shelf 10 is provided with a traveling rail set 130, and the traveling rail set 130 is located above the first temporary storage plate 120. The first station 210 may be used to sort, load, or otherwise handle the goods 70.

The first transfer robot 30 is configured to transfer the goods 70 on the storage place 111 onto the first temporary storage place 121, or transfer the goods 70 on the first temporary storage place 121 onto the storage place 111. That is, the first transfer robot 30 transfers the goods 70 between the storage location 111 and the first temporary storage location 121.

The second transfer robot 40 is configured to move along the traveling rail set 130 and transfer the goods 70 on the first temporary storage location 121 to the first workstation 210, or transfer the goods 70 of the first workstation 210 onto the first temporary storage location 121. That is, the second transfer robot 40 transfers the goods 70 between the first temporary storage location 121 and the first workstation 210. A first cargo handling layer is formed between the first temporary storage location 121 and the first workstation 210, and the first temporary storage location 121 and the first workstation 210 may be set up by a steel platform to form the first cargo handling layer, for example, as shown by the upper double-headed arrow in fig. 1.

When the goods 70 are stored, that is, the goods 70 at the first workstation 210 are transported to the shelf 10, first, the second transfer robot 40 takes the goods 70 at the first workstation 210, drives the goods 70 to travel on the travel track group 130, and transports the goods 70 to the first temporary storage location 121. Then, the first transfer robot 30 transfers the cargo 70 on the first temporary storage location 121 onto the storage location 111. When the load 70 is unloaded, that is, the load 70 on the rack 10 is transferred to the first work station 210, first, the first transfer robot 30 transfers the load 70 on the storage position 111 to the first temporary storage position 121. Then, the second transfer robot 40 takes the goods 70 on the first temporary storage location 121, drives the goods 70 to travel on the travel track group 130, and transfers the goods 70 to the first workstation 210.

Since the first transfer robot 30 transfers the goods 70 between the storage location 111 and the first temporary storage location 121, the first transfer robot 30 moves near the rack 10, the moving distance of the first transfer robot 30 is shortened, the time consumed by the first transfer robot 30 in moving is reduced, and the efficiency of goods transfer is improved. Meanwhile, since the second transfer robot 40 transfers the goods between the first temporary storage location 121 and the first work station 210, the second transfer robot 40 does not need to be provided with a supporting device and a first driving device of the first transfer robot 30, and compared with the first transfer robot 30, the second transfer robot 40 has a light weight and a fast moving speed, and the efficiency of transferring the goods is further improved.

The pallet 10 is used for storing goods 70. The number of shelves 10 may be one. Referring to fig. 2, the number of shelves 10 may be plural, and a plurality of shelves 10 may be arranged in parallel and at intervals, for example, may be arranged at intervals along the second direction y shown in fig. 2. The passage 160 is formed between every two adjacent racks 10, the first transfer robot 30 can travel in the passage 160, and the first transfer robot 30 can transfer the goods 70 in the two racks 10 adjacent to the passage 160, which can reduce the number of the first transfer robots 30 equipped in the stocker system.

The pallet 10 may be of a frame-like construction. For example, referring to fig. 1 and 2, the rack 10 may include a plurality of vertically arranged support beams 170, the plurality of support beams 170 enclosing a cubic space in which the storage plate 110 and the first temporary storage plate 120 are located. The storage plate 110 and the first temporary storage plate 120 are horizontally disposed at an interval, and are connected to the support beam 170.

The number of the storage plates 110 may be one. The number of the storage plates 110 may be plural, and the plurality of storage plates 110 may be arranged at intervals in the vertical direction. The intervals between every two adjacent storage plates 110 may be equal or unequal, and the embodiment of the disclosure does not limit this.

Each memory board 110 has memory bits 111. The number of the storage bits 111 may be one or plural. When the number of the storage bits 111 is plural, the plural storage bits 111 may be arranged in a matrix, that is, in the first direction x and the second direction y shown in fig. 1. Illustratively, the plurality of storage bits 111 may be arranged in a single row along the second direction y, i.e. the shelf 10 is a single-depth shelf. Illustratively, the plurality of storage bits 111 may also be arranged in two rows along the second direction y, i.e. the shelf 10 is a double deep shelf. Compared with a single-deep-position shelf, the storage positions 111 in the double-deep-position shelf are more compactly distributed, and the space utilization rate of the shelf 10 and a warehouse can be improved.

The first temporary storage plate 120 is located above the storage plate 110, and the first temporary storage plate 120 has a first temporary storage location 121 for temporarily storing the goods 70. The number of the first temporary storage bits 121 may be one or more. Illustratively, when the number of the first temporary storage bits 121 is plural, the plural first temporary storage bits 121 may be arranged along the extending direction of the first temporary storage board 120. For example, the first temporary storage plate 120 extends in the first direction x and the second direction y shown in fig. 2, respectively, and the plurality of first temporary storage bits 121 may be arranged in the first direction x and the second direction y.

Referring to fig. 1 and 2, a traveling rail set 130 may be disposed above the first temporary storage plate 120, and the traveling rail set 130 may be mounted on the shelf 10, for example, on a support beam 170. The travel rail set 130 is used for the second transfer robot 40 to travel. Illustratively, the number of the traveling rail groups 130 is plural, each traveling rail group 130 includes two parallel traveling rails 131, the traveling rails 131 in the plural traveling rail groups 130 form a grid-shaped rail, the grid-shaped rail has a plurality of openings 132 for picking and placing the goods 70, and the plurality of openings 132 are in one-to-one correspondence with the plurality of first temporary storage locations 121. The second transfer robot 40 can pick and place the goods 70 on the corresponding first temporary storage location 121 through the opening 132.

For example, in the grid-shaped track, two adjacent running tracks 131 in two adjacent running track groups 130 may be merged into one running track 131, for example, as shown in two adjacent running track groups 130 in the first direction x in fig. 2. With such an arrangement, the number of the traveling rails 131 can be reduced, so that the space occupied by the traveling rail group 130 is reduced, the structural compactness of the shelf 10 is improved, and the space utilization rate of the warehouse is improved.

For example, in the grid-shaped track, two adjacent running tracks 131 in two adjacent running track groups 130 may also be arranged at intervals, for example, as shown in fig. 2 for two adjacent running track groups 130 in the second direction y. So set up, two second transfer robot 40 can be located this two adjacent walking tracksets 130 simultaneously to get and put the goods 70 on two adjacent first temporary storage positions 121 on these two walking tracksets 130 simultaneously, two second transfer robot 40 need not to dodge each other, have improved the efficiency of goods transport.

It can be understood that two adjacent traveling rails 131 in two adjacent traveling rail groups 130 in the first direction x may also be arranged at intervals, and two adjacent traveling rails 131 in two adjacent traveling rail groups 130 in the second direction y may also be combined into one traveling rail 131, which is not described in detail in this disclosure.

Referring to fig. 1, the shelf 10 may further include a second temporary storage plate 140, the second temporary storage plate 140 being located below the storage plate 110. The second temporary storage board 140 has a second temporary storage location 141 for temporarily storing the cargo 70. The first transfer robot 30 may be configured to transfer the cargo 70 on the second temporary storage location 141 to the storage location 111, or to transfer the cargo 70 on the storage location 111 to the second temporary storage location 141. The second temporary storage plate 140 can increase the number of temporary storage positions for temporarily storing the goods 70 in the shelf 10, thereby avoiding the influence on the efficiency of goods transportation due to insufficient temporary storage positions. The arrangement of the second temporary storage bits 141 on the second temporary storage board 140 can refer to the arrangement of the first temporary storage bits 121 on the first temporary storage board 120, and details of the embodiment of the disclosure are not repeated herein.

Referring to fig. 1, the second temporary storage plate 140 may further include a recess 142 for carrying the container 70, and the recess 142 is located in the second temporary storage location 141. Illustratively, two recesses 142 are provided in each second temporary storage bit 141.

