CN117262552A - Pallet warehousing system and loading and unloading method thereof - Google Patents

Abstract

The utility model provides a pallet warehouse system and method of putting on or off the shelf thereof, it arranges the goods shelves that open interface and be used for warehousing temporary storage and ex warehouse temporary storage respectively in the three-dimensional goods shelves both sides of intensive storage area respectively, directly draws transport goods through AGV fork truck between the goods shelves of keeping in of three-dimensional goods shelves and both sides. The utility model provides a utilize AGV fork truck to replace transfer chain and hoisting device in the current warehouse system, can directly draw the goods from the different levels of three-dimensional goods shelves, or directly put into the open interface of different levels in the three-dimensional goods shelves. From this, this application accessible AGV fork truck's direct transportation effectively avoids the transport capacity bottleneck of lifting machine, realizes the multi-point to the goods transfer of multiple spot between three-dimensional goods shelves and the access terminal goods shelves of keeping in to reduce the construction cost of single goods position, make the storehouse scheme not receive lifting machine equipment height limit immediately, realize that automatic tray stereoscopic warehouse is in the storage of the mode of simplest equipment and select seamless connection operation.

Description

Pallet warehousing system and loading and unloading method thereof

Technical Field

The application relates to the field of intelligent warehousing systems, in particular to a pallet warehousing system and an on-off method thereof.

Background

The existing warehousing system generally realizes warehousing through a conveying line and a lifting machine. The warehouse-in operation process can be referred to as shown in the upper part of fig. 1, and the warehouse-out operation process is opposite to the warehouse-out operation process: the method comprises the steps of firstly, extracting cargoes from a loading and unloading area by a manual forklift, placing the cargoes on a conveying line, conveying the cargoes to a lifting device butted with a three-dimensional goods shelf by the conveying line, conveying the cargoes to corresponding floors of the three-dimensional goods shelf by the lifting device, driving a four-way shuttle car of the floors to extract the cargoes by the lifting device, and transferring the cargoes to corresponding storage positions of the floor dense storage areas.

The system requires the cooperative linkage of equipment such as a conveying line, a lifting device, a four-way shuttle car and the like. Because transfer chain and elevating gear can only pass through the linear operation in unit operation time, carry a set of goods tray to the target position, therefore, when storage throughput is great, elevating gear's operating efficiency has actually limited whole warehouse system's turnover efficiency bottleneck.

Disclosure of Invention

The utility model provides a to the not enough of prior art, provide a tray warehouse system and method of putting on and off the shelf thereof, this application utilizes AGV fork truck directly to carry goods to each layer in the three-dimensional goods shelves, can avoid the queuing phenomenon that hoisting device caused, promotes system operating efficiency, and a plurality of AGV fork trucks collaborative operation can carry out a plurality of warehouse in and out tasks side by side to furthest promotes warehouse system's turnover efficiency. The application specifically adopts the following technical scheme.

Firstly, in order to achieve the above objective, a method for loading and unloading a pallet warehouse system is provided, wherein the warehouse process steps include: dispatching a manual forklift in a forklift unloading area to carry cargoes to a warehouse entry temporary storage area; driving an AGV fork truck to directly convey cargoes in a warehouse-in temporary storage area to an open interface of a corresponding level in a three-dimensional goods shelf in a dense storage area; dispatching four-way shuttle vehicles running in corresponding levels in the three-dimensional goods shelves, extracting goods from the open interfaces, and transferring the goods to specified storage spaces in the three-dimensional goods shelves for storage; the ex-warehouse process steps include: a four-way shuttle car running in a goods storage level in the three-dimensional goods shelf is scheduled to extract goods from a goods storage bin and transfer the goods to an open interface at the edge of the three-dimensional goods shelf; driving an AGV fork truck to directly carry cargoes to a temporary storage area for entering and exiting from an open interface of a corresponding level in the three-dimensional goods shelf; dispatching a manual forklift in the cargo loading area to convey cargoes in the temporary storage area to a truck; wherein, the warehouse-in temporary storage area and the warehouse-out temporary storage area are arranged continuously or separately and independently.

The method for loading and unloading the tray warehouse system according to any one of the above, further comprising the following steps: and the warehouse entry temporary storage area is used for binding the pallet codes, the material codes and the temporary storage positions of the goods by warehouse manager according to the codes of the goods pallet scanned by the handheld terminal and the material codes of the goods.

The method for loading and unloading the pallet warehouse system according to any one of the above, wherein after pallet codes and material codes are bound, a warehouse-in task is triggered to be generated, a designated storage bin of the goods in the three-dimensional goods shelf is calculated and determined, then an AGV forklift truck is triggered to extract the goods from the temporary storage position according to the warehouse-in task, and the goods are carried to an open interface corresponding to the hierarchy edge where the designated storage bin is located in the three-dimensional goods shelf.

The method for loading and unloading the tray warehouse system according to any one of the above, further comprising the following steps: inquiring a designated storage bin of the goods in the three-dimensional goods shelf according to the goods delivery demand, and triggering a four-way shuttle corresponding to the level of the designated storage bin in the three-dimensional goods shelf to carry the goods from the designated storage bin to an open interface at the edge of the level; after being carried to the open interface, the AGV forklift is triggered to extract cargoes from the open interface, the cargoes are carried to the temporary storage position of the ex-warehouse temporary storage area, and the corresponding relation between the cargoes and the temporary storage position is marked.

The method for loading and unloading the tray warehouse system according to any one of the above, wherein the following steps are further executed in the warehouse-out temporary storage area: according to the corresponding relation between the goods and the temporary storage positions, the temporary storage positions corresponding to the goods which are delivered out of the warehouse are sent to warehouse operators, according to the handheld terminal, the goods confirmation information of the handheld terminal is received, and according to the goods confirmation information, an AGV forklift is triggered to carry the residual goods in the goods tray from the temporary storage positions to the open interface of the hierarchy edge where the corresponding goods specified storage warehouse is located in the three-dimensional goods shelf.

The method for loading and unloading the tray warehouse system according to any one of the above, wherein after the remaining goods are carried to the open interface corresponding to the level edge of the specified storage bin of the goods, the four-way shuttle corresponding to the level of the open interface in the three-dimensional goods shelf is triggered to carry the goods from the open interface to the specified storage bin.

