CN116161359A

CN116161359A - Automated access system

Info

Publication number: CN116161359A
Application number: CN202211486122.7A
Authority: CN
Inventors: 沈斐; 沈鹭
Original assignee: Hubei Kaileshi Tongda Technology Co ltd
Current assignee: Hubei Kaileshi Tongda Technology Co ltd
Priority date: 2022-11-24
Filing date: 2022-11-24
Publication date: 2023-05-26
Anticipated expiration: 2042-11-24
Also published as: CN116161359B

Abstract

The invention provides an automatic access system, which relates to the technical field of storage and comprises a stereoscopic warehouse, an access robot and a transfer robot, wherein the access robot and the transfer robot are matched to finish the warehouse in-out operation of the stereoscopic warehouse. The automatic storage and retrieval system adopts the ground where the shelves are positioned and/or the roadways of the multiple rows of shelves as material indexing, so that the arrangement is more flexible and the site construction is convenient; because the walking surface of the transfer robot is formed in the ground and/or the roadway where the goods shelf is located, the transfer robot can walk below the goods shelf and below the walking track of the storing and taking robot, and the two sets of robots can independently run without mutual interference in the running process, so that the overall goods taking and placing efficiency of the automatic storing and taking system is higher. Therefore, the invention can give consideration to flexibility, pick-and-place efficiency and site construction efficiency.

Description

Automated access system

Technical Field

The invention relates to the technical field of storage, in particular to an automatic access system.

Background

With the rapid development of logistics industry, the application of the automatic stereoscopic warehouse is more and more widespread. The automatic stereoscopic warehouse can realize high lamination physical and chemical of warehouse, automatic access and simplified operation. However, the existing material handling equipment in the automatic stereoscopic warehouse cannot achieve flexibility, pick-and-place efficiency and site construction efficiency.

Disclosure of Invention

The invention aims to provide an automatic access system which is used for considering flexibility, pick-and-place goods efficiency and site construction efficiency.

The embodiment of the invention provides an automatic access system, which comprises: the stereoscopic warehouse is provided with at least one row of shelves, a plurality of storage layers are arranged on the shelves, and each storage layer is provided with a plurality of storage positions; the storage and taking robot moves along the walking track and is used for conveying materials between different storage positions of the goods shelves and the transposition in the materials; a transfer robot walking under the shelf and the access robot for transferring materials between indexing and in-out docking positions in the materials; the material middle position is arranged on the ground where the goods shelf is positioned and/or in a plurality of rows of tunnels of the goods shelf, and the ground where the goods shelf is positioned and/or the tunnels form a walking surface of the carrying robot; and a space for the transfer robot to travel is arranged below the shelf and below the travel rail of the access robot.

Further, the walking track is arranged on two sides of the roadway or on any side of the roadway along the extending direction of the roadway; or the walking track is arranged on the goods shelf; the height of the transfer robot is smaller than that of the bottom storage layer of the goods shelf, and the height of the transfer robot is smaller than that of the walking track, so that the transfer robot can freely run between the indexing in the materials and the in-out warehouse docking position.

Further, the access robot includes: the first travelling mechanism is used for driving the access robot to move along the travelling track; the storage mechanism is used for taking and placing materials from different storage positions of the goods shelf through the telescopic fork assembly; the first lifting mechanism is connected with the access mechanism and used for driving the access mechanism to lift along a first lifting channel; the picking and placing mechanism is used for conveying materials between the storing and taking mechanism and the indexing in the materials; the second lifting mechanism is connected with the picking and placing mechanism and is used for driving the picking and placing mechanism to lift along a second lifting channel; the second lifting channel and the first lifting channel are not overlapped in a horizontal plane.

Further, the picking and placing mechanism is provided with a containing cabin, a first picking and placing component is arranged in the containing cabin and used for extending out of the containing cabin and picking and placing materials, and the materials are fixed in the containing cabin; the first pick-and-place assembly is movable from the second hoistway to the first hoistway to transfer material between the containment pod and the access mechanism.

Further, the transfer robot comprises a robot body, wherein a second travelling mechanism is arranged on the robot body and used for driving the robot body to move on a travelling surface of the robot body; the robot body is internally provided with at least one accommodating cabin for accommodating materials, a second taking and placing component is arranged in the accommodating cabin and used for taking and placing materials from the materials in an indexing mode, and the materials are fixed in the accommodating cabin.

Further, a material middle position index is formed between the access robot and the carrying robot, the access robot moves back and forth along a walking track, the material to be put in the material middle position index is carried to different storage positions of a goods shelf, and the material to be put out of the goods shelf storage positions is carried to the material middle position index; the transfer robot transfers the materials to be put in storage to the material for transferring, and transfers the materials to be put out of storage for transferring.

Further, the transfer robot transfers the material to be put in storage to the material for transferring, transfers the material to be put out of storage for transferring, and includes: when the transfer robot has a plurality of accommodation chambers, a plurality of the accommodation chambers can index in the material while taking and placing the material.

Further, the automatic access system comprises at least one access robot and at least one carrying robot, and is used for carrying out warehouse entry and warehouse exit or warehouse moving and conveying of materials; and in the operation process of delivering materials to and from the warehouse and moving the warehouse, the operation tasks are adjusted based on the operation capacities of the access robot and the transfer robot.

Further, the adjusting the job task based on the job capabilities of the access robot and the transfer robot includes: when the storage capacity of the storage robot of the roadway where the materials are located is saturated during storage, and when the quantity of the materials to be stored in the storage robot is larger than a first preset quantity in the material of the roadway, the transfer robot is instructed to transfer the materials of the roadway to the materials of other storage robots with processing capacity for storage in the storage robot; further comprises: when the material is in the second preset quantity, the idle transfer robots in other lanes are called to carry out the material in the lane or transfer the material in the lane when the material in the lane is in the first preset quantity.

The automatic access system provided by the embodiment of the invention comprises a stereoscopic warehouse, an access robot and a transfer robot, wherein the two robots are matched to finish the warehouse-in and warehouse-out operation of the stereoscopic warehouse. The automatic storage and retrieval system adopts the ground where the shelves are positioned and/or the roadways of the multiple rows of shelves as material indexing, so that the arrangement is more flexible and the site construction is convenient; because the walking surface of the transfer robot is formed in the ground and/or the roadway where the goods shelf is located, the transfer robot can walk below the goods shelf and below the walking track of the storing and taking robot, so that the two sets of robots can independently operate, mutual interference can not occur in the operation process, and the overall goods taking and placing efficiency of the automatic storing and taking system is higher. Therefore, the automatic access system provided by the embodiment of the invention can be used for considering flexibility, pick-and-place goods efficiency and site construction efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.

