CN118323692A - Storage device, storage method and ex-warehouse method - Google Patents

Abstract

The invention discloses a storage device, a storage method and a warehouse-out method, wherein the storage device comprises: the goods shelf is divided into a goods temporary storage area and a goods storage area, the goods shelf comprises a goods shelf body, a goods carrying platform group positioned in the goods temporary storage area and a storage platform group positioned in the goods storage area, the goods carrying platform group is provided with at least one group, each group of goods carrying platform group comprises at least two goods carrying platforms which are arranged at intervals up and down, and the storage platform group comprises at least one layer of storage platform; the transport robot is suitable for transporting the material box to the carrying platform and/or taking out the material box on the carrying platform; the transfer robot is suitable for transferring the material box between the material carrying platform and the storage platform; and the goods access channel is positioned in the vertical projection area of the storage platform. According to the invention, a plurality of carrying platforms are added in the cargo temporary storage area along the horizontal direction and/or in the vertical direction to serve as cache positions, so that more bins can be cached, and the space in the cargo temporary storage area is fully utilized.

Description

Storage device, storage method and ex-warehouse method

Technical Field

The invention relates to the technical field of storage, in particular to a storage device, a storage method and a delivery method.

Background

The existing warehousing industry mostly adopts robots integrated with automatic climbing capability and moving capability to store and take and transport goods.

With the annual increase of the client warehouse rents, the client has higher requirements on warehouse space utilization rate and shorter investment recovery period of the imported automated warehouse. In the existing trolley scheme, the trolley needs to be hidden below the first storage layer of the goods shelf to lift up for taking goods, so that the goods taking height of the first storage layer of the goods shelf is higher, and the space below the first storage layer of the goods shelf is not effectively utilized, so that the vertical space of a warehouse is wasted.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the defect that the space below the first storage layer of the goods shelf cannot be effectively utilized, so as to provide a storage device, a storage method and a delivery method.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

a warehouse facility, comprising:

The goods shelf is provided with a goods temporary storage area and a goods storage area, and comprises a goods shelf body, a goods carrying platform group positioned in the goods temporary storage area and a storage platform group positioned in the goods storage area, wherein the goods carrying platform group is provided with at least one group, each group of goods carrying platform group comprises at least two goods carrying platforms which are arranged at intervals up and down, and the storage platform group comprises at least one layer of storage platform;

a transport robot having a lifting frame and at least one fork arm body comprising at least two mutually spaced fork arms, the transport robot being adapted to transport a bin onto a carrying platform and/or the transport robot being adapted to take out a bin on a carrying platform;

a pick-up aisle located within the vertical projection area of the storage platform, the pick-up aisle adapted to provide movement space for the transport robot;

a transfer robot adapted to transfer bins between a holding platform and a storage platform;

The object bearing platform comprises a cross beam and longitudinal beams, the cross beam is arranged on the shelf body, the longitudinal beams are arranged on the cross beam, at least one longitudinal beam is arranged, and when the transport robot obtains a material box or unloads the material box, the distance between two fork arms at the outermost side of the transport robot can accommodate all the longitudinal beams.

A warehousing method, which is performed based on the warehousing device and comprises the following steps:

Determining the position of a carrying platform group based on the stock state of each carrying platform on the goods shelf, and obtaining the position of the carrying platform vacancy of the carrying platform group;

determining the position of an unloading bin of the transport robot based on the position of the empty space of the carrying platform;

determining a driving route according to the position information between the transport robot and the carrying platform group, wherein the driving route comprises a route driving along a goods storing and taking channel;

and indicating the transport robot to travel to the position of the object bearing platform group along the travel route, and indicating the transport robot to convey the material box to the object bearing platform vacancy of the object bearing platform group.

A method of delivering a warehouse, the method being based on the warehouse facility, comprising the steps of:

Determining the position of a carrying platform group on a goods shelf;

determining a driving route according to the position information between the transport robot and the carrying platform group, wherein the driving route comprises a route driving along a goods storing and taking channel;

indicating the transport robot to travel to the position of the carrying platform group along the travel route;

and acquiring the position of the material box of the material bearing platform group, and indicating the conveying robot to move the material box away from the material bearing platform.