The warehousing system can also include that the vertical track group 150 that climbs that is provided with, and transfer robot can follow the track group 150 that climbs and go up and down among the warehousing system for transfer robot can rise to walking track group 130 or descend to ground, thereby increases transfer robot's walking route, improves the efficiency of carrying the goods. The climbing rail set 150 may include at least two rack rails disposed vertically and at intervals. Illustratively, referring to fig. 1, the number of rack rails 151 in the set of climbing rails 150 may be two. The climbing rail set 150 may further include two support columns (not shown in the drawings) vertically and at intervals, and the two rack rails 151 may be respectively fixed to the two support columns. Illustratively, both rack rails 151 may also be connected to the shelf 10. For example, two rack rails 151 may be connected to the support beams 170 of two adjacent racks 10. So set up, need not to set up the support column, simplified warehouse system's structure to can improve the space utilization in the warehouse. It is understood that the number of the rack rails 151 in the climbing rail set 150 may also be multiple, and the description thereof is omitted in this embodiment of the present application.

Referring to fig. 1, the stocker system further includes a supporting platform 220 and a second workstation 230, the first workstation 210 is disposed on an upper portion of the supporting platform 220, and the second workstation 230 is disposed under the first workstation 210. Illustratively, the second workstation 230 may be disposed at a lower portion of the support platform 220, and the second workstation 230 may also be disposed at the ground. The second station 230 may be used to sort, load, unload, etc. the goods 70.

The warehousing system may further include a third transfer robot 50, and the third transfer robot 50 is configured to transfer the goods 70 on the second temporary storage place 141 to the second workstation 230, or transfer the goods 70 of the second workstation 230 onto the second temporary storage place 141. That is, the third transfer robot 50 transfers the goods 70 between the second temporary storage place 141 and the second workstation 230. A second cargo transportation level is formed between the second temporary storage location 141 and the second workstation 230, as shown by the lower double-headed arrow in fig. 1, so as to increase the number of cargo transportation levels in the warehousing system, and further improve the transportation efficiency of the cargo 70.

Illustratively, the warehousing system may also include a hoist positioned adjacent the support platform 220 for handling the goods 70 between the first station 210 and the second station 230.

The first transfer robot 30 is configured to transfer the goods 70 at the first temporary storage location 121 to the storage location 111, or transfer the goods 70 at the storage location 111 to the first temporary storage location 121. For example, referring to fig. 3, the first transfer robot 30 may include a first moving chassis 310, a supporting device 320, a first picking device 330, and a first driving device (not shown in the drawings). The supporting device 320 is vertically installed on the first moving chassis 310. The first goods-taking device 330 is vertically slidably connected with the supporting device 320. The first driving device is connected with the first goods taking device 330, and the first driving device can drive the first goods taking device 330 to ascend and descend along the supporting device 320, so that the first goods taking device 330 can be opposite to the storage location 111 and the first temporary storage location 121 to take and place the goods 70 on the storage location 111 and the first temporary storage location 121.

When the first transfer robot 30 transfers the goods 70 stored in the storage position 111 to the first temporary storage position 121, first, the first moving chassis 310 drives the supporting device 320, the first goods taking device 330 and the first driving device to move to the position of the storage position 111 in the shelf 10. The first driving device responds to the signal that the first goods taking device 330 needs to perform lifting action, and drives the first goods taking device 330 to lift along the supporting device 320 to a height corresponding to the storage position 111 where the goods 70 are placed. The first goods taking device 330 takes the goods 70 on the storage position 111. Then, the first moving chassis 310 drives the supporting device 320, the first driving device, the first goods taking device 330 and the goods 70 on the first goods taking device 330 to move to the position of the first temporary storage location 121 in the shelf 10. The first driving device responds to the signal that the first goods taking device 330 needs to perform the lifting action again, and drives the first goods taking device 330 to lift along the supporting device 320 to the height opposite to the first temporary storage position 121 where the goods 70 are to be placed. The first goods taking device 330 places the goods 70 on the first temporary storage location 121.

When the first transfer robot 30 transfers the goods 70 in the first temporary storage location 121 to the storage location 111, first, the first moving chassis 310 drives the supporting device 320, the first goods taking device 330 and the first driving device to move to the position of the first temporary storage location 121 in the shelf 10. The first driving device drives the first goods taking device 330 to ascend and descend along the supporting device 320 to a height opposite to the first temporary storage position 121 where the goods 70 are placed in response to a signal that the first goods taking device 330 needs to perform an ascending and descending action. The first goods taking device 330 takes the goods 70 on the first temporary storage location 121. Then, the first moving chassis 310 drives the supporting device 320, the first driving device, the first goods taking device 330 and the goods 70 on the first goods taking device 330 to move to the position of the storage position 111 in the shelf 10. The first driving device responds to the signal that the first goods taking device 330 needs to perform the lifting action again, and drives the first goods taking device 330 to lift along the supporting device 320 to the height opposite to the storage position 111 where the goods 70 are to be placed. The first pickup 330 places the cargo 70 on the storage location 111.

The second transfer robot 40 can move along the travel track group 130 and transfer the goods 70 on the first temporary storage location 121 to the first work station 210, or transfer the goods 70 of the first work station 210 to the first temporary storage location 121. Exemplarily, referring to fig. 4, the second transfer robot 40 includes a body 410, a second pickup device 420, a second driving device (not shown in the drawing), and a traveling roller group 430, and the body 410 may have a first receiving space therein for receiving goods. The walking roller set 430 is installed below the body 410, and a roller surface of the walking roller set 430 can be pressed against a track surface of the walking track set 130. The second driving device is connected to the walking roller set 430 to drive the walking roller set 430 to roll on the walking rail set 130. The second picking device 420 is connected to the body 410 for picking and placing the cargo 70 on the first temporary storage location 121 through the opening 132.

When the second transfer robot 40 transfers the goods 70 in the first temporary storage location 121 to the first workstation 210, first, the second driving device drives the walking roller set 430 to roll on the walking rail set 130 in response to a signal that the second transfer robot 40 needs to move, so as to drive the body 410, the second goods taking device 420 and the second driving device to move to the upper side of the first temporary storage location 121, and enable the second goods taking device 420 to extend out to be opposite to the opening 132. The second picking device 420 picks the goods 70 on the first temporary storage location 121 through the opening 132. Then, the second driving device responds to the signal that the second transfer robot 40 needs to move again, drives the walking roller set 430 to roll on the walking rail set 130, and drives the body 410, the second goods taking device 420 and the second driving device to move to the first workstation 210, so that the first workstation 210 can perform operations such as sorting, loading and unloading of the goods 70.

When the second transfer robot 40 transfers the goods 70 at the first workstation 210 to the first temporary storage location 121, first, the second driving device drives the walking roller set 430 to roll in response to a signal that the second transfer robot 40 needs to move, so as to drive the body 410, the second goods taking device 420 and the second driving device to move to the first workstation 210, and the second goods taking device 420 takes the goods 70 at the first workstation 210. Then, the second driving device responds to the signal that the second transfer robot 40 needs to move again, drives the walking roller set 430 to roll on the walking rail set 130, and rolls on the walking rail set 130, so as to drive the body 410, the second goods taking device 420 and the second driving device to move above the first temporary storage location 121, and enable the second goods taking device 420 to extend out to be opposite to the opening 132. The second pick-up device 420 places the cargo 70 on the first temporary storage location 121 through the opening 132.

Illustratively, referring to fig. 4 and 5, the second pickup device 420 may include a reel 421, a draw rope 422, a first motor (not shown in the drawings), and a claw 423. The reel 421 is horizontally disposed, for example, the reel 421 may be horizontally mounted on the body 410 of the second transfer robot 40, and the reel 421 can rotate around its axis. The first motor is connected to the spool 421 to drive the spool 421 to rotate. One end of the cord 422 is connected to the outer circumferential surface of the spool 421, the cord 422 is wound around the spool 421, and the other end of the cord 422 extends downward and is connected to the pawl 423. The jaws 423 can be snapped onto the cargo 70. When the second goods taking device 420 takes the goods 70 from the first temporary storage location 121, the first motor drives the reel 421 to rotate, so that the pulling rope 422 wound on the reel 421 is released, one end of the pulling rope 422 connected with the claw 423 descends to the lower part of the goods 70, and the claw 423 is clamped on the bottom surface of the goods 70. The first motor drives the reel 421 to rotate reversely, so that the pulling rope 422 is wound on the reel 421, and the pulling rope 422 drives the pawl 423 and the goods 70 to move upwards to leave the first temporary storage location 121, so as to take the goods 70 on the first temporary storage location 121.