FIG. 1 is a schematic diagram of an automated access system according to an embodiment of the present invention;

Fig. 2 is a perspective view of an access robot in a certain state according to an embodiment of the present invention;

fig. 3 is a perspective view of an access mechanism in an access robot in an extended state according to an embodiment of the present invention;

fig. 4 is a perspective view of a certain view angle of a pick-and-place mechanism in an access robot according to an embodiment of the present invention;

fig. 5 is a perspective view of another view angle of a pick-and-place mechanism in another access robot according to an embodiment of the present invention;

fig. 6 is a material picking and placing state diagram of a transfer robot according to an embodiment of the present invention;

fig. 7 is a perspective view of a certain view angle of a transfer robot according to an embodiment of the present invention.

Detailed Description

As shown in fig. 1, an embodiment of the present invention provides an automated access system, including: the stereoscopic warehouse is provided with at least one row of shelves 30, the shelves 30 are provided with a plurality of storage layers, and each storage layer is provided with a plurality of storage positions; a storage robot 10, the storage robot 10 moving along a travel track for transporting materials between different storage locations of the shelves 30 and indexing in the materials; a transfer robot 20, the transfer robot 20 walking under the pallet 30 and the access robot 10 for transferring materials between indexing and in-out docking positions in the materials.

The material is arranged on the ground where the goods shelves 30 are positioned and/or in the roadways of the multi-row goods shelves 30 in an indexing manner, and the ground where the goods shelves 30 are positioned and/or in the roadways form a walking surface of the transfer robot 20; a space for the transfer robot 20 to travel is provided below the shelf 30 and below the travel rail of the access robot 10.

The shelves 30 may be lightweight shelves, and the shelves 30 may be arranged in one or more rows, for example, fig. 1 shows a row of shelves 30, with the depositing and dispensing robot 10 moving along travel tracks provided on the shelves 30 to deposit and dispense materials at different storage locations of the shelves 30. If the shelves 30 are in multiple rows, the access robot 10 may be disposed in a lane between adjacent shelves 30.

At least one material-in-place position is formed between the access robot 10 and the transfer robot 20, the access robot 10 transfers materials between different storage positions of the shelf 30 and the material-in-place position, and the transfer robot 20 transfers materials between the material-in-place position and the warehouse-in-out docking position.

Preferably, the storage and retrieval robot 10 can reciprocate along a walking track, and transfer the materials to be stored in the storage position of the shelf 30 to different storage positions of the shelf 30, and transfer the materials to be discharged from the storage position of the shelf 30 to the materials; the transfer robot 20 transfers the material to be put in storage to the material for transfer, and transfers the material to be put out of storage for transfer.

The access robot 10 can cooperate with the transfer robot 20 to complete the warehouse-in and warehouse-out operation of the stereoscopic warehouse, when the warehouse is discharged, the access robot 10 takes out the materials stored in the storage position of the shelf 30 and places the materials into the materials for transposition, and then the materials cached in the material transposition are conveyed out to a warehouse-out butt joint position through the transfer robot 20; during warehouse entry, materials are placed into the materials for transposition through the carrying robot 20, and then the storage robot 10 stores the materials cached in the transposition in the materials to the designated storage position of the goods shelf 30. The transported material may be, for example, a bin.

Preferably, the transfer robot 20 transfers the material to be put in storage to the material for indexing, transfers the material to be put out of storage for indexing, and includes: when the transfer robot 20 has a plurality of accommodation chambers, the plurality of accommodation chambers can index among different materials while taking and placing the materials.

Because the transfer robot 20 has a plurality of accommodation chambers, a picking and placing assembly is arranged in each accommodation chamber, so that each accommodation chamber can be independently operated, and simultaneously picking and placing of materials is performed: for example, after the transfer robot 20 transfers the material to be stored into the material to be transferred, the material to be discharged from the storage is transferred into another material, and when the transfer robot 20 performs the discharging of the material by the taking and placing component of one accommodating cabin, the taking and placing component of the other accommodating cabin can grasp the material to be discharged from the storage; for another example, when there are multiple materials to be carried in the material indexing or warehouse entry docking station, the multiple accommodation chambers of the carrying robot 20 can also simultaneously carry out material grabbing, so as to improve the material conveying efficiency.

The automatic storage and retrieval system indexes in a plurality of materials formed on the ground where the goods shelves 30 are located and/or the roadways of the multi-row goods shelves 30, so that the automatic storage and retrieval system is more flexible to deploy and convenient for site construction; the walking track has a certain height, so that the access robot 10 is arranged above the ground in an overhead manner, the bottom of the access robot 10 is provided with a space for the transfer robot 20 to walk, the ground and/or the roadway where the goods shelf 30 is located are provided with a walking surface of the transfer robot 20, the transfer robot 20 can walk below the goods shelf 30 and the walking surface below the walking track of the access robot 10, and therefore the two sets of robots (the access robot and the transfer robot) can independently run without mutual interference in the running process, so that the overall pick-and-place efficiency of the automatic access system is higher. Therefore, the automatic access system can give consideration to flexibility, pick-and-place efficiency and site construction efficiency.

In order to realize automatic warehouse-out operation and warehouse-in operation, the automatic access system also comprises a ground positioning system, and a warehouse management system and a warehouse control system which are mutually connected, wherein the warehouse control system can be respectively connected with the access robot 10 and the transfer robot 20 through a wireless network system; the ground positioning system is used for providing ground positioning for the access robot 10 and the transfer robot 20, and can comprise a positioning code attached on the ground, wherein the positioning code can be a bar code or a two-dimensional code; a warehouse management system (Warehouse Management System, abbreviated as WMS) is used for material storage management, and a warehouse control system (Warehouse Control System, abbreviated as WCS) is used for equipment scheduling of the access robot 10, the transfer robot 20, and the like.

Taking the shelves 30 as a plurality of rows, the storing and taking robot 10 is arranged in the laneway of each row of shelves 30, the material is arranged on the ground of the laneway in an indexing way, the walking surface of the carrying robot 20 comprises the shelves and the ground of the laneway, and the working principle of the automatic storing and taking system is as follows:

and (3) system delivery operation: a1, the WMS issues a material warehouse-out instruction to the WCS; a2, after the WCS receives a material warehouse-out instruction, starting an access robot 10 corresponding to a roadway where the material is located; a3, the storing and taking robot 10 runs to a position where the materials need to be discharged, the materials are taken out from the appointed storage position of the goods shelf 30 and then placed in the materials on the ground of the roadway for transposition, for example, bar codes or two-dimensional codes which can be provided with a ground positioning system are arranged on the materials for transposition, and positioning is provided for the storing and taking robot 10 and the carrying robot 20 to carry the materials; a4, after the access robot 10 finishes the task, continuing to execute the next ex-warehouse task, and simultaneously, the WCS sends the corresponding ex-warehouse task to the carrying robot 20 positioned on the ground; a5, the transfer robot 20 which receives the ex-warehouse task runs to the position above the two-dimensional code and indexes the material, the transfer robot 20 grabs the material and then drives the material away from the position where the material is in the position, the material is conveyed to the appointed ex-warehouse butt joint position, and the next ex-warehouse task is executed after the task is completed.