The technical scheme of the invention has the following advantages:

1. According to the storage device provided by the invention, the goods temporary storage area is increased in the horizontal direction and/or the plurality of goods carrying platforms are increased in the vertical direction to serve as the buffer positions, so that more feed boxes can be buffered, the space in the goods temporary storage area is fully utilized, the goods carrying platforms can serve as the buffer positions of the feed boxes, the low buffer positions and the high buffer positions can be respectively set according to the positions of the goods carrying platforms, the buffer position number is increased, the ratio of the feed boxes without returning to the warehouse is improved, and the input cost of an automatic warehouse is reduced.

2. According to the storage device provided by the invention, the high-level cache position and the low-level cache position of the goods shelf can be simultaneously matched by one transport robot, so that a plurality of robots are not required to be arranged under the condition of the same transport requirement, the number of the high-level robots is reduced, and the cost is reduced. When the transportation robot is a multi-arm transportation robot, the number of single carrying boxes can be increased, the number of the transportation robots is reduced, and the comprehensive carrying cost of the single boxes is reduced.

3. The cross beams of the object bearing platform are segmented cross beams, a space is reserved between the first cross beam and the second cross beam and the cross beams are respectively arranged on the goods shelf body, and two longitudinal beams are respectively arranged on the first cross beam and the second cross beam. The conveying robot obtains or unloads the bin, the fork arms of the conveying robot are staggered with the longitudinal beams at intervals, and the fork arms of the conveying robot can ascend or descend relative to the longitudinal beams so as to lift or unload the bin.

4. According to the storage device provided by the invention, when the transport robot does not load the bin, the fork arm body is positioned below the carrying platform, the lifting frame can pass through the interval between the first cross beam and the second cross beam, so that the transport robot can pass through the goods shelf and freely shuttle in a goods access channel, and when the transport robot finishes the acquisition or unloading of the bin, the transport robot does not need to turn back along an original path and can directly pass through the cross beam of the carrying platform, so that the transport speed and the transport efficiency of the bin are greatly increased.

5. According to the storage device provided by the invention, the length of the fork arm of the transport robot positioned at the middle part can be increased, so that the fork arm of the transport robot positioned at the middle part penetrates out from the interval between the first cross beam and the second cross beam, the fork arm body can carry a feed box with larger specification, and the feed box is not easy to slip from the fork arm body due to the increase of the fork arm body at the middle part, and the stability of the feed box transportation is ensured.

6. The warehouse-in method provided by the invention can very accurately and rapidly carry the material boxes to the empty spaces of the carrying platforms of the carrying platform group, and a plurality of material boxes can be carried at one time when the carrying robot is a multi-arm carrying robot, so that the carrying times are reduced.

7. According to the delivery method, when the transport robot moves to the position of the material box of the material bearing platform, the transport robot can very accurately detect the material box state on each material bearing platform, so that the material box can be very accurately and rapidly moved out of the material bearing platform, and a plurality of material boxes can be transported at one time when the transport robot is a multi-arm transport robot, and the transportation times are reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a pallet that a transportation robot of a warehouse device can freely shuttle;

Fig. 2 is a schematic structural diagram of a transporting robot of a warehouse device according to the present invention;

Fig. 3 is a schematic structural view of a storage device of the present invention when a transport robot holds a bin;

FIG. 4 is a side view of a bin being transported by a single carrier platform of a bin according to the present invention;

FIG. 5 is a side view of a bin being transported by a dual carrier platform of a bin according to the present invention;

fig. 6 is a schematic structural view of a shelf that a transportation robot of a storage device cannot freely shuttle;

Fig. 7 is a schematic structural diagram of a warehouse system device according to the present invention;

FIG. 8 is a schematic diagram of a warehouse system configured to store and retrieve goods in a channel according to the present invention;

Fig. 9 is a warehouse entry diagram of a single loading platform of a warehouse entry device provided by the invention;

Fig. 10 is a warehouse-in diagram of a dual-carrier platform of a warehouse-in device provided by the invention;

fig. 11 is a drawing of a warehouse of the first case of a single loading platform of a warehouse device according to the present invention;

fig. 12 is a drawing of a warehouse of the second case of a single loading platform of a warehouse device according to the present invention;

Fig. 13 is a drawing of a warehouse of a dual carrier platform of a warehouse apparatus according to the present invention;

fig. 14 is different state diagrams of a dual loading platform of a warehouse device according to the present invention.