When the second goods taking device 420 places the goods 70 on the first temporary storage position 121, the first motor drives the reel 421 to rotate, so that the pulling rope 422 wound on the reel 421 is released, the goods 70 drives the claw 423 and the pulling rope 422 to descend under the action of gravity, the goods 70 are placed on the first temporary storage position 121, and the claw 423 releases the clamping with the goods 70. The first motor drives the reel 421 to rotate reversely, so that the pulling rope 422 is wound on the reel 421, and the pulling rope 422 drives the pawl 423 to move upwards to leave the first temporary storage position 121.

In some implementations of the disclosed embodiment, the bottom end of the first accommodating space may be open, and the pulling rope 422 and the claw 423 may extend through the open bottom end to take and place the goods 70.

In other implementations of the embodiments of the present disclosure, a side end of the first accommodating space may be openly disposed. The second goods taking device 420 may further include a first telescopic mechanism, the first telescopic mechanism has a function of extending and retracting along a horizontal direction, the first telescopic mechanism is connected to the reel 421, and the first telescopic mechanism can drive the reel 421 to extend out through an open side end, so as to take and place the goods 70 downward. Illustratively, the first telescopic mechanism may be an electric cylinder, and a telescopic rod of the electric cylinder is connected with the reel 421. It is understood that the first telescopic mechanism may also be other mechanisms with telescopic functions, and the details of the embodiments of the present disclosure are not repeated herein.

When the second goods taking device 420 takes and places the goods, the first retractable mechanism can drive the reel 421 to move away from the body 410 through the open side end along the horizontal direction, for example, as shown in fig. 4, the first retractable mechanism can drive the reel 421 to horizontally extend rightward so as to take and place the goods 70. After the goods are taken and placed, the first telescopic mechanism drives the reel 421 to move towards the body 410 along the horizontal direction through the opened side end, so as to retract the reel 421 into the first accommodating space. With such an arrangement, in the process of picking and placing the goods, a sufficient space can be left for the walking roller set 430, the second driving device and the like, and the structural layout of the second transfer robot 40 is optimized.

In some implementations of the disclosed embodiment, the second transfer robot 40 may also pick and place the goods 70 on the first workstation 210. For example, the bottom end of the first receiving space may be closed, and the side end may be open. The bottom of first accommodation space can be provided with second telescopic machanism and first jacking device, and second telescopic machanism has the flexible function of edge horizontal direction, and first jacking device is connected on second telescopic machanism, and first jacking device is used for placing goods 70, and first jacking device has the jacking function. Exemplarily, the second telescoping mechanism may be an electric cylinder, the telescoping rod of which is provided with a platform. It is understood that the second telescopic mechanism may also be other mechanisms with telescopic function, and the details of the embodiments of the present disclosure are not repeated here.

When the second transfer robot 40 places the goods 70 in the first workstation 210, the second telescopic mechanism drives the first jacking device and the goods 70 to move away from the body 410 along the horizontal direction through the open side end of the first accommodating space, so as to extend the first jacking device and the goods 70 from the first accommodating space. Then, the first jacking device drives the goods to ascend to dock the first workstation 210, so that the first workstation 210 can sort, load and unload, etc. the goods. After the operations of sorting, loading and unloading goods and the like are completed, the first jacking device descends, and the second telescopic mechanism drives the first jacking device to move towards the body 410 along the horizontal direction through the opened side end of the first accommodating space, so that the first jacking device is retracted into the first accommodating space. When the second transfer robot 40 takes the goods 70 of the first workstation 210, the second telescopic mechanism drives the first jacking device to move away from the body 410 in the horizontal direction via the open side end of the first accommodating space, the first jacking device ascends to butt the first workstation 210, and the goods 70 of the first workstation 210 are placed on the first jacking device. Then, the first jacking device drives the cargo 70 to descend, and the second telescoping mechanism drives the first jacking device and the cargo 70 to move towards the body 410 along the horizontal direction through the open side end of the first accommodating space, so as to accommodate the first jacking device and the cargo 70 in the first accommodating space.

In some implementations of the embodiment of the present disclosure, referring to fig. 4 and 6, the second transfer robot 40 may further be provided with a climbing mechanism 440, and the climbing mechanism 440 is configured to be engaged with the climbing rail set 150 to drive the second transfer robot 40 to descend to the ground along the climbing rail set 150, or drive the second transfer robot 40 to ascend to the walking rail set 130 along the climbing rail set 150. The second transfer robot 40 is capable of transferring the goods 70 between the first temporary storage location 121 and the second work station 230. So set up, can improve warehouse system's cargo handling efficiency. For example, when the second temporary storage space 141 is full and it is still necessary to transfer some of the goods 70 on the storage location 111 to the second workstation 230, the first transfer robot 30 may transfer the goods 70 on the storage location 111 to the first temporary storage space 121; the second transfer robot 40 may take the cargo 70 on the first temporary storage location 121, descend to the ground along the climbing rail set 150, and roll the walking roller set 430 on the ground to transfer the cargo 70 to the second workstation 230.

When the second temporary storage location 141 is full and the cargo 70 needs to be transported from the second workstation 230 to the storage location 111, the second transfer robot 40 may transfer the cargo 70 from the second workstation 230 to the shelf 10, climb along the climbing rail set 150 to the walking rail set 130, roll the walking roller set 430 on the walking rail set 130, and place the cargo 70 on the first temporary storage location 121; the first transfer robot 30 transfers the cargo 70 on the first temporary storage location 121 to the storage location 111.

The climbing mechanism 440 may include at least two gears 441 and a third drive (not shown in the figures), the at least two gears 441 being engaged with the at least two rack rails 151, respectively. The third driving means is connected to the two gears 441 to drive the gears 441 to roll along the rack rails 151. Illustratively, referring to fig. 4, the number of the gears 441 in the climbing mechanism 440 may be two, and the number of the rack rails 151 in the climbing rail set 150 may also be two, one gear 441 being engaged with one rack rail 151, and the other gear 441 being engaged with the other rack rail 151. For example, the number of the gears 441 may be multiple, the plurality of gears 441 may be divided into two gear sets, and the plurality of gears 441 in the same gear set may all mesh with the same rack rail 151.

Illustratively, at least two gears 441 may be installed at opposite sides of the body 410, and correspondingly, at least two rack rails 151 are respectively installed at opposite sides of the body 410. When the at least two gears 441 roll along the at least two rack rails 151, a lifting force may be applied to the body 410 through opposite sides of the body 410 to drive the second transfer robot 40 to lift along the rack rails 151. For example, at least two gears 441 may be respectively installed at the periphery of the body 410, and correspondingly, at least two rack rails 151 are respectively installed at the periphery of the body 410. When the at least two gears 441 roll along the at least two rack rails 151, a lifting force may be applied to the body 410 through the periphery of the body 410 to drive the second transfer robot 40 to lift along the rack rails 151.

In some implementations of the disclosed embodiment, the second transfer robot 40 may also be configured to transfer the goods 70 on the second temporary storage location 141 to the second workstation 230, or to transfer the goods 70 of the second workstation 230 to the second temporary storage location 141. So set up, can improve warehouse system's cargo handling efficiency. For example, when the third transfer robots 50 are occupied and it is necessary to transfer the goods 70 stored in the storage location 111 to the second workstation 230, the first transfer robot 30 may place the goods 70 stored in the storage location 111 in the second temporary storage location 141, and the second transfer robot 40 may descend to the ground along the climbing rail set 150 and transfer the goods 70 stored in the second temporary storage location 141 to the second workstation 230. Alternatively, the first transfer robot 30 may place the cargo 70 stored in the storage position 111 in the first temporary storage position 121, and the second transfer robot 40 may take the cargo 70 on the first temporary storage position 121, descend to the ground along the climbing rail group 150, and transfer the cargo 70 to the second workstation 230.