And (3) system warehouse entry operation: b1, the WMS issues a material warehouse-in instruction to the WCS; b2, after the WCS receives the material input and output command, controlling the transfer robot 20 to transfer the material to the ground material in the tunnel where the designated input and output is located for indexing; b3, the transfer robot 20 leaves after putting down the materials, other tasks are executed, and the WCS sends corresponding warehousing tasks to the access robot 10; and B4, the access robot 10 runs to index the material where the appointed material is located, and after the material is grabbed from the material in an index way, the material is transported to an appointed storage position of an appointed layer of the goods shelf 30, and after the task is completed, the next goods taking and warehousing task is executed.

The automated storage and retrieval system comprises at least one storage and retrieval robot 10 and at least one carrying robot 20, and is used for carrying materials in and out of a warehouse or moving the materials in and out of the warehouse; for example, different numbers of access robots 10 may be provided in different racks 30 or lanes according to the storage capacity of the racks 30, and an adapted number of transfer robots 20 may be provided in the lanes; or the storage and taking robots 10 and the carrying robots 20 with the adaptive number can be arranged for different shelves 30 and roadways according to the frequency of the material entering and exiting the shelves 30; in a preferred embodiment, the handling robot 20 of the automated access system is applicable to all racks 30 and/or lanes, and the scheduling system (i.e., warehouse control system) may schedule the handling robot 20 in real time according to the job tasks; further, during the operation of transporting the materials to and from the warehouse and moving the warehouse, the operation tasks can be adjusted in real time based on the operation capacities of the access robot 10 and the transfer robot 20.

Preferably, the adjusting the task based on the working capacities of the access robot 10 and the transfer robot 20 includes: when the warehousing capability of the access robot 10 in the roadway where the materials are located is saturated during warehousing, but when a large amount of materials still need to be warehoused on the ground of the roadway (i.e. when the quantity of the materials to be warehoused in the transposition of the materials in the roadway is greater than a first preset quantity, the first preset quantity can be set according to actual requirements), the transfer robot 20 can move the materials cached in the transposition of the materials in the roadway, for example, the materials greater than the first preset quantity, to the transposition of the materials in the other roadway where the access robot 10 with processing capability is located based on the scheduling of software for warehousing.

Preferably, the adjusting the task based on the working capacities of the access robot 10 and the transfer robot 20 further includes: when the discharging or moving capability of the transfer robot 20 in the tunnel where the material is located is saturated during the discharging or moving operation, when the quantity of the material to be discharged or moved in the material in the tunnel is greater than the second preset quantity, the idle transfer robots 20 in other tunnels are called to perform the discharging or moving operation on the material in the tunnel. The second preset number can be set according to actual requirements.

Preferably, the WCS may schedule the transfer robot 20 to index the material equally into the material of each lane based on flow distribution when warehousing.

The automatic access system provided by the embodiment of the invention solves the floor occupation problem of the warehouse-in and warehouse-out conveyor, and utilizes the transfer robot 20 to solve the flow dividing and buffering functions before warehouse-in and the flow converging functions before warehouse-out, so that warehouse-in and warehouse-out materials do not need to occupy the actual storage position of the goods shelf 30 and do not need an interlayer conveyor like a shuttle system; the flexibility of the AMR system is achieved, meanwhile, a special goods shelf is not needed, a light goods shelf can be adopted, customized rails are reduced, and the equipment has the characteristic of site rapid construction; the equipment has the ultrahigh pick-and-place efficiency like a stacker system and a shuttle system, and meanwhile, the site construction can be more efficient like an AMR system.

Further, the automated access system may further be arranged in a stereo stack: by laying the platforms at one or more intermediate height positions of the pallet, the single lane is partitioned in the vertical direction, and the access robot 10 and the transfer robot 20 are arranged in each of the regions, so that the number of the access robots 10 and the transfer robots 20 is increased, and a higher overall warehouse entry efficiency can be obtained.

In summary, the automated access system provided by the embodiment of the invention has the following beneficial effects: 1. the material warehouse-in and warehouse-out transfer are not realized through a conveyor, the material is directly transferred to the transfer robot 20 waiting for transfer on the transposition of the ground material, the equipment cost is low, the site construction is faster, and the warehouse-in and warehouse-out efficiency is higher. 2. The access robot 10 is arranged higher than the ground in an overhead manner, the materials are transported between the storage position of the goods shelf 30 and the material in the ground, the transfer robot 20 transports the materials between the material in-place and in-out-of-warehouse docking positions, independent operation of the access robot 10 and the transfer robot 20 can be realized, the two are not mutually interfered in the operation process, and the redundancy and the robustness of the system are stronger. 3. The materials are placed on the ground to be transferred, so that the deployment of the stereoscopic warehouse is more flexible, and an automatic access system can adjust the operation tasks in real time according to the operation capacities of the access robot 10 and the transfer robot 20, so that the material conveying efficiency is greatly improved.

The above-described access robot 10 will be described in detail with reference to fig. 2 to 5, taking an example in which the access robot 10 is disposed in a lane between the plurality of rows of shelves 30.

Preferably, the walking rails required for the movement of the access robot 10 may be provided at both sides of the roadway or at either side of the roadway in the roadway extension direction, and the walking rails may be provided in the ground or the roadway. In one implementation, the travel rail may be mounted directly on the cross beam of the pallet 30.

Preferably, in order to achieve the purpose of transferring the materials from the shelf 30 to the ground quickly after the materials are taken out, or transferring the materials from the ground to the shelf 30 quickly after the materials are grasped, as shown in fig. 2, the depositing and dispensing robot 10 includes: a first travelling mechanism for driving the access robot 10 to move along the travelling track; a storage and retrieval mechanism 120 for retrieving and retrieving material from different storage locations of the pallet 30 via the retractable fork assembly; the first lifting mechanism 130 is connected with the access mechanism 120 and is used for driving the access mechanism 120 to lift along the first lifting channel; a pick and place mechanism 140 for transporting material between the depositing and withdrawing mechanism 120 and the indexing of the material; the second lifting mechanism 150 is connected to the picking and placing mechanism 140, and is used for driving the picking and placing mechanism 140 to lift along the second lifting channel.

The storage and picking mechanism 120 is a mechanism for grabbing materials, and can be used for storing materials on the shelf 30 or removing materials from the shelf 30. The access mechanism 120 is mounted on the first lifting mechanism 130, and the first lifting mechanism 130 can drive the access mechanism 120 to lift in a vertical direction (i.e. a Z-axis direction of the cartesian coordinate system), i.e. drive the access mechanism 120 to lift along a first lifting channel extending in the vertical direction.