Reference numerals:

1. the storage rack comprises a storage rack body, a storage platform, a storage rack body and a transfer support plate, wherein the storage rack body comprises a storage rack, 11, a storage platform, 111, a cross beam, 112, a longitudinal beam, 12, a storage platform, 13, a storage rack body, 14 and a transfer support plate;

2. the transport robot 21, the fork arm body 22, the lifting mechanism 23, the lifting frame 24, the AGV trolley 25, the guide component 26, the safety plate 27, the baffle plate 28 and the in-place sensing component;

3. A feed box;

4. a transfer robot;

a. a second channel, b, a first channel, c and a third channel.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, the addition of a plurality of carrying platforms as cache locations in the cargo temporary storage area in the invention illustrates the storage device according to the invention as a preferred embodiment, and is not intended to limit the protection scope of the storage device.

The existing warehousing industry mostly adopts robots integrated with automatic climbing capability and moving capability to store and take and transport goods. With the annual increase of the client warehouse rents, the client has higher requirements on warehouse space utilization rate and shorter investment recovery period of the imported automated warehouse.

The Chinese patent with the publication number of CN112193694B discloses a goods shelf device and a storage system, and in order to enable a material box conveying robot to smoothly move under a first storage layer after carrying the material box, a larger space is formed between the upper part of the material box and the first storage layer. In addition, in the existing trolley scheme, the trolley needs to be hidden below a temporary storage layer of the first storage layer of the goods shelf to lift up to pick up goods, so that the goods taking height of the first storage layer of the goods shelf is higher.

Both the two modes can lead to that the lower part of the first storage layer of the goods shelf has larger space which can not be effectively utilized, and the vertical space of the warehouse is wasted.

Based on the above, the invention designs a storage device, a storage method and a delivery method, wherein a plurality of object bearing platforms are added in the cargo temporary storage area along the horizontal direction and/or along the vertical direction to serve as cache positions, so that more feed boxes can be cached, the space in the cargo temporary storage area below the first storage layer is fully utilized, and the input cost of an automatic bin is reduced.

Example 1

Specific embodiments of the present invention are described in detail below in conjunction with the warehousing device of the first aspect of the invention.

As shown in fig. 1 to 11, the present embodiment discloses a stocker including a shelf 1, a transport robot 2, a loading/unloading passage, and a transfer robot 4.

The goods shelf 1 is provided with a goods temporary storage area and a goods storage area, the goods temporary storage area and the goods storage area are arranged in a layered mode, and the goods temporary storage area can be located in the middle layer of the goods shelf 1 or in the lower layer of the goods shelf 1. Preferably, the goods temporary storage area of the goods shelf 1 is located at the lower layer of the goods shelf 1, and the goods storage area is located at the middle layer and the upper layer of the goods shelf.

The goods shelf 1 comprises a goods shelf body 13, a carrying platform group positioned in a goods temporary storage area and a storage platform group positioned in the goods storage area, wherein the carrying platform group is provided with at least one group, each group of carrying platform group comprises at least two carrying platforms 11 which are arranged at intervals up and down, each storage platform group comprises at least one layer of storage platform 12, and the storage platform 12 is used as a cache rack of a storage material box and used for storing the material box. It should be noted that, the carrying platform set is provided with at least one set, which means that the carrying platform set can be arranged on the shelf body at intervals of one or more sets in the transverse direction, and the carrying platform set can also be arranged on the shelf body at intervals of one or more sets in the longitudinal direction, wherein the "transverse" refers to the Y direction in fig. 1, and the "longitudinal" refers to the X direction in fig. 1.

The transport robot 2 is adapted to transport the magazine 3 onto the load carrying platform 11 and/or the transport robot 2 is adapted to take out the magazine 3 on the load carrying platform 11.