When the third transfer robots 50 are occupied and it is necessary to transfer the goods 70 from the second workstation 230 to the storage location 111, the second transfer robot 40 may descend to the ground along the climbing rail group 150 to transfer the goods 70 from the second workstation 230 to the second temporary storage location 141, and the first transfer robot 30 may place the goods 70 on the second temporary storage location 141 on the storage location 111. Alternatively, the second transfer robot 40 may descend to the ground along the climbing rail group 150, take the goods 70 of the second workstation 230, ascend to the traveling rail group 130 along the climbing rail group 150, travel on the traveling rail group 130, place the goods 70 on the first temporary storage location 121, and the first transfer robot 30 may place the goods 70 on the first temporary storage location 121 on the storage location 111.

The second transfer robot 40 can pick and place the goods 70 on the second temporary storage location 141 by the second jacking device and the fork arm. Illustratively, referring to fig. 7, the second transfer robot 40 is further provided with a second jacking device 450 and a yoke 460, the second jacking device 450 is mounted on the top end of the second transfer robot 40, and the second jacking device 450 is connected with the yoke 460 to drive the yoke 460 to ascend and descend. The fork arm 460 may be inserted into the recess 142 on the second temporary storage plate 140. When the fork arm 460 is lifted by the second lifting device 450, the fork arm 460 can be inserted into the groove 142 from the bottom of the second temporary storage plate 140 to lift the cargo 70 placed on the second temporary storage location 141. Then, the traveling roller set 430 of the second transfer robot 40 moves the yoke 460 and the goods 70 placed on the yoke 460 out of the second temporary storage plate 140 from the notch of the groove 142, thereby enabling the goods 70 to be taken out of the second temporary storage position 141. After the fork arm 460 lifts up the cargo 70, the walking roller set 430 of the second transfer robot 40 can move the fork arm 460 and the cargo 70 on the fork arm 460 to the second temporary storage plate 140, and insert the fork arm 460 into the groove 142 through the slot of the groove 142, so that the cargo 70 is located above the second temporary storage position 141. The fork arm 460 is then lowered by the second jacking arrangement 450 to place a container on the second staging position 141.

For example, referring to fig. 8 and 9, the third transfer robot 50 may include a second moving chassis 510, a second lift-up device 450, and a yoke 460, the second lift-up device 450 being mounted on a top end of the second moving chassis 510, the second lift-up device 450 being connected to the yoke 460 to drive the yoke 460 to ascend and descend. For the working process of the third transfer robot 50 to pick and place the goods 70 on the second temporary storage location 141, reference may be made to the above description of the second transfer robot 40 to pick and place the goods 70 on the second temporary storage location 141, and details of this embodiment of the disclosure are not repeated.

In some implementations of the embodiment of the present disclosure, referring to fig. 8 and 10, the third transfer robot 50 may further be provided with a climbing mechanism 440, and the climbing mechanism 440 is configured to be engaged with the climbing rail set 150 to drive the third transfer robot 50 to ascend to the traveling rail set 130 along the climbing rail set 150, or drive the third transfer robot 50 to descend to the ground along the climbing rail set 150. The third transfer robot 50 may further include a second moving chassis 510 and a fourth driving device (not shown in the drawings), the second moving chassis 510 includes a walking roller set 430, and when the third transfer robot 50 is raised onto the walking rail set 130, a roller surface of the walking roller set 430 is pressed against a rail surface of the walking rail set 130. The fourth driving means is connected to the traveling roller set 430 to drive the traveling roller set 430 to roll on the traveling rail set 130. By this configuration, the third transfer robot 50 can transfer the goods 70 between the second temporary storage location 141 and the first workstation 210, thereby improving the goods transfer efficiency of the warehousing system.

For example, when the first temporary storage space 121 is full and the cargo 70 on the storage position 111 needs to be transported to the first work station 210, the first transfer robot 30 may transport the cargo 70 on the storage position 111 to the second temporary storage space 141. The third transfer robot 50 may take the cargo 70 on the second temporary storage location 141, climb along the climbing rail group 150 to the walking rail group 130, and the walking roller group 430 may roll on the walking rail group 130 to transfer the cargo 70 to the first workstation 210.

When the first temporary storage space 121 is full and the goods 70 need to be transported from the first workstation 210 to the storage space 111, the second transfer robot 40 may climb along the climbing rail set 150 to the walking rail set 130, and the walking roller set 430 may roll on the walking rail set 130, take the goods 70 at the first workstation 210, and then descend along the climbing rail set 150 to the ground, and place the goods 70 on the second temporary storage space 141. The first transfer robot 30 can transfer the cargo 70 on the second temporary storage location 141 to the storage location 111.

In some implementations of the disclosed embodiment, referring to fig. 11, the third transfer robot 50 may be further provided with a second pick-up device 420 for picking up and placing the goods 70 on the first temporary storage location 121. Illustratively, the first moving chassis 310 has a second receiving space therein, and the second goods-taking device 420 can be installed in the second receiving space, and the second goods-taking device 420 can extend out of the second receiving space and take and place the goods 70 on the first temporary storage location 121 through the opening 132. So set up, can improve warehouse system's cargo handling efficiency. For example, when the second transfer robots 40 are occupied and it is necessary to transfer the goods 70 stored in the storage locations 111 to the first workstation 210, the first transfer robot 30 may transfer the goods 70 stored in the storage locations 111 to the first temporary storage location 121, the third transfer robot 50 may climb along the climbing rail group 150 onto the traveling rail group 130, take the goods 70 stored in the first temporary storage location 121 through the second goods taking device 420, and the traveling roller group 430 rolls on the traveling rail group 130 to transfer the goods 70 to the first workstation 210. Alternatively, the first transfer robot 30 may transfer the goods 70 on the storage location 111 to the second temporary storage location 141, the third transfer robot 50 may take the goods 70 on the second temporary storage location 141, climb along the climbing rail group 150 to the traveling rail group 130, and the traveling roller group 430 rolls on the traveling rail group 130 to transfer the goods 70 to the first workstation 210.

When the second transfer robots 40 are occupied and the goods 70 in the first workstation 210 need to be transferred to the storage location 111, the third transfer robot 50 may climb onto the travel rail group 130 along the climbing rail group 150, the travel roller group 430 rolls on the travel rail group 130, the goods 70 in the first workstation 210 are taken, the goods 70 are transferred to the first temporary storage location 121, and the first transfer robot 30 transfers the goods 70 in the first temporary storage location 121 to the storage location 111. Alternatively, the third transfer robot 50 may climb the climbing rail group 150 to the traveling rail group 130, and the traveling roller group 430 rolls on the traveling rail group 130, to take the cargo 70 on the first workstation 210, descend to the bottom surface along the climbing rail group 150, and transfer the cargo 70 to the second temporary storage location 141. The first transfer robot 30 transfers the cargo 70 on the second temporary storage place 141 onto the storage place 111.

It should be noted that, when the second transfer robot 40 and the third transfer robot 50 are capable of picking and placing the goods 70 on the first temporary storage location 121, picking and placing the goods 70 on the second temporary storage location 141, and climbing along the climbing rail set 150, the second transfer robot 40 and the third transfer robot 50 may be compatible with the same transfer robot, so as to reduce the complexity of the warehousing system and improve the convenience of the warehousing system in control and maintenance.