The pick-and-place mechanism 140 can be used for quickly placing and indexing the materials after the storage mechanism 120 is taken out from the shelf 30, or quickly transferring the indexed materials to the storage mechanism 120 after grabbing the indexed materials. The picking and placing mechanism 140 is mounted on the second lifting mechanism 150, and the second lifting mechanism 150 can drive the picking and placing mechanism 140 to lift in the vertical direction, that is, drive the picking and placing mechanism 140 to lift along the second lifting channel extending in the vertical direction.

As shown in fig. 2, the picking and placing mechanism 140 can move from the second lifting channel into the first lifting channel to pick and place materials from the storing and taking mechanism 120; in addition, the picking and placing mechanism 140 can also lift in the second lifting channel to index and pick and place materials from the materials.

The second lifting channel and the first lifting channel do not overlap in the horizontal plane, so the picking and placing mechanism 140 and the access mechanism 120 can lift and lower simultaneously. As shown in fig. 2, when the pick-and-place mechanism 140 picks up and places material from the access mechanism 120, the pick-and-place mechanism 140 is located above the access mechanism 120.

The above-mentioned access robot 10 can realize taking out the material from the goods shelves 30 and then rapidly placing the material into the transposition, or rapidly placing the material from the transposition and grabbing on the goods shelves 30 through the cooperation of the access mechanism 120, the first lifting mechanism 130, the picking and placing mechanism 140 and the second lifting mechanism 150, thereby realizing the picking and placing operation of the material on any layer or any height on the goods shelves 30, having higher picking and placing efficiency and improving the working efficiency of the warehouse-in and warehouse-out operation.

The second lifting channel and the first lifting channel are not overlapped in the horizontal plane, and are two channels which are mutually independent, so that the lifting of the access mechanism 120 and the lifting of the picking and placing mechanism 140 are not interfered with each other, the picking and placing of the materials on the goods shelf 30 and the picking and placing of the materials in the transposition of the materials can be simultaneously carried out, the picking and placing efficiency is further improved, and the working efficiency of the warehouse-in and warehouse-out operation is further improved.

Preferably, the picking and placing mechanism 140 is provided with a containing cabin, a first picking and placing component is arranged in the containing cabin, and the first picking and placing component is used for extending out of the containing cabin and picking and placing materials, and fixing the materials in the containing cabin; the first picking and placing assembly can be moved to the first lifting channel by the second lifting channel, and materials are transported between the accommodating cabin and the storing and taking mechanism.

The first lifting mechanism 130 may drive the storage mechanism 120 to lift to different storage positions of the shelf 30 to take out materials, and the materials are transferred to the second lifting channel by the pick-and-place mechanism 140 to fix the materials in the accommodating cabin of the pick-and-place mechanism 140, and the second lifting mechanism 150 may drive the pick-and-place mechanism 140 to lift to transfer the materials from the accommodating cabin of the pick-and-place mechanism 140 to the materials for transposition; or, the picking and placing mechanism 140 picks up the indexed material in the material and fixes the indexed material in the accommodating cabin, the second lifting mechanism 150 drives the picking and placing mechanism 140 to lift, the picking and placing mechanism 140 transfers the material to the storing and taking mechanism 120 of the first lifting channel through the second lifting channel, and the first lifting mechanism 130 drives the storing and taking mechanism 120 to lift to different storage positions of the goods shelf 30 to store the material.

The above-mentioned material is placed in the ground where the shelf 30 is located or in the lanes of the multi-row shelf 30, and the picking and placing mechanism 140 has a receiving compartment for receiving the material, so that the picking and placing mechanism 140 can implement the functions of receiving the material into the receiving compartment from the material in the ground where the shelf 30 is located or in the lanes of the multi-row shelf 30, and transferring the material fixed in the receiving compartment into the storing and taking mechanism 120 or the material.

Preferably, as shown in fig. 2, the above-mentioned access robot 10 further includes a robot frame 100, and the first travel mechanism, the access mechanism 120, the first lifting mechanism 130, the pick-and-place mechanism 140, and the second lifting mechanism 150 are mounted on the robot frame 100. In one implementation, as shown in fig. 2, the first lifting mechanism 130 and the second lifting mechanism 150 may have the same structure as follows: the synchronous belt is arranged on the synchronous belt wheel and the driven wheel, and the motor drives the synchronous belt to lift through driving the synchronous belt wheel to rotate, so that the corresponding mechanism (the access mechanism 120 or the picking and placing mechanism 140) is driven to move in the vertical direction. To ensure that the access mechanism 120 and the pick-and-place mechanism 140 stably operate in the high-speed motion, the access mechanism 120 reciprocates along a plurality of guide rails disposed on the robot frame 100 and located in the first lifting channel, and the pick-and-place mechanism 140 reciprocates along a plurality of guide rails disposed on the robot frame 100 and located in the second lifting channel.

Preferably, as shown in fig. 2, the first traveling mechanism includes a first ground engaging wheel 111 provided at the bottom of the robot frame 100, the first ground engaging wheel 111 for moving along a traveling rail.

Preferably, in order to ensure the stable operation of the access robot 10, an auxiliary rail is provided at the top of the main body frame; as shown in fig. 2, the first traveling mechanism further includes an auxiliary traveling wheel 112 provided at the top of the robot frame 100, and the auxiliary traveling wheel 112 is for moving along an auxiliary rail. The positions of the first ground engaging wheel 111 and the auxiliary ground engaging wheel 112 may be interchanged, and the auxiliary ground engaging wheel 112 may be replaced with the first ground engaging wheel 111 in whole or in part.

Preferably, as shown in fig. 3, the access mechanism 120 includes a first lifting platform 121 and a fork assembly 122; the first lifting platform 121 is connected with the first lifting mechanism 130, and the first lifting platform 121 is driven to lift in the first lifting channel by the first lifting mechanism 130; the first lifting platform 121 is used for carrying materials, and the fork assembly 122 is connected with the first lifting platform 121, and the fork assembly 122 is used for storing and taking materials at different storage positions of the goods shelf 30.

The fork assembly 122 can extend relative to the first lift platform 121 toward the storage location of the pallet 30 to retrieve material from the storage location of the pallet 30. The fork assembly 122 can pick and place material in one direction or in both directions. The fork assembly 122 can adopt a primary telescopic structure and a secondary telescopic structure, wherein the stroke of the secondary telescopic structure is longer, so that the fork assembly can adapt to materials with different sizes, and the storage and the taking of the materials with deeper positions on a goods shelf are realized. It should be noted that, if the first lifting platform 121 is enough to accommodate more than two materials or materials with different sizes, the first-stage telescopic structure may also be adapted to materials with different sizes, so as to implement material access with different sizes, and may also simultaneously take and place two materials with double depths, which are all within the protection scope of the present invention.