Meanwhile, in order to achieve the above object, the present application further provides a pallet warehouse system, which includes: the storage system comprises a storage space, a temporary storage area, a dense storage area, a plurality of storage racks and a storage unit, wherein the temporary storage area is arranged at the edge of the storage space, the dense storage area is independently arranged in a continuous area outside the temporary storage area, and a three-dimensional goods shelf with a plurality of layers of open interfaces is arranged in the dense storage area; the AGV fork truck runs in the temporary storage area and the four-way shuttle car runs in the three-dimensional goods shelf; wherein, each layer of open interface of the three-dimensional goods shelf is welded with a goods position flange on the goods shelf beam along the picking and placing direction of goods, the top of the goods position flange inclines to the outer side of the goods shelf beam, the bottom of the goods position baffle edge is close to the inner side edge of the goods shelf cross beam, and the goods position baffle edges on two sides of the open interface form an inverted trapezoid opening along the picking and placing direction of goods to guide two sides of the goods to respectively align to the goods shelf cross beam and enter the three-dimensional goods shelf; the AGV forklift and the four-way shuttle are used for carrying cargoes according to the loading and unloading method respectively.

The pallet warehousing system according to any one of the above, wherein the temporary storage area comprises a warehousing temporary storage area and an ex-warehouse temporary storage area which are respectively arranged at two opposite sides in the warehousing space, and the dense storage area is arranged between the warehousing temporary storage area and the ex-warehouse temporary storage area; alternatively, the temporary storage area is arranged on one side of the dense storage area only.

The pallet warehousing system according to any one of the above, wherein the warehousing temporary storage area is directly communicated with the truck unloading area and is arranged at one side of the warehousing space; the temporary storage area for delivery is directly communicated with the cargo area and is arranged at one side of the storage space; the lanes of the truck unloading area and the loading area are mutually communicated, and the truck unloading area and the loading area are jointly arranged along the same side wall of the storage space.

The pallet warehousing system according to any one of the above, wherein the shelves of the warehousing temporary storage area and the ex-warehouse temporary storage area are arranged between the running path of the manual forklift and the three-dimensional shelf of the dense storage area; the goods shelves are set to open positions on one side of the running path of the manual forklift and one side close to the three-dimensional goods shelves respectively, the AGV forklift takes and places goods in the open positions of one side of the goods shelves facing the dense storage areas, and the manual forklift takes and places goods in the open positions of the other side of the goods shelves.

The pallet warehousing system according to any one of the above, wherein the temporary storage area is internally provided with a goods shelf or a ground pile,goods shelves or pilesAre respectively arranged to be parallel to the open interfaces of the three-dimensional shelves in the dense storage area.

Advantageous effects

The tray warehouse system and the loading and unloading method thereof provided by the application are characterized in that open interfaces and shelves respectively used for warehouse entry temporary storage and warehouse exit temporary storage are respectively arranged on two sides of a three-dimensional shelf of a dense storage area, and goods are directly extracted and carried between the three-dimensional shelf and the temporary storage shelves on two sides through AGV forklifts. The utility model provides a utilize AGV fork truck to replace transfer chain and hoisting device in the current warehouse system, can directly draw the goods from the different levels of three-dimensional goods shelves, or directly put into the open interface of different levels in the three-dimensional goods shelves. From this, this application accessible AGV fork truck's direct transportation effectively avoids the transport capacity bottleneck of lifting machine, realizes the multi-point to the goods transfer of multiple spot between three-dimensional goods shelves and the access terminal goods shelves of keeping in to reduce the construction cost of single goods position, make the storehouse scheme not receive lifting machine equipment height limit immediately, realize that automatic tray stereoscopic warehouse is in the storage of the mode of simplest equipment and select seamless connection operation.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate and explain the application and do not limit it. In the drawings:

FIG. 1 is a graph comparing the warehouse efficiency of the single warehouse entry process of the method for loading and unloading the rack of the present application with that of the existing pallet warehouse system;

FIG. 2 is a schematic overall layout of the pallet warehousing system of the application;

FIG. 3 is a schematic illustration of a warehousing process in the pallet warehousing system of the present application;

FIG. 4 is a schematic view of a three-dimensional shelf in the pallet warehousing system of the present application;

FIG. 5 is a schematic illustration of a warehouse-out process in the pallet warehousing system of the application;

FIG. 6 is a schematic view of the mounting locations of the flanges of the two sides of the open interface of the stereoscopic shelf in the pallet warehousing system of the application;

FIG. 7 is a schematic illustration of a cargo space flange installation in the open interface position of the stereoscopic shelf of FIG. 6;

FIG. 8 is a schematic illustration of the manner in which the cargo space flanges operate in the open interface position of the stereoscopic shelf of FIG. 7;

Fig. 9 is a schematic diagram of another pallet warehousing system layout used in the present application.

In the figure, 1 represents a warehouse entry temporary storage area; 2 represents a dense memory area; 3 represents a warehouse-out temporary storage area; 4 represents an AGV forklift; 5 represents an artificial forklift; 6 represents a cargo space flange; 20 denotes a loading and unloading area; 21 denotes a stereoscopic library; 22 represents a parent channel; 23 denotes a transceiving port.

Description of the embodiments

In order to make the objects and technical solutions of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without the benefit of the present disclosure, are intended to be within the scope of the present application based on the described embodiments.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The meaning of 'inner and outer' in the application refers to that the direction from a truck unloading area and a truck loading area lane to a storage bin of a three-dimensional goods shelf in the storage space is inner relative to the storage space, and vice versa; and not as a specific limitation on the device mechanisms of the present application.

The meaning of "up and down" in this application refers to that when a user is facing the stereoscopic goods shelf, the direction from the ground to the storage space at the top of the stereoscopic goods shelf is up, and vice versa, rather than specific limitation of the device mechanism of this application.

As used herein, "connected" means either a direct connection between elements or an indirect connection between elements via other elements.

The transportation value of the tray runs through the whole time of the logistics operation link, and no matter loading, unloading, carrying, storing, sorting and transporting, the tray is required to bear the goods to realize the consistent intermodal transportation of the goods. The same type of goods are stored in the same tray, and a plurality of materials of the same type can be simultaneously accessed, so that the logistics operation efficiency can be greatly improved in a system, and most manufacturing enterprises can adopt the tray as a storage container.

The automatic stereoscopic warehouse based on the trays can realize reasonable storage of the tray materials in the warehouse, automatic access, simplified operation and the like. The tray type vertical warehouse has the characteristics of high space utilization rate, strong warehouse-in and warehouse-out capability, convenience in material management control by adopting a computer, contribution to realizing modern management and the like, and gradually becomes an indispensable intelligent warehouse technology in logistics and production management of modern enterprises, and is more and more valued by the modern enterprises.

However, the planning of the existing automated pallet stereoscopic warehouse is often accompanied by the design of numerous automated equipment and warehouse systems, so that the final stereoscopic warehouse may be quite expensive. Many enterprises which want to push the pallet warehouse to develop towards modernization and intellectualization abandon construction due to the reasons of fund shortage, limited scale and the like. How to reduce the construction cost of the automatic tray stereoscopic warehouse becomes a big problem which needs to be solved by various enterprises.