Referring to fig. 1, the warehousing system may further include a fourth transfer robot 60, and the fourth transfer robot 60 has a climbing mechanism 440 for engaging with the climbing rail set 150 to lift the fourth transfer robot 60 along the climbing rail set 150. For example, the fourth transfer robot 60 may be provided with a third pick-up device (not shown in the drawings) for picking up and placing the goods 70 on the storage location 111, the first temporary storage location 121, and/or the second temporary storage location 141. The fourth transfer robot 60 can transfer the goods 70 between the storage location 111 and the first temporary storage location 121, can also transfer the goods 70 between the storage location 111 and the second temporary storage location 141, and can also transfer the goods 70 between the first temporary storage location 121 and the second temporary storage location 141, so that a transfer path of the goods 70 is increased, and the goods transfer efficiency of the warehousing system is increased.

Referring to fig. 12, an embodiment of the present disclosure further provides a warehousing control method, which in some implementations may include:

and S110, instructing the second transfer robot to transfer the goods to be warehoused at the first workstation to the first temporary storage position.

For example, when the goods 70 are put into the warehouse, that is, when the goods to be warehoused at the first workstation 210 are transported to the shelf 10, the first workstation 210 at which the goods to be warehoused are located may be acquired first. For example, when there are a plurality of first workstations 210, the number of the first workstation 210 where the goods to be warehoused are located needs to be acquired. Meanwhile, a target storage location of the goods to be warehoused at the first workstation 210, that is, a location of the storage location 111 where the goods to be warehoused at the first workstation 210 need to be placed, may also be acquired. After the first workstation 210 where the goods to be warehoused are located is determined, the second transfer robot 40 may be instructed to transfer the goods to be warehoused of the first workstation 210 to the first temporary storage location 121 for temporary storage. Then, the second transfer robot 40 may return to the first work station 210 again to transfer other goods to be warehoused, for example.

And S120, instructing the first transfer robot to transfer the goods to be warehoused in the first temporary storage position to a target storage position corresponding to the goods to be warehoused.

After the second transfer robot 40 transfers the goods to be warehoused to the first temporary storage location 121, the first transfer robot 30 may be instructed to take the goods to be warehoused on the first temporary storage location 121 and place the goods to be warehoused on the target storage location.

In the warehousing control method of the embodiment of the present disclosure, the second transfer robot 40 transfers the goods to be warehoused of the first workstation 210 to the first temporary storage location 121, and the second transfer robot 40 does not need to be provided with a supporting device and a first driving device, so that compared with the first transfer robot 30, the second transfer robot 40 has a light weight and a fast moving speed, and the efficiency of goods transfer is improved. When the first transfer robot 30 transfers the goods to be warehoused at the first temporary storage location 121 to the target storage location, the first transfer robot 30 moves near the shelf 10, the moving distance of the first transfer robot 30 is shortened, the time consumed by the first transfer robot 30 in moving is reduced, and the efficiency of goods transfer is further improved.

Illustratively, the stocker system may further include a third transfer robot. The warehousing control method may further include: if the second transfer robots 40 are occupied, the third transfer robot 50 is instructed to climb to the traveling track group 130, and transfer the goods to be warehoused of the first workstation 210 to the first temporary storage location 121, so as to reduce the waiting time for the available second transfer robots 40 and improve the efficiency of goods transfer.

When the warehousing system further includes the second workstation 230 located below the first workstation 210, and the second temporary storage location 141 located below the first temporary storage location 121, referring to fig. 12, the warehousing control method may further include:

and S130, instructing the third transfer robot to transfer the goods to be warehoused at the second workstation to the second temporary storage position.

When the goods 70 are put into storage, that is, when the goods to be put into storage at the second workstation 230 are transported to the shelf 10, the second workstation 230 at which the goods to be put into storage are located may be acquired first. For example, when there are a plurality of second workstations 230, it is necessary to acquire the number of the second workstation 230 at which the goods to be warehoused are located. Meanwhile, a target storage location of the goods to be warehoused at the second workstation 230, that is, a location of the storage location 111 where the goods to be warehoused at the second workstation 230 need to be placed, may also be acquired. After determining the second workstation 230 where the goods to be warehoused are located, the third transfer robot 50 may be instructed to transfer the goods to be warehoused of the second workstation 230 to the second temporary storage location 141 for temporary storage. Then, the third transfer robot 50 may return to the second work station 230 again to transfer other goods to be warehoused, for example.

And S140, instructing the first transfer robot to transfer the goods to be warehoused in the second temporary storage position to the corresponding target storage position.

After the third transfer robot 50 transfers the goods to be warehoused onto the second temporary storage location 141, the third transfer robot 50 may be instructed to take the goods to be warehoused on the second temporary storage location 141 and place the goods to be warehoused on the target storage location.

In the warehousing control method according to the embodiment of the disclosure, a first cargo handling layer may be formed between the first workstation 210 and the first temporary storage location 121, as shown by the upper double-headed arrow in fig. 1. A second cargo carrying layer may be formed between the second workstation 230 and the second temporary storage 141, as shown by the lower double-headed arrow in fig. 1, so as to increase the number of cargo transportation layers in the warehousing system, thereby improving the warehousing efficiency of the cargo.

Illustratively, the warehousing control method may further include: if the third transfer robots 50 are occupied, instructing the second transfer robot 40 to transfer the goods to be warehoused at the second workstation 230 to the second temporary storage location 141 or the first temporary storage location 121; the first transfer robot 30 is instructed to transfer the goods to be warehoused in the first temporary storage position 121 or the second temporary storage position 141 to the corresponding storage position, so that the time for waiting for the available third transfer robot 50 is reduced, and the efficiency of goods transfer is improved.

In other implementation manners of the embodiments of the present disclosure, referring to fig. 13, the entering control method may include:

s210, acquiring a workstation where goods to be warehoused are located and a target storage location; the work station where the goods to be warehoused are located is a first work station, and the temporary storage position is a first temporary storage position; the work station where the goods to be warehoused are located is a second work station, and the temporary storage position is a second temporary storage position.

When the warehousing system comprises the first workstation 210 and the second workstation 230, the temporary storage position is a first temporary storage position when goods to be warehoused are at the first workstation 210. A first cargo-handling level may be formed between the first workstation 210 and the first temporary storage location 121, as indicated by the upper double-headed arrow in fig. 1. In the subsequent process of transporting the goods, the second transfer robot 40 may be instructed to transport the goods to be warehoused of the first workstation 210 to the first temporary storage location 121, for example.

When the goods to be warehoused are at the second workstation 230, the temporary storage position is a second temporary storage position. A second cargo-handling level may be formed between the second workstation 230 and the second buffer 141, as indicated by the lower double-headed arrow in fig. 1. In the subsequent cargo handling process, the third transfer robot 50 may be instructed to transfer the cargo to be warehoused at the second workstation 230 to the second temporary storage location 141, thereby increasing the number of cargo transportation levels in the warehousing system to further improve the handling efficiency of the cargo 70.

Referring to fig. 13, the warehousing control method may further include:

and S220, if the second transfer robots are occupied, indicating the third transfer robot to climb to the walking track group, and transferring the goods to be warehoused of the first workstation to the first temporary storage position or the second temporary storage position.

After determining that the temporary storage bit is the first temporary storage bit 121, it may be determined whether the second transfer robot 40 is occupied. Illustratively, the number of available second transfer robots 40 is acquired, and it is determined whether or not the second transfer robots 40 are all occupied based on the number of available second transfer robots 40. If the second transfer robots 40 are not all occupied, the available second transfer robots 40 are instructed to transfer the goods to be warehoused at the first workstation 210 to the first temporary storage location 121.

For example, when the second transfer robot 40 is not occupied, it may be determined whether the first temporary storage bit 121 is full, for example, the number of available first temporary storage bits 121 may be acquired, and it may be determined whether the first temporary storage bit 121 is full according to the number of available first temporary storage bits 121. If the first temporary storage space 121 is not full, the second transfer robot 40 may be instructed to transfer the goods to be warehoused at the first workstation 210 to the first temporary storage space 121. Then, the first transfer robot 30 may be instructed to transfer the goods to be warehoused on the first temporary storage location 121 to the target storage location.