The present embodiment provides a fork assembly 122 with a clamping type bidirectional telescopic structure, as shown in fig. 3, two sides of a first lifting platform 121 are respectively provided with a frame plate 1211, the fork assembly 122 comprises an inner telescopic assembly and an outer telescopic assembly, the inner telescopic assembly comprises a first toothed plate 1221, and the outer telescopic assembly comprises an inner side plate 1222 and a plurality of deflector rods 1223; the two faces of the first tooth plate 1221 are respectively connected with the frame plate 1211 and the inner side plate 1222 in a sliding manner, and the sliding direction is perpendicular to the roadway extending direction; a plurality of levers 1223 are provided at both ends of the inner panel 1222, the levers 1223 being in a horizontal state (i.e., horizontal position) when pushing and gripping material, and in a vertical state (i.e., vertical position) when not pushing or gripping material. In fig. 3, fork assembly 122 is extended to a material storage position relative to first lift platform 121 and lever 1223 is in an upright position.

Specifically, the inner telescopic assembly and the outer telescopic assembly are both provided with guide mechanisms configured as matched guide rails and sliding blocks. Taking a guiding mechanism of the inner telescopic assembly as an example, the guiding mechanism is described as follows: the guide mechanism is configured as a guide rail provided on the frame plate 1211 and a slider provided on the first tooth plate 1221, or the guide mechanism is configured as a slider provided on the frame plate 1211 and a guide rail provided on the first tooth plate 1221; the guide rail cooperates with the slider for guiding the telescopic movement of the first toothed plate 1221.

Further, as shown in fig. 3, a first clamping device 123 is fixed on the first lifting platform 121, and the first clamping device 123 is fixedly connected with a synchronous belt of the first lifting mechanism 130, so that the first lifting platform 121 can be lifted in the vertical direction under the driving of the synchronous belt.

Further, as shown in fig. 3, the first lifting platform 121 is provided with a first guiding wheel 124, and the first guiding wheel 124 can move along a corresponding guiding rail disposed on the robot frame 100 and located in the first lifting channel, and the first guiding wheel 124 plays a guiding role in the lifting process of the first lifting platform 121, so as to ensure that the access mechanism 120 stably operates in the lifting process.

Further, in order to ensure that the material falls on the first lifting platform 121, the first lifting platform 121 is further provided with an auxiliary guide bar.

The access mechanism 120 integrates a retractable fork assembly 122 and a guide structure (auxiliary guide bar) to realize picking and placing actions. When a user needs to pick up the goods, the first lifting platform 121 is aligned with the materials, the fork assemblies 122 on two sides can extend to the rear of the materials along the side edges of the materials, the materials are clamped by rotating the deflector rods 1223 on two ends of the inner side plates 1222 to the horizontal position after the designated positions are reached, then the fork assemblies 122 are retracted, the materials are conveyed to the first lifting platform 121, and the auxiliary guide bars can ensure that the materials fall on the first lifting platform 121. When a commodity is required to be placed, the fork assembly 122 pushes the commodity to the designated storage position of the shelf 30 by the first lifting platform 121 through the shift lever 1223 in the horizontal position, and then the shift lever 1223 rotates to the vertical position, so that the fork assembly 122 is retracted.

Preferably, as shown in fig. 4, the picking and placing mechanism 140 includes a first telescopic component 142, and the first telescopic component 142 is used for driving the picking and placing mechanism 140 to move from the second lifting channel into the first lifting channel, so as to pick and place materials from the storage and taking mechanism 120; the first telescopic assembly 142 is further used for driving the picking and placing mechanism 140 to move telescopically to index into the material, and transporting the material between the indexing in the material and the accommodating cabin of the picking and placing mechanism 140.

Further, as shown in fig. 4 and 5, the picking and placing mechanism 140 further includes a second lifting platform 141, a first lifting assembly 143, and a first clamping assembly 144 for picking and placing materials; the second lifting platform 141 is connected with the second lifting mechanism 150, and the second lifting mechanism 150 drives the second lifting platform 141 to lift in the second lifting channel; the first telescopic assembly 142 is connected to the second lifting platform 141 on the one hand, to the first lifting assembly 143 on the other hand, and the first lifting assembly 143 is also connected to the first clamping assembly 144.

Specifically, the first telescopic component 142 drives the first lifting component 143 and the first clamping component 144 to extend into the material to be indexed to take and put the material, or drives the first lifting component 143 and the first clamping component 144 to move between the second lifting channel and the first lifting channel, and transfers the material between the access mechanism 120 and the taking and putting mechanism 140, and fixes the material in the accommodating cabin of the access mechanism 120; the first lifting assembly 143 drives the first gripper assembly 144 to index or deposit material from the material handling mechanism 120.

Preferably, as shown in fig. 4, the first telescopic assembly 142 includes a first telescopic plate 1421 and a driving mechanism, the first telescopic plate 1421 is connected with the first lifting assembly 143, the driving mechanism is configured as a screw-nut mechanism, a first nut 1422 of the screw-nut mechanism is fixedly connected to the first telescopic plate 1421, and a first screw 1423 is disposed on the second lifting platform 141 through a second support plate 1424; the motor 1425 and the first synchronous belt 1426 arranged on the second lifting platform 141 drive the first screw rod 1423 to rotate, and drive the first expansion plate 1421 to move in an expansion mode relative to the second lifting platform 141.

Specifically, the motor 1425 is connected with a synchronous pulley, a synchronous pulley is arranged in the second support plate 1424 of the first screw rod 1423, and the first synchronous belt 1426 is arranged on the two synchronous pulleys; the motor 1425 rotates to drive the synchronous pulley connected with the motor to rotate, so as to drive the first synchronous belt 1426 to move, and the first synchronous belt 1426 drives the synchronous pulley on the first screw rod 1423 to rotate, so that the first screw rod 1423 and the motor 1425 rotate in the same direction; the first nut 1422 performs linear motion through the rotary motion of the first screw rod 1423, and then drives the first expansion plate 1421 to move in an expansion manner relative to the second lifting platform 141. The forward and reverse rotation directions of the motor 1425 may control the movement direction of the first expansion plate 1421.

Preferably, the first telescopic assembly 142 further comprises a guiding mechanism configured as a first slider provided on the first telescopic plate 1421 and a first guide rail provided on the second lifting platform 141; alternatively, as shown in fig. 5, the guide mechanism is configured as a first guide rail 1427 provided on the first expansion plate 1421 and a first slider provided on the second elevating platform 141; the first guide 1427 cooperates with the first slider for guiding and supporting the telescoping movement of the first telescoping assembly 142.

A set of guiding mechanisms can be respectively arranged at the left side and the right side of the first expansion plate 1421, and the first guide rail 1427 and the first sliding block cooperate to realize a guiding function in the expansion and contraction movement process of the first expansion assembly 142; when the first telescopic assembly 142 drives the first lifting assembly 143 and the first clamping assembly 144 to extend above the access mechanism 120, the first guide rail 1427 and the first slider cooperate to provide support.