In recent years, along with the expansion of electronic commerce market, the demand of more rapidly delivering various commodities to subscribers is continuously increased, so that the combination of picking operation and tray storage, and the integration of picking and storage are necessarily the future trend of vertical warehouse scheme design, so that how to design the picking path can be minimized, the time consumption is minimized, and the equipment is simplified to be a huge subject.

Based on this, the application provides the tray warehouse system shown in fig. 2 and the method for loading and unloading the trays shown in fig. 1, so that the throughput efficiency of the tray stereoscopic warehouse system can be effectively improved. The system comprises:

the storage system comprises a storage space, a warehouse-in temporary storage area 1 and a warehouse-out temporary storage area 3 which are respectively arranged at two opposite sides of the storage space, wherein a dense storage area 2 is arranged between the warehouse-in temporary storage area 1 and the warehouse-out temporary storage area 3, and a three-dimensional goods shelf with a plurality of layers of open interfaces is arranged in the dense storage area 2;

AGV forklifts 4 running in the warehouse-in temporary storage area 1 and the warehouse-out temporary storage area 3 are respectively distributed, and four-way shuttle vehicles running in the exclusive level are respectively distributed in each layer of the three-dimensional shelf;

each unit in the system carries goods to execute warehouse-in and warehouse-out operation according to the method of loading and unloading the goods as follows.

Wherein, in the warehouse entry process:

firstly, dispatching a manual forklift in a truck unloading area outside a storage space to convey cargoes to a goods shelf of a storage temporary storage area 1;

then, according to the receiving condition of the goods in the goods shelves, the AGV fork truck 4 is correspondingly driven to directly transport the goods on the goods shelves in the warehouse-in temporary storage area 1 to the open interfaces of the corresponding levels in the three-dimensional goods shelves in the dense storage area 2;

meanwhile, the four-way shuttle vehicles running in the corresponding levels in the three-dimensional goods shelves are scheduled to extract goods from the open interfaces and transfer the goods to the appointed storage bin in the three-dimensional goods shelves for storage.

In the process of ex-warehouse:

firstly, dispatching a four-way shuttle vehicle running in a goods storage level in a three-dimensional goods shelf to extract goods from a goods storage bin and transfer the goods to an open interface at the edge of the three-dimensional goods shelf;

meanwhile, the AGV fork truck 4 is driven to directly carry cargoes to the goods shelves in the warehouse-in and warehouse-out temporary storage area 3 from the corresponding level of open interfaces in the three-dimensional goods shelves;

And then, dispatching the manual forklift in the cargo loading area outside the storage space to carry the cargoes on the goods shelves in the delivery temporary storage area 3 into the trucks.

In the warehousing system, a warehousing temporary storage area 1 can be arranged on one side of a warehousing space and is directly communicated with a truck unloading area through a warehousing channel of the warehousing space; the warehouse-out temporary storage area 3 can be arranged on the other side of the warehouse space and is directly communicated with the cargo area through a warehouse-out channel; lanes between the truck unloading area and the truck loading area can be communicated with each other so as to directly extract the warehouse materials for next round of material transportation after unloading. In general, to facilitate the picking and placing of goods by a truck, the truck unloading area and the loading area may be arranged together along the same side wall of the storage space.

Referring to fig. 3 and 5, the shelves of the warehouse entry temporary storage area 1 and the warehouse exit temporary storage area 3 may be disposed between the running path of the manual forklift and the three-dimensional shelf of the dense storage area 2; for convenience fork truck gets and puts goods, the goods shelves of two temporary storage areas all can set up the open position respectively in the travel path one side of artifical fork truck and the one side that is close to three-dimensional goods shelves simultaneously, from this, can make things convenient for AGV fork truck 4 to get and put goods towards the open position of dense storage area 2 one side in the goods shelves, make things convenient for the goods in the goods shelves in the open position of artifical fork truck opposite side to get simultaneously and put goods in the goods shelves.

Taking a rectangular warehouse space as an example, the application can refer to a mode of fig. 2, wherein a warehouse-in temporary storage area and a warehouse-out temporary storage area are respectively arranged along the short sides of the warehouse space, a complete area in the middle of the warehouse space is used as a dense storage area to place the three-dimensional goods shelves shown in fig. 4, and the goods shelves of the warehouse-in temporary storage area 1 and the warehouse-out temporary storage area 3 are respectively arranged to be parallel to the open interfaces of the three-dimensional goods shelves in the dense storage area 2, so that the operation distance of an AGV fork truck is shortened. Like this, AGV fork truck can directly take the goods from open mouth or temporary storage goods shelves, and the corresponding position of opening mouth of contralateral temporary storage goods shelves or three-dimensional goods shelves can be put into to the goods tray in situ change 180.

Through the design, the design mode of the access end of the traditional vertical warehouse is broken through, equipment such as a conveying line and a lifting machine can be completely separated, and a brand new operation mode of putting the tray storage system on and off the shelf is provided. The scheme of loading and unloading can reduce the construction cost of a single goods space, and the scheme of erecting the warehouse is not limited by the height of the elevator equipment, so that the seamless connection operation of storing and selecting of the automatic tray stereoscopic warehouse in the simplest equipment mode is realized.

Foretell tray memory system passes through the buffering of keeping in of tray strorage device, and corresponding handling device of cooperation can:

The pallet storage device is used for constructing a dense goods shelf group, so that warehouse space is utilized to the maximum extent and used for storing materials;

the pallet carrying device is set as a four-way shuttle in the three-dimensional goods shelf of the dense storage area 2, and can carry out four-way running operation in the goods shelf for specifying material carrying operation between points;

the temporary storage shelves in the warehouse-in temporary storage area 1 and the warehouse-out temporary storage area 3 are utilized to buffer target materials of the work of loading and unloading, so that the pallet can conveniently select goods positions, and the task execution efficiency of the system in unit time is effectively improved by parallel running of the respective thread tasks through each path of transfer device:

the pallet picking positions are set to be customized single-depth goods shelves, the customized single-depth goods shelves can be integrated with a pallet storage device, namely a dense goods shelf group, a to-be-transferred position is provided for picking and warehousing, a series of target materials are temporarily stored in advance according to the warehouse-in and warehouse-out requirements, and the material taking efficiency is improved;

the pallet transfer device can select an AGV fork truck to replace a traditional conveying and lifting operation mode, conveying and lifting equipment is thoroughly canceled, and a vertical warehouse system can be simplified and low in cost. The AGV forklift can be set to operate synchronously according to the throughput requirement of the warehouse system, and the efficiency of operations such as picking up and off the designated materials, delivering and warehousing and the like can be effectively improved.