If the first temporary storage space 121 is full, the second transfer robot 40 may be instructed to descend to the ground along the climbing rail set 150 to transfer the goods to be warehoused at the first workstation 210 onto the second temporary storage space 141. Then, the first transfer robot 30 may be instructed to transfer the to-be-warehoused goods on the second temporary storage location 141 to the target temporary storage location. With such an arrangement, the waiting time for the available first temporary storage position 121 can be reduced or eliminated, and the carrying efficiency of the goods can be improved.

If the second transfer robots 40 are occupied, that is, if there is no available second transfer robot 40, the third transfer robot 50 may be instructed to climb the climbing track group 150 onto the traveling track group 130 to transfer the goods to be warehoused at the first workstation 210 to the first temporary storage location 121 or the second temporary storage location 141, so that the time for waiting for the available second transfer robot 40 may be reduced or eliminated, and the transfer efficiency of the goods may be improved.

For example, when the second transfer robot 40 is occupied, it is also possible to determine whether the first temporary storage area 121 is full. If the first temporary storage space 121 is not fully occupied, the third transfer robot 50 may transfer the goods to be warehoused at the first workstation 210 to the first temporary storage space 121 after climbing to the travel track group 130.

If the first temporary storage location 121 is full, the third transfer robot 50 is instructed to ascend to the traveling track group 130, then take the goods to be warehoused on the first workstation 210, descend to the bottom surface along the ascending track group 150, and transfer the goods to be warehoused to the second temporary storage location 141. Then, the first transfer robot 30 may be instructed to transfer the cargo to be warehoused on the second temporary storage location 141 to the target storage location. With such an arrangement, the time for waiting for the available first temporary storage position 121 can be reduced or eliminated, and the carrying efficiency of the goods can be improved.

Referring to fig. 13, the warehousing control method may further include:

and S230, if the third transfer robots are occupied, indicating the second transfer robot to descend to the ground, and transferring the goods to be warehoused of the second workstation to the first temporary storage position or the second temporary storage position.

After determining that the temporary storage bit is the second temporary storage bit 141, it may be determined whether the third transfer robot 50 is occupied. For example, the number of available third transfer robots 50 may be acquired, and whether the third transfer robots 50 are all occupied may be determined based on the number of available third transfer robots 50. If the third transfer robots 50 are not all occupied, the available third transfer robots 50 are instructed to transfer the goods 70 of the second workstation 230 to the second temporary storage locations 141.

For example, when the third transfer robot 50 is not occupied, it may be determined whether the second temporary storage bit 141 is full, for example, the number of available second temporary storage bits 141 may be acquired, and it may be determined whether the second temporary storage bit 141 is full according to the number of available second temporary storage bits 141. If the second temporary storage space 141 is not full, the third transfer robot 50 may be instructed to transfer the goods to be warehoused at the second workstation 230 to the second temporary storage space 141. Then, the first transfer robot 30 may be instructed to transfer the cargo to be warehoused on the second temporary storage location 141 to the target storage location.

If the second temporary storage space 141 is full, the third transfer robot 50 may be instructed to climb to the travel track group 130 along the climbing track group 150 to transfer the goods to be warehoused at the second workstation 230 onto the first temporary storage space 121. Then, the first transfer robot 30 may be instructed to transfer the goods to be warehoused on the first temporary storage location 121 to the target temporary storage location. With such an arrangement, the time for waiting for the available second temporary storage position 141 can be reduced or eliminated, and the carrying efficiency of the goods can be improved.

If the third transfer robots 50 are occupied, that is, if there is no available third transfer robot 50, the second transfer robot 40 may be instructed to descend to the ground along the climbing rail set 150 to transfer the goods to be warehoused at the second workstation 230 to the second temporary storage location 141, so that the time for waiting for the available third transfer robot 50 may be reduced or eliminated, and the transfer efficiency of the goods may be improved.

For example, when all the third transfer robots 50 are occupied, it is also possible to determine whether or not the second temporary storage space 141 is full. If the second temporary storage space 141 is not filled, the second transfer robot 40 may transfer the goods to be warehoused at the second workstation 230 to the second temporary storage space 141 after descending to the ground. Then, the first transfer robot 30 may be instructed to transfer the cargo to be warehoused on the second temporary storage location 141 to the target storage location.

If the second temporary storage location 141 is full, the second transfer robot 40 may be instructed to descend to the travel track group 130, then pick up the goods to be warehoused on the second workstation 230, climb to the travel track group 130 along the climb track group 150, and transfer the goods to be warehoused to the first temporary storage location 121. Then, the first transfer robot 30 may be instructed to transfer the goods to be warehoused on the first temporary storage location 121 to the target storage location. With such an arrangement, the time for waiting for the available second temporary storage position 141 can be reduced or eliminated, and the carrying efficiency of the goods can be improved.

Referring to fig. 14, an embodiment of the present disclosure further provides a warehouse-out control method, where the method includes:

s310, determining a first storage position where goods to be delivered out of the warehouse are located and a corresponding first workstation.

When the goods 70 are delivered, that is, the goods to be delivered from the shelf 10 are transported to the first workstation 210, the first storage location where the goods to be delivered are located and the first workstation 210 of the goods to be delivered can be obtained first. For example, when there are a plurality of first stations 210, the number of the first station 210 needs to be acquired.

And S320, instructing the first transfer robot to transfer the goods to be delivered from the warehouse to the first temporary storage position, wherein the goods are stored in the first storage position.

After the first storage location where the goods to be delivered out of the warehouse are located is determined, the first transfer robot 30 may be instructed to transfer the goods to be delivered out of the warehouse in the first storage location to the first temporary storage location 121 for temporary storage. Then, for example, after the transfer is completed, the first transfer robot 30 may return to the rack 10 to transfer other goods to be delivered.

S330, the second transfer robot is instructed to transfer the goods to be delivered from the warehouse to the first workstation at the first temporary storage position.

After the first transfer robot 30 transfers the goods to be delivered to the first temporary storage location 121, the second transfer robot 40 may be instructed to take the goods to be delivered from the first temporary storage location 121 and transfer the goods to be delivered to the first workstation 210.

In the warehouse-out control method according to the embodiment of the present disclosure, the first transfer robot 30 transfers the goods to be warehoused on the first storage location to the first temporary storage location 121, and the first transfer robot 30 moves near the shelf 10, so that the moving distance of the first transfer robot 30 is shortened, the time consumed by the first transfer robot 30 in moving is reduced, and the efficiency of goods transfer is improved. Meanwhile, the second transfer robot 40 transfers the goods to be delivered from the first temporary storage location 121 to the first workstation 210, and the second transfer robot 40 does not need to be provided with a supporting device, a first driving device and the like, so that compared with the first transfer robot 30, the second transfer robot 40 has the advantages of light weight, high moving speed and further improved goods transfer efficiency.

Exemplarily, the ex-warehouse control method may further include: if the second transfer robots 40 are all occupied, the third transfer robot 50 is instructed to climb to the travel track group 130, and transfer the goods to be delivered from the first temporary storage location 121 to the first workstation 210, so as to reduce the waiting time for the available second transfer robots 40 and improve the efficiency of goods transfer.

When the warehousing system further includes the second workstation 230 located below the first workstation 210, and the second temporary storage location 141 located below the first temporary storage location 121, referring to fig. 14, the ex-warehouse control method may include:

s340, determining a second storage position where goods to be delivered out of the warehouse are located and a corresponding second workstation.

When the goods 70 are delivered, that is, the goods to be delivered from the shelf 10 are transported to the second workstation 230, the second storage location where the goods to be delivered are located and the second workstation 230 of the goods to be delivered can be obtained first. For example, when there are a plurality of second stations 230, the number of the second station 230 needs to be acquired.

And S350, instructing the first transfer robot to transfer the goods to be delivered from the warehouse to the second temporary storage position, wherein the second storage position is stored in the warehouse.

After the second storage location where the goods to be delivered out of the warehouse are located is determined, the first transfer robot 30 may be instructed to transfer the goods to be delivered out of the warehouse in the second storage location to the second temporary storage location 141 for temporary storage. Then, for example, after the transfer is completed, the first transfer robot 30 may return to transfer other goods to be delivered.