Preferably, as shown in fig. 5, the first lifting assembly 143 includes a lifting plate 1431 and a lifting mechanism, and the lifting plate 1431 is connected to the first clamping assembly 144; the lifting mechanism is configured such that a cam 1432 is arranged on the lifting plate 1431, a waist-shaped groove 1433 is arranged on the first telescopic plate 1421 of the first telescopic component 142, the cam 1432 is matched with the waist-shaped groove 1433, the lifting plate 1431 is driven to lift by rotation of the cam 1432, and the lifting plate 1431 drives the first clamping component 144 to take and put materials.

In particular, the waist-shaped slot 1433 may be formed on a side plate of the first expansion plate 1421. The cam 1432 may be disposed on a connection plate of the lift plate 1431. The cam 1432 is driven by the motor to move in the waist-shaped groove 1433, so that the lifting plate 1431 is driven to lift, and the up-and-down movement stroke of the cam 1432 is the lifting height of the lifting plate 1431.

Since the rotation of the cam 1432 may cause the lifting plate 1431 to move left and right, the first lifting assembly 143 further includes a guide mechanism, as shown in fig. 5, configured as a guide bar 1434 provided on the lifting plate 1431 and a guide hole provided on the first telescopic plate 1421; the guide bar 1434 is engaged with the guide hole for guiding the lifting of the lifting plate 1431.

Preferably, as shown in fig. 4, the first clamping assembly 144 includes a clamping rod 1441 and a driving mechanism, the driving mechanism is configured as a bidirectional screw-nut mechanism, a second screw 1442 of the bidirectional screw-nut mechanism is connected to a lifting plate 1431 of the first lifting assembly 143 through a synchronous pulley and a second synchronous belt, and the clamping rod 1441 is configured to be fixedly connected with a second nut of the screw-nut mechanism to pick and place the material along two sides of the material.

The two clamping rods 1441 are fixedly connected with two ends of a second screw rod 1442 through second nuts respectively, the second screw rod 1442 is fixed to the lifting plate 1431 through a screw rod supporting plate, and is matched with a second synchronous belt through a synchronous belt driven wheel arranged on the second screw rod 1442, a synchronous belt wheel is arranged on the other side of the lifting plate 1431, the synchronous belt wheel is driven by a motor to rotate, the second screw rod 1442 is driven to rotate, the two clamping rods 1441 are enabled to be close to or far away from each other, opening and closing of the two clamping rods 1441 are achieved, and accordingly the picking and placing mechanism 140 can clamp or place materials.

Preferably, as shown in fig. 4, the first clamping assembly 144 further includes a guiding mechanism, where the guiding mechanism is configured to be a second guide rail 1443 provided on the lifting plate 1431 and a second slider 1444 provided on the clamping rod 1441, and the second guide rail 1443 and the second slider 1444 cooperate to guide the material taken from and placed on the clamping rod 1441.

Preferably, the second guide tracks 1443 may be linear guide tracks, and two second guide tracks 1443 are fixed on the lower surface of the lifting plate 1431, and the two second guide tracks 1443 are arranged in parallel on two sides of the second screw rod 1442; the two clamping rods 1441 are installed below a set of lifting plates 1431 capable of vertically lifting along the Z-axis direction, two ends of each clamping rod 1441 are matched with two second guide rails 1443 through second sliding blocks 1444, and the two second guide rails 1443 guide and support the movement of the clamping rods 1441.

The pick-and-place mechanism 140 may be configured to move material away from the first lifting platform 121 from above the storage mechanism 120 via two movable gripper arms 1441. The first telescopic component 142 drives the first lifting component 143 and the first clamping component 144, the first lifting component 144 moves to the upper portion of the first lifting platform 121 in the first lifting channel from the second lifting channel, the first clamping component 144 is used for grabbing materials on the first lifting platform 121 and then vertically lifting, after the materials are separated from the access mechanism 120, the first telescopic component 142 is reset, the materials are fixed in the accommodating cabin, then the first lifting component 143 drives the first clamping component 144 carrying the materials to move along the Z-axis direction towards the material transfer direction, and after reaching the bottommost end, the two clamping rods 1441 of the first clamping component 144 are opened to stably place the materials in the materials for transfer. The pick-and-place mechanism 140 may also transfer the material to the first lifting platform 121 of the storage mechanism 120 after the material is transferred from the material, and store the material to the designated storage location of the shelf 30 through the storage mechanism 120. The specific shape design of clamping lever 1441 in first clamping assembly 144 can be customized to match the shape of the material.

Further, as shown in fig. 4 to 5, the second clamping device 145 is fixed on the second lifting platform 141 and is fixedly connected with the synchronous belt of the second lifting mechanism 150, so that the second lifting platform 141 can be lifted in the vertical direction under the driving of the synchronous belt.

Further, as shown in fig. 4 to 5, a second guide wheel 146 is provided on the second elevation platform 141 to move along a corresponding guide rail provided on the robot frame 100 in the second elevation channel, thereby guiding the elevation of the second elevation platform 141.

Preferably, the picking and placing mechanism 140 and the access mechanism 120 are disposed adjacent to each other in the extending direction of the running track, so that the first telescopic assembly 142 of the picking and placing mechanism 140 can drive the first lifting assembly 143 and the first clamping assembly 144 to move above the access mechanism 120 along the extending direction of the running track.

Preferably, the access robot 10 further comprises two positioning mechanisms for positioning the storage location on the shelf 30 and for positioning the indexing of the material on the ground. Preferably, for positioning of storage locations on the shelves 30, a visual positioning mechanism or an electro-optical positioning mechanism may be employed to effect positioning.

Preferably, the above-described visual positioning mechanism may include an image pickup apparatus provided on the access robot 10 and positioning codes provided on the travel rail and at each storage position of the shelf 30, each positioning code of the travel rail corresponding to a position of a column of storage positions. The image pickup apparatus may be a camera, and the positioning code may be a two-dimensional code or a bar code, or the like.

Preferably, the above-mentioned photoelectric positioning mechanism may include a photoelectric sensor and positioning holes, the photoelectric sensor is disposed on the access robot 10, the positioning holes are formed on the walking track and at each storage position of the shelf 30, and each positioning hole of the walking track corresponds to a position of a row of storage positions. The photoelectric positioning mechanism may be that positioning holes are formed in the travelling rail, the positioning holes are irradiated by light emitted by the photoelectric sensor, level signals are fed back to the corresponding PLCs (for example, no reflected light is generated at the position with the positioning holes, the photoelectric sensor generates a low level signal, no reflected light is generated at the position with the positioning holes, the photoelectric sensor generates a high level signal), and an encoder is required to collect the number of turns of the first travelling wheel 111 to convert the travelling distance to achieve positioning.

For the positioning of the indexing in the ground material, the camera equipment and the positioning codes can be selected, the camera equipment is arranged on the access robot 10, the positioning codes are stuck on the ground at intervals, and the camera equipment is used for shooting the positioning codes arranged on the ground to perform positioning identification of the indexing in the material.

The accessing robot 10 further comprises a power supply system for providing power for the accessing robot 10, so as to ensure that the accessing robot 10 can stably operate in operation.