In a more specific implementation manner, referring to fig. 2, according to warehouse operation flow planning, the warehouse space plan is sequentially set as: the system comprises a warehouse entry temporary storage area, a dense storage area and a warehouse exit temporary storage area. A truck parking area, a loading and unloading operation area and a loading and unloading operation area can be arranged outside a warehouse door independently of the outside of the warehouse;

according to the scheme, the u-bot and other stacking type AGV forklift is matched with a four-way shuttle car running in a three-dimensional goods shelf to replace conveying lifting equipment, meanwhile, the WCS system is utilized to realize scheduling of the u-bot and other stacking type AGV forklift and the four-way shuttle car in the goods shelf, and the WMS system is utilized to realize management and update of goods in-out storage states and storage positions.

The warehousing operation flow can be set as follows:

using a manual forklift to transfer materials from a truck to a warehouse-in temporary storage area

(2) The warehouse manager stacks the goods on the tray in the warehouse temporary storage area 1, and scans the tray code and the goods code of the goods tray on the goods shelf by using the hand-held terminal to perform information binding tray code, goods code and temporary storage position of the goods

(3) A warehouse manager issues a material warehouse-in task on a handheld terminal, after receiving a warehouse-in application, a WMS calculates and determines an appointed storage warehouse position of the goods in a three-dimensional goods shelf, the warehouse-in task is triggered to be generated, the issued task is issued to the WCS, the WCS system dispatches an AGV fork truck 4 such as U-BOT and the like, the goods are extracted from a temporary storage position, and a pallet is carried to an open interface corresponding to the hierarchy edge where the appointed storage warehouse position is located in the goods shelf;

(4) The WCS schedules the four-way shuttle to travel to a goods shelf warehouse entry, carries materials to a designated warehouse space, uploads the completion information to the WCS system, and the WCS system uploads the completion information to the WMS system

(5) The WMS system updates inventory information in real time.

The ex-warehouse operation flow of the present application may be set as:

(1) Warehouse management personnel send out warehouse tasks from the handheld terminal up and down, WMS inquires the appointed storage warehouse space of the goods in the three-dimensional goods shelf according to the warehouse goods demand, and sends the tasks to WCS, triggering WCS system to dispatch four-way shuttle vehicles corresponding to the hierarchy of the appointed storage warehouse space in the three-dimensional goods shelf to carry goods to be warehouse-out from the appointed storage warehouse space to the open interfaces at the edge of the hierarchy in advance, the number of the open interfaces for warehouse-out can be set to be multiple in one layer, and the function of preparing materials in advance is achieved;

(2) After being carried to the open interface, the AGV fork truck 4' such as WCS dispatching U-BOT is triggered, goods are extracted from the open interface, the pallet is taken down from the goods shelf and placed at the picking position of the warehouse-out temporary storage area 3, and the corresponding relation between the goods and the temporary storage position is marked

(3) According to the corresponding relation between the goods and the temporary storage positions, the temporary storage positions corresponding to the goods which are delivered out of the warehouse are sent to a warehouse manager, according to the hand-held terminal, the warehouse manager selects the needed materials from the tray according to the prompt of the hand-held terminal, and confirms the materials on the hand-held terminal

(4) The warehouse manager initiates a task of returning the residual trays to the warehouse through the handheld terminal, the WCS system receives the cargo confirmation information of the handheld terminal, dispatches the U-BOT and the four-way shuttle, triggers the AGV fork truck 4 to carry the residual cargos in the cargo tray from the temporary storage position to an open interface at the level edge of the three-dimensional goods shelf corresponding to the specified storage position of the cargos, drives the four-way shuttle to carry the residual trays to the specified cargo position, and feeds back to the WMS system

(5) WMS systems update inventory in real time.

In the system, the warehouse entry temporary storage area and the warehouse exit temporary storage area are mainly used for: and (3) caching the goods, and placing the target goods on a temporary storage shelf convenient to take and place before the warehouse-in and warehouse-out actions, so that a space is provided for the movement of the goods in the warehouse. The goods can be moved to the warehouse location from the warehouse-in temporary storage area, and the target goods are temporarily stored in the warehouse-out temporary storage area in advance in the warehouse-out process, and then the goods are carried out from the warehouse-out temporary storage area. The area can be used for collecting tray data, carrying out operations such as code scanning, photographing, weighing, measuring and the like on trays in a warehouse and out of the warehouse, and simultaneously inputting commodity information, carrying out information verification and inputting a wms system. The temporary storage position is used for the U-BOT transfer position, and the U-BOT can transfer materials from the transfer position to the three-dimensional goods shelf for storage.

In the storage area of the dense goods shelf, the goods shelf is designed to be integrally combined with storage and picking, a four-way vehicle special goods shelf is adopted, meanwhile, a row of special single-depth picking goods sites are arranged at the end part of the goods shelf close to the warehouse-in and warehouse-out, the materials for picking and warehouse-out can be directly transported from the ground to the three-dimensional goods shelf by a u-bot, the materials to be picked are transported from the inside of the three-dimensional warehouse to the picking sites for standby by the four-way vehicle, the u-bot can transport the materials to be picked from the three-dimensional warehouse goods shelf to the ground, and the process does not need to convey a lifting device, so that the throughput bottleneck that the lifting device can only extract a single goods shelf from the whole three-dimensional warehouse at each time can be effectively avoided;

in the storage area of the dense goods shelf, the four-way shuttle car running in the three-dimensional goods shelf can realize longitudinal walking and transverse walking in the three-dimensional goods shelf through the walking wheels in two orthogonal running directions, namely, can run on the primary channel and the secondary channel. The system has high flexibility, can randomly change operation lanes, can adjust the capacity of the system by increasing and decreasing the number of the shuttle vehicles, and can strain the peak value of the system by constructing a scheduling mode of an operation fleet when necessary, thereby solving the bottleneck of in-out operation.

When the four-way shuttle vehicle runs in the sub-channel, the position to be reached is determined through the motor encoder, and then when the position reaches the designated position, the lateral cargo space calibration sensor is used for carrying out fine cargo space calibration.

When the four-way shuttle vehicle runs in the mother channel shown in fig. 4, the position to be reached is determined through the motor encoder, and then fine positioning calibration is performed through the four-way reversing calibration sensor after the position reaches the designated position.