And S360, instructing the third transfer robot to transfer the goods to be delivered from the second temporary storage position to the second workstation.

After the first transfer robot 30 transfers the goods to be delivered to the second temporary storage location 141, the third transfer robot 50 may be instructed to take the goods to be delivered from the second temporary storage location 141 and transfer the goods to be delivered to the second workstation 230.

In the method for controlling warehouse-out according to the embodiment of the present disclosure, a first cargo handling layer may be formed between the first temporary storage location 121 and the first workstation 210, i.e. as shown by the upper double-headed arrow in fig. 1. A second cargo handling layer may be formed between the second temporary storage location 141 and the second workstation 230, as shown by the lower double-headed arrow in fig. 1, so as to increase the number of cargo transportation layers in the warehousing system, thereby improving the efficiency of warehousing the cargo.

Exemplarily, the ex-warehouse control method may further include: if the second transfer robots 40 are occupied, instructing the first transfer robot 30 to place the goods to be delivered from the warehouse in the first storage position in the first temporary storage position 121 or the second temporary storage position 141; the third transfer robot 50 is instructed to transfer the goods to be delivered from the first temporary storage location 121 or the second temporary storage location 141 to the first workstation 210, so as to reduce the time for waiting for the available second transfer robot 40 and improve the goods transfer efficiency.

Illustratively, the ex-warehouse control method may further include: if the third transfer robots 50 are occupied, instructing the first transfer robot 30 to place the goods to be delivered from the warehouse in the second storage location in the first temporary storage location 121 or the second temporary storage location 141; the second transfer robot 40 is instructed to transfer the goods to be delivered from the first temporary storage location 121 or the second temporary storage location 141 to the second workstation 230, so as to reduce the time for waiting for the available third transfer robot 50 and improve the goods transfer efficiency.

In further implementations of embodiments of the present disclosure, with reference to fig. 15, the ex-warehouse control method may include:

s410, obtaining a storage position where goods to be delivered out of a warehouse are located and a target workstation; the target workstation is a first workstation, and the temporary storage bit is a first temporary storage bit; the target workstation is a second workstation and the temporary storage bit is a second temporary storage bit.

Referring to fig. 15, when the warehousing system includes the first workstation 210 and the second workstation 230, the temporary storage location is the first temporary storage location 121 when the target workstation of the goods to be warehoused is the first workstation 210. A first cargo-handling level may be formed between the first workstation 210 and the first temporary storage location 121, as indicated by the upper double-headed arrow in fig. 1. In the subsequent cargo transfer process, for example, the first transfer robot 30 may be first instructed to transfer the cargo to be delivered from the storage location 111 to the first temporary storage location 121, and then the second transfer robot 40 may be instructed to transfer the cargo to be delivered from the first temporary storage location 121 to the first workstation 210.

If the destination station is the second station 230, the temporary storage bit is the second temporary storage bit 141. A second cargo-handling level may be formed between the second workstation 230 and the second buffer 141, as indicated by the lower double-headed arrow in fig. 1. In the subsequent cargo transfer process, for example, the first transfer robot 30 may be first instructed to transfer the cargo to be ex-warehouse at the storage location 111 to the second temporary storage location 141, and then the third transfer robot 50 may be instructed to transfer the cargo to be ex-warehouse at the second temporary storage location 141 to the second workstation 230. Thereby the quantity of the goods transportation layer in the warehousing system is increased to further improve the efficiency of goods handling.

Referring to fig. 15, the ex-warehouse control method further includes:

and S420, if the second transfer robots are occupied, instructing the first transfer robot to transfer the goods to be delivered from the warehouse to the first temporary storage position or the second temporary storage position, and instructing the third transfer robot to transfer the goods to be delivered from the warehouse to the first workstation.

When the temporary storage position is determined to be the first temporary storage position 121, it is determined whether the second transfer robot 40 is occupied. If the second transfer robots 40 are not all occupied, the first transfer robot 30 may be instructed to transfer the goods to be delivered from the storage location 111 to the first temporary storage location 121 or the second temporary storage location 141, and the available second transfer robots 40 may be instructed to transfer the goods to be delivered from the first temporary storage location 121 or the second temporary storage location 141 to the first workstation 210.

For example, when the second transfer robot 40 is not occupied, it may be determined whether the first temporary storage area 121 is full. If the first temporary storage space 121 is not full, the first transfer robot 30 may be instructed to transfer the goods to be delivered from the storage location 111 to the first temporary storage space 121. Then, the available second transfer robot 40 may be instructed to transfer the goods to be delivered from the first temporary storage location 121 to the first workstation 210.

If the first temporary storage area 121 is full, the first transfer robot 30 may be instructed to transfer the goods to be delivered from the storage area 111 to the second temporary storage area 141. Then, the available second transfer robot 40 may be instructed to descend to the ground, take the goods to be delivered out of the warehouse on the second temporary storage location 141, climb to the travel track group 130, and transfer the goods to be delivered out of the warehouse to the first workstation 210. With the arrangement, the time for waiting for the available first temporary storage position 121 can be reduced, and the efficiency of cargo handling is improved.

If the second transfer robots 40 are occupied, the first transfer robot 30 may be instructed to transfer the goods to be ex-warehouse at the storage location 111 to the first temporary storage location 121 or the second temporary storage location 141, and the third transfer robot 50 may be instructed to transfer the goods to be ex-warehouse at the first temporary storage location 121 or the second temporary storage location 141 to the first workstation 210. With this arrangement, the time for waiting for the available second transfer robot 40 can be reduced or eliminated, and the efficiency of cargo transfer can be improved.

For example, when the second transfer robot 40 is occupied, it may be determined whether the first temporary storage area 121 is full. If the first temporary storage space 121 is not full, the first transfer robot 30 may be instructed to transfer the goods to be delivered from the storage location 111 to the first temporary storage space 121. Then, the third transfer robot 50 may be instructed to climb to the travel track group 130 and transfer the goods to be delivered from the first temporary storage location 121 to the first workstation 210.

If the first temporary storage place 121 is full, the first transfer robot 30 may be instructed to transfer the cargo 70 of the storage place 111 to the second temporary storage place 141. Then, the third transfer robot 50 may be instructed to take the goods to be delivered from the second temporary storage location 141, climb to the travel track group 130, and transfer the goods to be delivered to the first workstation 210. With the arrangement, the time for waiting for the available first temporary storage position 121 can be reduced, and the efficiency of cargo handling is improved.

Referring to fig. 15, the ex-warehouse control method further includes:

and S430, if the third transfer robots are occupied, instructing the first transfer robot to place the goods to be delivered from the warehouse in the storage position in the first temporary storage position or the second temporary storage position, and instructing the second transfer robot to deliver the goods to be delivered from the warehouse in the first temporary storage position or the second temporary storage position to the second workstation.

When it is determined that the temporary storage space is the second temporary storage space 141, it may be determined whether the third transfer robot 50 is occupied. If the third transfer robots 50 are not all occupied, the first transfer robot 30 may be instructed to transfer the goods to be delivered from the storage location 111 to the first temporary storage location 121 or the second temporary storage location 141, and the available third transfer robots 50 may be instructed to transfer the goods to be delivered from the first temporary storage location 121 or the second temporary storage location 141 to the second workstation 230.

For example, when all the third transfer robots 50 are not occupied, it may be determined whether the second temporary storage space 141 is full. If the second temporary storage area 141 is not full, the first transfer robot 30 may be instructed to transfer the goods to be delivered from the storage area 111 to the second temporary storage area 141. Then, the available third transfer robot 50 may be instructed to transfer the goods to be delivered from the second temporary storage location 141 to the second workstation 230.

If the second temporary storage area 141 is full, the first transfer robot 30 may be instructed to transfer the goods to be delivered from the storage area 111 to the first temporary storage area 121. Then, the available third transfer robot 50 may be instructed to climb to the travel track group 130, take the goods to be delivered out of the warehouse on the first temporary storage location 121, descend to the ground, and transfer the goods to be delivered out of the warehouse to the second workstation 230. With this arrangement, the time for waiting for the available second temporary storage 141 can be reduced, and the efficiency of cargo handling can be improved.