The transfer robot 20 will be described in detail with reference to fig. 6 to 7.

As shown in fig. 6 to 7, the transfer robot 20 includes a robot body 200; the robot body 200 is provided with a second travelling mechanism, and the second travelling mechanism is used for driving the robot body 200 to freely move on a travelling surface 201 thereof; the robot body 200 is formed with at least one accommodation compartment 230 for accommodating the material 270; a second picking and placing assembly 240 is arranged in the accommodating cabin 230; the second pick-and-place assembly 240 is used to pick and place material 270 from the walking surface 201 of the transfer robot 20 and to secure the material 270 within the receiving bay 230.

Preferably, the accommodating cabin 230 in the robot body 200 is disposed on a side of the robot body 200 facing the walking surface 201, so that the overall size of the carrying robot 20 is small when carrying the material 270, and the carrying robot 20 is flexible to walk.

The robot body 200 is a main frame of the transfer robot 20, and the second traveling mechanism and the second pick-and-place unit 240 are mounted on the main frame. The robot body 200 has the accommodation chambers 230 formed therein, and at least one of the accommodation chambers 230 may be provided, for example, as shown in fig. 6 and 7, and two of the accommodation chambers 230 may be provided.

The traveling surface 201 of the transfer robot 20 may be a floor surface on which the shelf 30 is located, or may be a floor surface below the shelf 30 and a floor surface on which the docking position for the in-and-out warehouse is located. For example, when the racks 30 are high, in order to improve the warehouse-in and warehouse-out efficiency, a platform may be laid at a position at the middle height of the two rows of racks 30, and the transfer robot 20 may travel on the table surface of the platform, so that the traveling surface 201 of the transfer robot 20 may be a table surface of a platform laid at a position at the middle height of the two rows of racks 30.

When the transfer robot 20 walks on the walking surface 201, the second picking and placing component 240 arranged in the accommodating cabin 230 can directly pick and place the material 270 from the walking surface 201, and the transfer robot 20 can randomly shuttle between the transposition and the warehouse-in and warehouse-out butt joint positions on the walking surface according to the scheduling requirement of a software system, so that the flexibility of AMR is provided, the picking and placing efficiency is ensured, meanwhile, the storage position of a goods shelf is not occupied due to the fact that a buffer position is required to be arranged, and the storage density of the goods shelf is increased.

It will be appreciated that the transfer robot 20 may also be used to transfer materials between indexing of different materials on its travel surface, and may also be used to transfer materials to designated storage points or stations, such as sorting stations, etc.

When the transfer robot 20 has a plurality of receiving compartments 230, the plurality of receiving compartments 230 can be transferred in the material while taking and placing the material 270. The second picking and placing assembly 240 may fix the material 270 by clamping, for example, as shown in fig. 6, the material 270 in the left accommodating chamber 230 is in a clamping lifting state, and the material 270 in the right accommodating chamber 230 is in an unclamped state and is located on the walking surface 201.

Preferably, the height of the transfer robot 20 is smaller than the height of the bottom storage layer of the shelf 30, and the height of the transfer robot 20 is smaller than the height of the travel track required for the access robot 10 to travel, so that the transfer robot 20 can freely travel between the position of indexing in the material and the position of docking in and out of the warehouse, and the material is transported.

Preferably, in the practical application scenario, the handling robot 20 may be lower than the storage floors of the storage robot 10 and the bottom of the shelf 30, and the transported material 270 may be fixed in the accommodating cabin 230 through the second picking and placing component 240, and the accommodating cabin 230 is disposed on the side of the robot body 200 facing the running surface thereof, so that the handling robot 20 may freely travel on the ground under the shelf 30 or the running surface of the storage robot 10, the roadway ground of the shelf 30, and the like, and the picking and placing efficiency is high, and the work efficiency of the warehouse entering and leaving operation is high.

Preferably, the robot body 200 is further provided with a visual recognition device, and the visual recognition device is used for avoiding obstacle and positioning during the operation of the handling robot 20. The visual recognition device can realize obstacle avoidance and positioning during the operation of the transfer robot 20, and can also be used for navigation to ensure that the transfer robot 20 can accurately reach a specified destination and cannot collide with any obstacle.

Further, as shown in fig. 6 to 7, the visual recognition device includes a walking recognition device 250 and a pick-up detecting device 260; the travel recognition device 250 is provided on an end surface of the robot body 200 facing the traveling direction thereof, for example, may be provided on an end surface perpendicular to the traveling direction of the transfer robot 20, for guiding and obstacle avoidance of the traveling of the transfer robot 20; the pick-and-place apparatus 260 is disposed on an end surface of the robot body 200 facing the material or the index in the material, for example, on an end surface parallel to the traveling direction of the handling robot 20, and is configured to position the second pick-and-place assembly 240 to pick and place the material 270.

As shown in fig. 6 to 7, one travel recognition device 250 may be provided on each of two end surfaces of the robot body 200 facing the travel direction of the transfer robot 20, so as to achieve travel in two directions. The two pick-and-place detecting devices 260 are disposed corresponding to the second pick-and-place assemblies 240, as shown in fig. 7, two second pick-and-place assemblies 240 are disposed on two corresponding end surfaces of the robot body 200, so as to pick and place materials 270 in two directions.

The walk identification device 250 and the pick-up detection device 260 may be image capturing devices, such as cameras or cameras. The pick-and-place detection device 260 is positioned in conjunction with a floor positioning system that includes a positioning code affixed to the floor.

Further, in order to ensure that the transfer robot 20 can continue the work, a charging device is also provided. The transfer robot 20 may perform automatic charging when the set period of operation or the amount of power is below a preset power threshold.

As shown in fig. 6, the second traveling mechanism includes a second ground engaging wheel 211. The number of the second ground engaging wheels 211 may be plural, and the number of the second ground engaging wheels 211 is not limited in this embodiment. The movement of the transfer robot 20 is realized by driving the corresponding second ground engaging wheels 211 to move by a motor.

Preferably, the second travelling mechanism may further comprise a plurality of driven travelling wheels. The number and position distribution of the driven traveling wheels may be determined according to the accommodation compartment 230 design of the robot body 200.

Preferably, the second ground-engaging wheel 211 may be driven by a differential speed, which may implement a pivot function, so that the transfer robot 20 may freely travel to any area on the ground.

Preferably, the driven travelling wheel is a universal adjusting wheel. The universal adjusting wheel has the walking function in any direction. As shown in fig. 6 and 7, the accommodation chambers 230 are two, the second traveling mechanism includes two second ground-engaging wheels 211 and four universal adjustment wheels 212, and the four universal adjustment wheels 212 are symmetrically disposed at both sides of the robot body 200.