In the running process of the four-way shuttle, the guide edge (namely the guide edge) in the travelling wheel is matched with the track to serve as a guide, so that the four-way shuttle is prevented from deviating from a normal track. When the four-way shuttle is changed from the sub-channel running to the main channel running or from the main channel running to the sub-channel running, the four-way shuttle is firstly stopped at the joint of the main channel and the sub-channel accurately. The analog quantity sensor is positioned to the track surface for positioning calibration, when the analog quantity of the sensor is within the critical value range, the analog quantity reaches a specified accurate position, and then the reversing is realized through the ascending or descending of the travelling wheel of the main channel. The raising or lowering of the wheels is controlled by a program. When four-way shuttle gets goods, the lifting of accessible tray is accomplished: the four-way shuttle is driven below the bracket in the roadway, after the specified position is reached, the supporting plate is lifted, the tray on the goods shelf of the lifting plate is lifted together with goods, and the four-way shuttle drives the tray and the goods out of the roadway. And (3) placing cargoes in the same way, and placing the pallet lowering tray and cargoes together on the cargo space after the four-way shuttle cargo goes into the appointed cargo space. The four-way shuttle has an anti-collision function, the existence of obstacles can be perceived in advance through various sensing devices and systems for scheduling the real-time running positions of the four-way vehicles, the distance can be perceived to be 1 meter by using obstacle perception sensors such as laser, infrared, vision modules and the like, and when the obstacles are detected, the four-way shuttle stops running.

In the application, the u-bot and other stacking type AGV forklift can replace a conveying lifting device, so that automatic operation of material warehouse-in and warehouse-out is realized. Under the background of greatly increased high-order storage demands, the higher the AGV of the forklift truck, the more the storage space of the warehouse can be fully utilized, the warehouse capacity is improved, and therefore the lawn efficiency is improved. The u-bot stacking forklift AGV used in the embodiment drives the fork to move forward by using the portal frame during operation, the fork is extended out of the front wheel to realize the fork taking or putting down of the goods, and the fork is retracted with the goods during walking to realize the carrying of the goods.

In another embodiment, the present application may also provide a warehousing system as shown in fig. 9 that utilizes a four-way shuttle dense warehouse in combination with an AGV fork truck to effect pick. The four-way shuttle vehicle dense warehouse meets the requirement of high storage capacity by utilizing the form of the three-dimensional warehouse 21, and can operate in a multi-depth storage roadway of the three-dimensional warehouse 21 so as to maximize the limited space storage capacity and improve the throughput efficiency of cargoes. AGV fork truck equipment such as U-BOT is adopted in this application to solve the transport problem of goods from on the goods shelves to the district of selecting. Compared with the conventional vertical warehouse mode, in the conventional vertical warehouse 21, if the goods are to be landed, the goods can be landed only by elevator layer change, conveyor line conveying and forklift conveying. After this application adopts AGV fork truck equipment such as U-BOT, can be directly from the transport of goods shelves high level to selecting the district by fork truck robot to, but fork truck robot portable position is not limited to two single delivery openings, but towards the goods shelves whole face in selecting the district, therefore, this application can significantly reduce the link between choosing goods in-process goods waiting to carry, and is more flexible high-efficient, and the tray supplies that have selected can be warehouse in again through U-BOT transport.

Fig. 9 is a tray-dense library according to the present embodiment, which includes: a temporary storage shelf provided at the entrance/exit position of the loading/unloading area 20, the temporary storage shelf being provided with an open structure on both inner and outer surfaces;

a manual forklift 5 which is operated between the loading and unloading area 20 and the outside open area of the temporary storage shelf, and is used for transporting the goods from the truck in the loading and unloading area 20 to the temporary storage shelf or from the temporary storage shelf to the truck in the loading and unloading area 20;

the three-dimensional warehouse 21 is arranged on the inner side of the temporary storage shelf and is provided with a plurality of layers of storage positions, the storage positions of each layer are respectively communicated by a track, and the storage position closest to the temporary storage shelf is respectively arranged in each layer and is used as a receiving and transmitting port 23;

the AGV forklift 4 runs between the inner open area of the temporary storage shelf and the receiving and transmitting port 23 of the three-dimensional warehouse 21, the lifting height of the AGV forklift 4 to the cargoes at least reaches the height of the receiving and transmitting port 23 of the uppermost storage position of the three-dimensional warehouse 21, and the AGV forklift 4 is used for conveying the cargoes from the receiving and transmitting port 23 of the three-dimensional warehouse 21 to the temporary storage shelf or conveying the cargoes from the temporary storage shelf to the receiving and transmitting port 23 of the three-dimensional warehouse 21;

four-way vehicles respectively run on the rails communicated with the storage positions in each layer of the three-dimensional warehouse 21 and are used for conveying cargoes from the receiving and dispatching ports 23 of the layer to the corresponding storage positions along the rails or conveying cargoes from the corresponding storage positions to the receiving and dispatching ports 23 of the three-dimensional warehouse 21.

In the system, the real-time storage positions of various cargoes can be managed in a unified way through a storage management system WMS. The warehouse management system WMS is in communication connection with a fixed bar code reader and an appearance detector which are arranged on the temporary storage shelf, is also in communication connection with a handheld terminal, mainly has functions of warehouse entry and exit management, inventory management and the like, and can be used as a main operation application system of a warehouse manager. The system can mark the goods in the tray according to the goods information input by the fixed bar code reader and the tray bar code read by the fixed bar code reader; alarming when the appearance detector detects that the goods in the tray exceeds the tray bearing area; and the system is also used for receiving a warehouse-in and warehouse-out task instruction, correspondingly recording and updating the real-time placing position of each cargo according to the running positions of the four-way vehicles and various forklifts in the warehouse system and the picking and placing states of the cargoes.

The same scheduling management and collaborative operation can be realized among transport equipment such as four-way shuttles, various forklifts and the like in the system through the WCS of the equipment control scheduling system. The equipment control scheduling system WCS is respectively in communication connection with four-way vehicles running in the warehouse management system WMS, the manual forklift 5, the AGV forklift 4 and the three-dimensional warehouse 21, the upper layer of the equipment control scheduling system WCS is in butt joint with the WMS system, the control system of each equipment is in butt joint downwards, the WMS can send a warehouse-in and warehouse-out task to the WCS, the WCS decomposes the task to specific automatic equipment, and the operation of each equipment is scheduled to finish the material warehouse-in and warehouse-out. In specific execution, the WCS may be configured to query or calculate a real-time placement position of each cargo from the warehouse management system WMS according to the in-warehouse task instruction, and issue a task instruction to the manual forklift 5, the AGV forklift 4, or the four-way vehicle running in the three-dimensional warehouse 21 according to the real-time placement position of each cargo, so as to drive the manual forklift 5, the AGV forklift 4, or the four-way vehicle to cooperatively carry the cargo out of the warehouse or carry the cargo into the warehouse.