If the third transfer robots 50 are all occupied, the first transfer robot 30 may be instructed to transfer the goods to be delivered from the storage location 111 to the first temporary storage location 121 or the second temporary storage location 141, and the second transfer robot 40 may be instructed to transfer the goods to be delivered from the first temporary storage location 121 or the second temporary storage location 141 to the second workstation 230. With this arrangement, the time for waiting for the third transfer robot 50 to be available can be reduced or eliminated, and the efficiency of cargo transfer can be improved.

For example, when all the third transfer robots 50 are occupied, it is determined whether or not the second temporary storage space 141 is full. If the second temporary storage space 141 is not full, the first transfer robot 30 may be instructed to transfer the goods to be delivered from the storage location 111 to the second temporary storage space 141. Then, the second transfer robot 40 may be instructed to descend to the ground to transfer the goods on the second temporary storage location 141 to the second workstation 230.

If the second temporary storage area 141 is full, the first transfer robot 30 may be instructed to transfer the goods to be delivered from the storage area 111 to the first temporary storage area 121. Then, the second transfer robot 40 may be instructed to take the goods to be delivered from the first temporary storage location 121, descend to the ground, and transfer the goods to be delivered from the first temporary storage location 121 to the second workstation 230. With such an arrangement, the time for waiting for the available second temporary storage position 141 can be reduced, and the efficiency of cargo handling can be improved.

The embodiment of the present disclosure further provides a computer-readable storage medium, in which computer instructions are stored, and when the computer instructions are executed by a processor, the computer instructions are used to implement the warehousing control method and/or the ex-warehouse control method.

The embodiment of the present disclosure further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the warehousing control method and/or the ex-warehouse control method are/is implemented.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand 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; such modifications or substitutions do not depart from the scope of the embodiments of the present disclosure by the essence of the corresponding technical solutions.

Claims

1. A warehousing system, comprising:

a first workstation;

the storage rack comprises a storage plate and a first temporary storage plate which are arranged in parallel at intervals, wherein the first temporary storage plate is positioned above the storage plate and is provided with a first temporary storage position, and the storage plate is provided with a storage position;

a first transfer robot configured to transfer the goods on the storage location onto the first temporary storage location or transfer the goods on the first temporary storage location onto the storage location;

2. The warehousing system of claim 1, wherein said shelves are a plurality of, said shelves being arranged in parallel and spaced apart; the first temporary storage plate of each shelf is provided with a plurality of first temporary storage positions which are arranged along the extending direction of the first temporary storage plate;

3. The warehousing system of claim 2, wherein the second transfer robot comprises a body, a walking roller set, a second pick device and a second driving device; the walking roller group is arranged below the body, and the roller surface of the walking roller group can be pressed on the track surface of the walking track group; the second driving device is connected with the walking roller group to drive the walking roller group to roll on the walking track group; the second goods taking device is connected to the body and used for taking and placing goods on the first temporary storage position through the opening.

4. The warehousing system of claim 3, wherein the second pickup device comprises a reel, a pull cord, a first motor, and a pawl; the reel is horizontally arranged; the first motor is connected with the reel to drive the reel to rotate; one end of the pull rope is connected with the outer circumferential surface of the reel, the pull rope is wound on the reel, and the other end of the pull rope extends downwards and is connected with the clamping jaw.

5. The warehousing system of claim 1 further comprising vertically disposed sets of climbing rails;

the second transfer robot is provided with a climbing mechanism which is used for being clamped with the climbing track group so as to drive the second transfer robot to descend to the ground along the climbing track group or drive the second transfer robot to ascend to the walking track group along the climbing track group.

6. The warehousing system of claim 5, wherein the set of climbing rails comprises at least two rack rails vertically spaced apart from each other, and wherein the at least two rack rails are connected to the rack.

7. The warehousing system of claim 6 wherein said climbing mechanism comprises at least two gears and a third drive means, the at least two gears for respectively engaging the at least two rack tracks; the third driving device is connected with the gear to drive the gear to roll along the rack rail.

8. The warehousing system of any of claims 1-7, characterized in that said warehousing system further comprises a support platform and a second workstation, said first workstation disposed above said support platform and said second workstation disposed below said first workstation;

the first transfer robot is also configured to transfer the goods on the second temporary storage location to the storage location, or transfer the goods on the storage location to the second temporary storage location.

9. The warehousing system of claim 8, wherein the second transfer robot is further configured to transfer the goods at the second staging location to the second workstation or to transfer the goods at the second workstation to the second staging location.

10. The warehousing system of claim 9, wherein the second transfer robot is further provided with a second jacking device and a fork arm, the second jacking device is mounted at the top end of the second transfer robot, and the second jacking device is connected with the fork arm to drive the fork arm to lift;

11. The warehousing system of claim 8, further comprising a third transfer robot configured to transfer goods at the second staging location to the second workstation or to transfer goods at the second workstation to the second staging location.

12. The warehousing system of claim 11, wherein the third transfer robot comprises a second mobile chassis, a second jacking device and a fork arm, the second jacking device is mounted at the top end of the second mobile chassis, and the second jacking device is connected with the fork arm to drive the fork arm to lift;

the second temporary storage plate is provided with a groove for the fork arm to pass through, the groove is located in the second temporary storage bit.

13. The warehousing system of claim 11 further comprising vertically disposed sets of climbing rails;

14. The warehousing system of claim 13, characterized in that said third transfer robot is further provided with a second pick-up device for picking up and placing goods on said first staging location.

15. The warehousing system of claim 8 further comprising vertically disposed sets of climbing rails;

16. The warehousing system of claim 15, characterized in that the fourth transfer robot is further provided with a third pick-up device for picking up and placing the goods on the storage location, the first temporary storage location and/or the second temporary storage location.

17. A warehousing control method characterized by applying the warehousing system as claimed in any one of claims 1-16, the method comprising:

18. The warehousing control method of claim 17, wherein the warehousing system further includes a third transfer robot, the method further comprising:

19. The warehousing control method of claim 17, wherein the warehousing system further comprises a second workstation located below the first workstation, and a second staging location located below the first staging location; the method further comprises the following steps:

20. The warehousing control method of claim 19, further comprising: if the third transfer robots are occupied, the second transfer robot is instructed to transfer the goods to be warehoused of the second workstation to a second temporary storage position or a first temporary storage position; and instructing a first transfer robot to transfer the goods to be warehoused on the first temporary storage position or the second temporary storage position to a corresponding storage position.

21. A warehouse exit control method, characterized in that the warehousing system according to any one of claims 1-16 is applied, the method comprising:

22. The method of claim 21, wherein the stocker system further comprises a third transfer robot, the method further comprising:

23. The out-of-warehouse control method as claimed in claim 21, wherein the warehousing system further comprises a second workstation located below the first workstation, and a second staging location located below the first staging location; the method further comprises the following steps:

24. The ex-warehouse control method according to claim 23, wherein the method further comprises: if the second carrying robots are occupied, the first carrying robot is instructed to place the goods to be delivered out of the warehouse with the first storage position in a first temporary storage position or a second temporary storage position; and instructing a third transfer robot to transfer the goods to be delivered to the first workstation from the first temporary storage position or the second temporary storage position.

25. The ex-warehouse control method according to claim 23, wherein the method further comprises: if the third transfer robots are occupied, the first transfer robot is instructed to place the goods to be delivered from the warehouse in the second storage position in a first temporary storage position or a second temporary storage position; and instructing the second transfer robot to transfer the goods to be delivered from the warehouse to the second workstation at the first temporary storage position or the second temporary storage position.

26. A computer-readable storage medium having stored thereon computer instructions, which when executed by a processor, is configured to implement the method of any one of claims 17-25.

27. A computer program product comprising a computer program which, when executed by a processor, performs the method of any one of claims 17 to 25.