As shown in fig. 7, the second pick-and-place assembly 240 includes a second telescoping assembly 241, a second lifting assembly 242, and a second clasping assembly 243 for clasping the material 270; the second telescopic component 241 is connected with the robot body 200 on one hand and the second lifting component 242 on the other hand, and the second lifting component 242 is connected with the second clamping component 243; the second telescopic component 241 drives the second lifting component 242 and the second clamping component 243 to extend above the material 270 or above the indexing in the material and retract to the accommodating cabin 230, and the telescopic direction of the second telescopic component 241 is intersected with the walking direction of the transfer robot 20; the second lifting assembly 242 drives the second clamping assembly 243 to take and place the material 270 by lifting.

The second elevating assembly 242 has an elevating function in a vertical direction. The second pick-and-place assembly 240 employs a vertical lifting arrangement to achieve the function of directly picking and placing material 270 from a walking surface 201, such as the ground.

Preferably, the second telescopic component 241 includes a second telescopic plate and a driving mechanism, and the second telescopic plate is connected with the second lifting component 242; the drive mechanism is configured to: the second toothed plate is arranged on the second telescopic plate, the second chain wheel and the second chain are arranged on the robot body 200, and the second telescopic plate is made to move in a telescopic way relative to the robot body 200 through the cooperation of the second toothed plate and the second chain.

Preferably, the second sprocket and the second chain are mounted on a plate frame fixedly connected with the robot body 200; the second sprocket is driven to rotate by the motor arranged inside, so that the second chain is driven to move on the second toothed plate, and the second expansion plate moves in an expansion mode relative to the robot body 200.

And a third supporting plate is arranged at the position, close to the second toothed plate, of the plate frame and used for lifting the second chain so as to avoid interference between the second chain and the second chain wheel in the process of driving the second toothed plate to move by the second chain. The second toothed plate is driven by the second chain to move to realize the extension and retraction of the second extension and retraction assembly 241, so that the second extension and retraction assembly 241 can extend to the material or the upper part of the material in the transposition along any side of the robot body in the picking and placing direction, and picking and placing can be realized.

The stroke of the second telescopic assembly 241 may be controlled by a driving motor of the second sprocket. It is further preferable that a proximity switch for controlling the stroke of the second telescopic member 241 is provided on the robot body 200. The second telescopic assembly 241 further comprises a guiding mechanism configured to a third slider arranged on the second telescopic plate and a third guide rail arranged on the robot body 200; alternatively, the guide mechanism is configured as a third guide rail provided on the second expansion plate and a third slider provided on the robot body 200; the third guide rail and the third slider cooperate to guide and support the telescopic movement of the second telescopic member 241.

The second lifting assembly 242 has the same structure as the first lifting assembly 143 of the accessing robot 10, and the second clamping assembly 243 has the same structure as the first clamping assembly 144 of the accessing robot 10, and will not be described again.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. An automated access system, comprising:

the stereoscopic warehouse is provided with at least one row of shelves, a plurality of storage layers are arranged on the shelves, and each storage layer is provided with a plurality of storage positions;

the storage and taking robot moves along the walking track and is used for conveying materials between different storage positions of the goods shelves and the transposition in the materials;

a transfer robot walking under the shelf and the access robot for transferring materials between indexing and in-out docking positions in the materials;

the material middle position is arranged on the ground where the goods shelf is positioned and/or in a plurality of rows of tunnels of the goods shelf, and the ground where the goods shelf is positioned and/or the tunnels form a walking surface of the carrying robot;

and a space for the transfer robot to travel is arranged below the shelf and below the travel rail of the access robot.

2. The automated access system of claim 1, wherein the travel track is disposed on either or both sides of the roadway along a roadway extension direction; or the walking track is arranged on the goods shelf;

The height of the transfer robot is smaller than that of the bottom storage layer of the goods shelf, and the height of the transfer robot is smaller than that of the walking track, so that the transfer robot can freely run between the indexing in the materials and the in-out warehouse docking position.

3. The automated access system of claim 1, wherein the access robot comprises:

the first travelling mechanism is used for driving the access robot to move along the travelling track;

the storage mechanism is used for taking and placing materials from different storage positions of the goods shelf through the telescopic fork assembly;

the first lifting mechanism is connected with the access mechanism and used for driving the access mechanism to lift along a first lifting channel;

the picking and placing mechanism is used for conveying materials between the storing and taking mechanism and the indexing in the materials;

the second lifting mechanism is connected with the picking and placing mechanism and is used for driving the picking and placing mechanism to lift along a second lifting channel;

the second lifting channel and the first lifting channel are not overlapped in a horizontal plane.

4. The automated storage and retrieval system of claim 3, wherein the pick-and-place mechanism is provided with a receiving compartment, a first pick-and-place assembly is disposed within the receiving compartment, the first pick-and-place assembly is configured to extend out of the receiving compartment and pick-and-place material, and secure material within the receiving compartment;

The first pick-and-place assembly is movable from the second hoistway to the first hoistway to transfer material between the containment pod and the access mechanism.

5. The automated accessing system according to claim 1, wherein the handling robot comprises a robot body, a second travelling mechanism is provided on the robot body, and the second travelling mechanism is used for driving the robot body to move on a travelling surface thereof;

the robot body is internally provided with at least one accommodating cabin for accommodating materials, a second taking and placing component is arranged in the accommodating cabin and used for taking and placing materials from the materials in an indexing mode, and the materials are fixed in the accommodating cabin.

6. The automated accessing system of any one of claims 1-5, wherein an in-material index is formed between the accessing robot and the transfer robot, the accessing robot reciprocates along a travel track, transfers the in-material index material to be stocked onto a different storage location of a shelf, and transfers the in-material index material to be stocked onto the storage location of the shelf;

the transfer robot transfers the materials to be put in storage to the material for transferring, and transfers the materials to be put out of storage for transferring.

7. The automated storage and retrieval system of claim 6, wherein the transfer robot transfers materials to be stocked into the material indexing, transfers materials to be stocked out of the material indexing, and transfers materials to be stocked out of the warehouse, comprising:

when the transfer robot has a plurality of accommodation chambers, a plurality of the accommodation chambers can index in the material while taking and placing the material.

8. The automated accessing system of claim 1, comprising at least one accessing robot and at least one handling robot for in-and-out-of-stock or in-and-out-of-stock transport of materials;

and in the operation process of delivering materials to and from the warehouse and moving the warehouse, the operation tasks are adjusted based on the operation capacities of the access robot and the transfer robot.

9. The automated access system of claim 8, wherein,

the adjusting the job task based on the job capabilities of the access robot and the transfer robot includes:

when the storage capacity of the storage robot of the roadway where the materials are located is saturated during storage, and when the quantity of the materials to be stored in the storage robot is larger than the first preset quantity in the material of the roadway, the transfer robot is instructed to transfer the materials of the roadway to the materials of other storage robots with processing capacity for storage in the storage robot.

10. The automated access system of claim 8, wherein,

when the material is in the second preset quantity, the idle transfer robots in other lanes are called to carry out the material in the lane or transfer the material in the lane when the material in the lane is in the first preset quantity.