Specifically, in the warehouse system described above:

(1) The pallet four-way shuttle can be used for: the pallet carrying equipment in the vertical warehouse can travel in four directions, reach any position along a fixed track, and generally has a four-way shuttle vehicle for each layer of a goods shelf, has high efficiency, and can be used for a plurality of layers

(2) The four-way vehicle shelf can be used for: the goods with the pallet are stored, the fixed rails can be used for the four-way vehicle to run along the X axis and the Y axis, multiple layers can be arranged, four layers are arranged in the scheme, the total height of the goods shelf is not more than 4 meters, and the height of the lower surface of the pallet on the fourth layer is not more than 5 meters

(3) The manual forklift 5 running between the loading and unloading area 20 and the temporary storage shelf can be set as an manual forklift, and the AGV forklift 4 between the temporary storage shelf and the three-dimensional warehouse 21 can be set as an AGV forklift. The AGV fork truck can be realized by U-bot and the like and is mainly used as ground automatic carrying equipment for automatically carrying pallet cargoes from a high-level goods shelf to a designated temporary storage goods shelf position. Can be configured into a plurality of sets according to project requirements.

(4) Manual forklift: the manual carrying of mainly used tray, mainly used in this scheme is unloaded from the freight train, perhaps loaded.

(5) Hand-held terminal: the system can be used as a warehouse mobile operation terminal and is connected with an upper-layer WMS system, and is mainly used for pallet assembly, picking and loading and unloading operations of cargoes.

(5) A fixed bar code reader: is arranged at the entrance of the goods shelf and used for reading the bar code on the tray so as to obtain the material information, and is uploaded to an upper layer system, and the system can automatically allocate the storage bin according to the material information

(4) Appearance detection: the goods shelf is arranged at the entrance of the goods shelf and used for detecting whether the goods exceed the tray or not and ensuring the stable operation of the tray goods in the warehouse.

The devices can be used in the warehouse-in process of goods:

(1) Driving the manual forklift to convey the goods to the temporary storage shelf from the truck in the loading and unloading area 20;

(2) Goods and materials are stacked on the tray by warehouse manager, goods are sorted according to different categories, goods of the same category are placed in the same tray on the temporary storage shelf, goods of different categories are placed in different trays, and the corresponding relation between the goods and the tray is recorded into the warehouse management system WMS by using the handheld terminal code scanning tray code and the goods and materials code, and information binding is performed;

(3) A warehouse manager sends out a material warehouse-in task on a handheld terminal, after the WMS receives a warehouse-in application, the sent-out task is sent to the WCS, and the WCS system dispatches U-BOT to drive an AGV fork truck 4 to convey a goods pallet from a temporary storage shelf to a receiving-transmitting port 23 of a slave stereo warehouse 21, wherein materials of the same category are preferably placed into the receiving-transmitting port 23 of the same layer in the stereo warehouse 21;

(4) The WCS schedules the four-way shuttle to travel to a goods shelf warehouse entry, conveys goods to a warehouse position of a designated warehouse position in the layer of three-dimensional warehouse 21 along a track from a receiving and transmitting port 23 of the layer, and uploads the completion information to the WCS system, and the WCS system uploads the completion information to the WMS system;

(5) The WMS system updates inventory information in real time.

The devices can be used in the process of delivering cargoes out of the warehouse:

(1) Warehouse management personnel send out warehouse tasks from the handheld terminal up and down, WMS receives the warehouse-in and warehouse-out task instruction, inquires the real-time placing position of goods from the warehouse management system WMS according to the warehouse-out goods, issues the task to the WCS, and correspondingly dispatches four-way shuttle vehicles through the WCS system to carry the goods to be warehouse-out to the receiving and transmitting port 23 of the layer along the track from the corresponding warehouse position in the layer of three-dimensional warehouse 21; in the carrying process, a plurality of receiving and transmitting ports 23 can be selected as the pre-preparation materials for realizing the delivery ports according to the occupation condition of each delivery port in the three-dimensional warehouse 21;

(2) The WCS dispatches U-BOT, drives the AGV fork truck 4 to take the goods pallet off the goods shelf from the receiving and dispatching port 23 of the three-dimensional warehouse 21 to convey the goods pallet to the temporary storage shelf, and places the goods pallet in a picking temporary storage area;

(3) The warehouse manager selects the materials from the tray according to the prompt of the handheld terminal and confirms the materials on the handheld terminal;

(4) The warehouse manager initiates a task of returning the residual trays to the warehouse through the handheld terminal, triggers the WCS to schedule the AGV forklift 4 to convey the trays of the residual cargos from the temporary storage shelf to the receiving and transmitting port 23 of the secondary stereo warehouse 21, triggers and drives the four-way vehicle to convey the cargos to the corresponding warehouse position in the secondary stereo warehouse 21 along the track from the receiving and transmitting port 23 of the secondary stereo warehouse 21, conveys the residual trays to the designated cargo space, and feeds back to the WMS system;

(5) The manual forklift 5 is driven through WCS scheduling, and after the goods are carried to the trucks in the loading and unloading area 20 from the temporary storage shelf, the WMS system is triggered to update the stock in real time.

In the above system, the receiving and transmitting ports 23 of each layer in the stereo garage 21 are configured to only accommodate a single cargo pallet, the female channel 22 is connected in series to the rear ends of the receiving and transmitting ports 23 of the layer, and the front ends of the receiving and transmitting ports 23 are configured to be in an open structure, so that the cargo can be directly extracted by the forklift. For making things convenient for AGV fork truck transport goods, shorten its travel distance, promote goods throughput efficiency, can set up the goods of keeping in and be parallel to the receiving and dispatching port 23 of three-dimensional storehouse 21 and arrange to set up the interval distance between goods of keeping in and receiving and dispatching port 23 to be greater than the turning radius of AGV fork truck 4, like this, can directly be according to the play storehouse interface position of goods in the three-dimensional storehouse 21, directly turn to the goods tray put into on the goods of keeping in to this interface position, with further compression fork truck transfer process, shorten the goods and keep in the transfer duration that consumes.

For convenience to mix different kinds of goods to promote the utilization efficiency of three-dimensional storehouse 21 storage space, this application still preferably is provided with female passageway 22 respectively between receiving and dispatching port 23 and other storage positions to be provided with female passageway 22 equally between different storage position subregions, therefore, utilize the storage position of separating between the different female passageway 22 to be used for depositing different grade type goods respectively. When the separated storage areas can not receive the new types of cargoes in the idle areas, the new types of cargoes can be stored in the areas with more empty storage spaces for mixing and placing, so that the utilization efficiency of the storage spaces is further improved.

For the two main application scenes, the total height of the three-dimensional warehouse can be generally limited to be below 7m, so that the three-dimensional warehouse can be conveniently and directly connected with a high-position AGV forklift to realize the docking with the temporary storage area to go out and put in. The beam shelves used in the existing temporary storage area are generally arranged in a way that two depths are opposite, and two-way channels are respectively arranged on the left side and the right side of the two-depth shelves. The temporary storage mode has low storage density and large occupied area, and is inconvenient for picking cargoes. The racks of the buffer can thus be arranged in this application directly in the form of stacks with a height of less than 1m or in the form of single-advance inline picking stations. The ground pile can be conveniently assembled and coiled manually, and the fork trucks in different forms such as AGVs are directly utilized to realize warehouse entry and fork taking; the picking station can directly realize the goods to person function, and the picking personnel wait respectively on each station, wait respectively that AGV fork truck carries the goods tray that will draw to the picking station, trigger after extracting corresponding goods from the temporary storage tray and return the storehouse flow, wait to change the new tray and draw, and then realize the high-efficient of multiclass goods and select. In the warehouse returning process, the idle stacking AGV fork truck can be scheduled to the corresponding picking station in advance, and a picking operator is waited to trigger the warehouse returning process so as to directly transfer the rest trays to the three-dimensional warehouse. The other trays to be extracted can be directly triggered to transfer the new trays to be picked from the entrance and the exit of the three-dimensional warehouse to the picking station of the target according to the reverse warehouse flow for extraction. Therefore, the system can effectively realize zero disassembly and sorting of goods in different trays in the three-dimensional warehouse, and realize classification dense storage and scattered extraction of different goods.

The layout of the cargo storage spaces between the parent aisles 22 in the stereoscopic warehouse may be flexibly organized according to the type and number of cargo in the warehouse. When the cargo types are more and the frequency of the in-out and the out-out of the storage is higher, the number of cargo storage space intervals between the mother passages 22 can be set to be smaller. When the number of the cargo storage spaces between the female passages 22 is small, the number of the cargo storage spaces between the female passages 22 can be increased accordingly.

In addition, referring to the open interface of the three-dimensional warehouse shown in fig. 6, 7 and 8, in order to facilitate the AGV fork truck to accurately align the position of the open interface of the three-dimensional warehouse and stably put in, reduce the risk of overturning the pallet, the application can further weld the structure of the pallet baffle edge 6 on the cross beams at the left and right sides of each bin of the three-dimensional warehouse rack along the picking and placing direction of the goods on each layer of open interface of the three-dimensional warehouse rack. The top of goods position flange can set up to buckle the slope to the goods shelves crossbeam outside, the bottom of goods position flange can direct welding be in the position of pressing close to goods shelves crossbeam inboard edge. Therefore, on each open interface in the three-dimensional warehouse, the goods position flanges on two sides of the goods position access opening can form an inverted trapezoid opening with the top opened and the bottom contracted inwards along the picking and placing direction of the goods, so that the goods are guided to enter the three-dimensional goods shelves by the goods position flanges 6 and the inwards inclined side walls, and the goods are accurately butted and fall onto the cross beams on the left side and the right side of each bin position of the three-dimensional warehouse goods shelves, so that the goods are prevented from being overturned or the four-way shuttle is prevented from stably lifting to realize the transportation of the goods due to the inclination of the goods placing positions.

In summary, compared with the warehouse-in aging shown in fig. 1, the method has the following advantages compared with the traditional warehouse-in and warehouse-out loading and unloading mode:

the construction cost is reduced: the conveying lifting device is saved at the warehouse-in and warehouse-out end, and a u-bot and other pile-up AGV fork truck is used for replacing the traditional lifting machine, so that the construction cost of a vertical warehouse can be effectively reduced;

and (3) reducing the height of the vertical warehouse system: the bottleneck of the building height of the vertical warehouse is a lifting machine device, the lifting machine is canceled in the scheme of the application, and the height of the warehouse can be maximally utilized by a shelf when the storage is available, so that dense storage is realized;

simplified library erecting system: the original WCS system needs to dispatch multiple devices, such as a lifter, a conveying line, a transfer machine and the like, and after the scheme is simplified, only a U-bot and other stacking type AGV fork truck and a four-way shuttle are needed to be dispatched, so that the device control system can be simplified, and the software development cost can be reduced;

shelf sorting combination: the goods shelf side-by-side design single deep goods space is specially used for picking operation, and can realize integration of storage and picking;

the more densely stored: in the conventional WMS, the stereo warehouse 21 is a dense storage scheme only for warehouses with few types of materials. The four-way shuttle is utilized to transport cargoes in the dense storage system, and in the three-dimensional warehouse 21, different partitions formed by separating different mother channels 22 are utilized to respectively improve the utilization rate of storage space for multiple varieties of materials. The system can realize the dense storage of multiple SKU materials by adopting strategies such as single roadway mixed placement, advanced warehouse moving and stock preparation, single stock preparation and the like. Under the mixed condition, a roadway can be provided with various materials, for example, the roadway is provided with trays, but each roadway is not fully filled, a new SKU is provided, if one roadway is provided with one material, the goods can not be put on the shelf, and the goods can be put on the shelf under the mixed strategy adopted by the application

Stock in advance: different materials are respectively stored in one roadway through dense storage of multiple varieties, and according to a traditional dense warehouse mode (namely a conveying and lifting access mode), efficient and timely warehouse-out is difficult to realize, the scheme can take out goods in advance through cooperation between a forklift and a temporary storage shelf to realize stock before picking, and the goods are delivered to a plurality of warehouse-out ports in advance according to a single warehouse-out mode, so that the warehouse-out timeliness can be improved;

according to the automatic conveying and lifting system, after the conveying and lifting system is canceled, the U-BOT and other AGV forklift equipment are adopted to replace a traditional conveying and lifting system, links of queuing and waiting in the material unloading process can be reduced, goods are directly transferred to temporary storage shelves in a picking area by different positions in the shelves by using forklifts, and one-stop point-to-point conveying is realized. In the application, the forklift equipment such as u-bot can transport materials to any appointed floor, has lifting and stacking functions, and can pick up and put goods on all floors in rated height, so that goods picking and putting goods taking are more convenient to carry out at different interface positions of the three-dimensional warehouse 21

U-BOT application: U-BOT is intelligent innovation of intelligent warehouse and independently developed omni-directional stacking AGV fork truck, and can take goods from a high-level goods shelf. The U-BOT can rotate in situ, and does not need very big turning radius like traditional AGV fork truck, so this application can more fully utilize the storage space, increases three-dimensional storehouse 21 and sets up the region, promotes storage capacity. AGV fork truck that this application adopted, its performance parameter is also superior to the similar fork truck in market

Flexibility and high expandability: the four-way shuttle and the forklift are flexible single-machine equipment, and each equipment can independently and independently complete tasks, so that in the warehousing system provided by the application, the number of the equipment can be increased by a customer according to service requirements, and the expansibility is high;

the system is simple and efficient in hierarchy: the U-BOT is adopted to replace a conveying lifting device, and the WCS system can be utilized to directly realize the cooperation and the dispatching of the AGV fork truck and the four-way truck, so that the warehouse-in and warehouse-out task is completed. Therefore, the system can more flexibly realize the picking and placing of cargoes in the stereo warehouse 21, and directly cancel the electric control system for conveying and lifting without affecting the low throughput efficiency of the system, so that the system is simpler in hierarchy, easier to realize, less in site installation work and faster in delivery.

The foregoing is merely exemplary of embodiments of the present application and is thus not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application.

Claims (9)

1. The method for loading and unloading the tray warehouse system is characterized by comprising the following steps of:

Dispatching a manual forklift in a forklift unloading area to carry cargoes to a warehouse entry temporary storage area (1);

driving an AGV fork truck (4) to directly convey cargoes in a warehouse-in temporary storage area (1) to corresponding-level open interfaces in a three-dimensional goods shelf in a dense storage area (2);

dispatching four-way shuttle vehicles running in corresponding levels in the three-dimensional goods shelves, extracting goods from the open interfaces, and transferring the goods to specified storage spaces in the three-dimensional goods shelves for storage;

the ex-warehouse process steps include:

a four-way shuttle car running in a goods storage level in the three-dimensional goods shelf is scheduled to extract goods from a goods storage bin and transfer the goods to an open interface at the edge of the three-dimensional goods shelf;

driving an AGV fork truck (4) to directly transport cargoes to the warehouse-in and warehouse-out temporary storage area (3) from an open interface of a corresponding level in the three-dimensional goods shelf;

dispatching a manual forklift in a cargo loading area to convey cargoes in a delivery temporary storage area (3) to a truck;

wherein, the warehouse-in temporary storage area (1) and the warehouse-out temporary storage area (3) are arranged continuously or separately.

2. The method of racking a pallet warehousing system of claim 1 further comprising the steps of: in the warehouse entry temporary storage area (1), the pallet codes, the material codes and the temporary storage positions of the goods are bound by a warehouse manager according to the codes of the hand-held terminal scanning goods pallets and the material codes of the goods.

3. The method for loading and unloading the pallet warehouse system according to claim 2, wherein after pallet codes and material codes are bound, a warehouse-in task is triggered to be generated, a designated storage bin of the goods in the three-dimensional goods shelf is calculated and determined, then an AGV fork truck (4) is triggered to extract the goods from a temporary storage position according to the warehouse-in task, and the goods are carried to an open interface corresponding to the hierarchy edge where the designated storage bin is located in the three-dimensional goods shelf.

4. The method of racking a pallet warehousing system of claim 1 further comprising the steps of: inquiring a designated storage bin of the goods in the three-dimensional goods shelf according to the goods delivery demand, and triggering a four-way shuttle corresponding to the level of the designated storage bin in the three-dimensional goods shelf to carry the goods from the designated storage bin to an open interface at the edge of the level; after being carried to the open interface, the AGV forklift (4) is triggered to extract cargoes from the open interface, the cargoes are carried to the temporary storage position of the ex-warehouse temporary storage area (3), and the corresponding relation between the cargoes and the temporary storage position is marked.

5. The racking method of a pallet warehousing system according to claim 4, characterized in that the following steps are also performed in the out-warehouse buffer (3):

According to the corresponding relation between the goods and the temporary storage positions, the temporary storage positions corresponding to the goods which are delivered out of the warehouse are sent to warehouse operators, according to the handheld terminals, the goods confirmation information of the handheld terminals is received, according to the goods confirmation information, an AGV fork truck (4) is triggered to carry the residual goods in the goods tray to an open interface of the three-dimensional goods shelf corresponding to the level edge of the goods designated storage position from the temporary storage positions, and after the residual goods are carried to the open interface of the level edge corresponding to the goods designated storage position, a four-way shuttle vehicle of the three-dimensional goods shelf corresponding to the level of the open interface is triggered to carry the goods from the open interface to the designated storage position.

6. A pallet warehousing system, comprising: the storage system comprises a storage space, a temporary storage area arranged at the edge of the storage space, and a dense storage area (2) which is arranged in a continuous area outside the temporary storage area, wherein a three-dimensional shelf with a plurality of layers of open interfaces is arranged in the dense storage area (2);

an AGV fork truck (4) running in the temporary storage area and a four-way shuttle car running in the three-dimensional goods shelf;

each layer of open interface of the three-dimensional goods shelf is welded with a goods position flange (6) on a goods shelf cross beam along the goods picking and placing direction, the top of the goods position flange inclines towards the outer side of the goods shelf cross beam, the bottom of the goods position flange is close to the inner side edge of the goods shelf cross beam, and inverted trapezoid openings are formed in the goods picking and placing directions of the goods position flanges on two sides of the open interface to guide two sides of the goods to respectively align with the goods shelf cross beam and enter the three-dimensional goods shelf;

The AGV forklift (4) and the four-way shuttle are used for transporting cargoes according to the loading and unloading method of claims 1-5 respectively.

7. The pallet warehousing system according to claim 6, wherein the temporary storage area comprises a warehousing temporary storage area (1) and an ex-warehouse temporary storage area (3) which are respectively arranged at two opposite sides in the warehousing space, and the dense storage area (2) is arranged between the warehousing temporary storage area (1) and the ex-warehouse temporary storage area (3);

alternatively, the temporary storage area is arranged on one side of the dense storage area (2) only.

8. The pallet warehousing system according to claim 7, wherein the warehouse entry temporary storage area (1) is directly communicated with the truck unloading area and is arranged at one side of the warehouse space; the temporary storage area (3) for delivery is directly communicated with the cargo area and is arranged at one side of the storage space; the lanes of the truck unloading area and the lanes of the truck loading area are communicated with each other, and the truck unloading area and the truck loading area are arranged along the same side wall of the storage space;

the shelves of the warehouse-in temporary storage area (1) and the warehouse-out temporary storage area (3) are arranged between the running path of the manual forklift and the three-dimensional shelf of the dense storage area (2);

the goods shelves are respectively set to open positions on one side of a running path of the manual forklift and one side close to the three-dimensional goods shelves, goods are fetched and placed in the open positions of one side of the intensive storage area (2) in the goods shelves by the AGV forklift (4), and goods are fetched and placed in the open positions of the other side of the goods shelves by the manual forklift.

9. The pallet warehousing system of claim 6 wherein the staging area has shelves or stacks disposed therein,goods shelf Or pileAre respectively arranged to be parallel to the open interfaces of the three-dimensional shelves in the dense storage area (2).