The access aisle is located in the vertical projection area of the storage platform 12, and the access aisle is adapted to provide movement space for the transport robot 2 for the AGV trolley to travel to automatically access the load carrying platform.

Above-mentioned storage device sets up at least a set of thing platform group along the horizontal direction in the goods temporary storage area, make full use of goods temporary storage area horizontal direction's vacant space, and every group holds thing platform group and includes two at least upper and lower interval arrangement's holds thing platform 11, the vacant space of the vertical direction of make full use of goods temporary storage area, hold thing platform 11 can regard as the buffer memory position of workbin, can divide into low buffer memory position and high buffer memory position according to the position of holding thing platform 11, increased buffer memory position quantity, improved and not returned storehouse workbin ratio, reduced automatic storehouse input cost.

In some embodiments, as shown in fig. 1, the shelf body 13 includes a column, a cross column, a longitudinal column, and a diagonal brace, where the column, the cross column, and the longitudinal column are connected and form a frame structure, and the diagonal brace is provided to strengthen the connection.

In some embodiments, as shown in fig. 2, the transport robot 2 includes an AGV trolley 24, a lifting frame 23, a lifting mechanism 22, and a fork arm body 21. The lifting frame 23 is vertically provided on the AGV carriage 24. The lifting mechanism 22 is provided on the lifting frame 23. The fork arm body 21 is provided with at least one, and the fork arm body 21 is located on the elevating system 22 and can follow the elevating system 22 and go up and down, and the top face of fork arm body 21 is the cargo platform, and the cargo platform is suitable for the cargo platform 11 looks adaptation with the goods shelves.

In the present embodiment, when the yoke body 21 is provided as one, the transporting robot 2 is a single-yoke transporting robot, and fig. 3 and 4 are schematic structural views when the single-yoke transporting robot transports a bin; when the fork arm body 21 is provided in two or more, the transporting robot 2 is a multi-fork arm transporting robot, and fig. 5 is a schematic view of a structure of the multi-fork arm transporting robot transporting magazine. Whether a single-fork arm transport robot or a multi-fork arm transport robot, the fork arm body 21 can be controlled to lift through the lifting mechanism according to requirements, and then the cache phase adaptation of the fork arm body 21 and the carrying platform 11 can be controlled. According to the embodiment, one transport robot can be used for simultaneously adapting to the high-level cache position and the low-level cache position of the goods shelf, and under the condition of equal transport requirements, a plurality of robots are not required to be arranged, so that the number of the high-level robots is reduced, and the cost is reduced. When the transporting robot 2 is a multi-arm transporting robot, the number of single carrying boxes can be increased, the number of transporting robots can be reduced, and the comprehensive carrying cost of the single boxes can be reduced.

In some embodiments, yoke body 21 includes a yoke and adaptor bracket plate 14. The fork arms are provided with at least two and are mutually spaced, each fork arm is connected through a connecting rod, each fork arm is perpendicular to the connecting rod, the top end face of each fork arm is provided with at least one carrying platform, the number of the carrying platforms is at least one, the number of the carrying platforms is two, and customization is carried out according to actual demands. The adaptor bracket plate 14 is connected to the connecting rod and detachably connected to the lifting mechanism 22. In the present embodiment, the fork arm body 21 and the lifting mechanism 22 are detachably connected, so that the fork arm body 21 can be arranged at different positions of the lifting mechanism 22 according to requirements.

In some embodiments, as shown in fig. 2, the sides of the two prongs located outermost are provided with at least one baffle 27. In this embodiment, after the fork arm body 21 forks the bin 3 on the shelf, the left and right sides of the bin can be limited by the baffle 27, so that the bin is more stable in the transportation process and is not easy to slide from the fork arm body 21.

In some embodiments, at least one of the prongs is provided with a stop 16 along the bin forking direction. In this embodiment, "bin-fork direction" refers to the front end of the fork arm. After the fork arm body 21 is forked to the workbin on the goods shelf, the front side of the workbin can be limited by the limiting piece 16, the limiting piece 16 is matched with the baffle 27, the rear side of the workbin can be limited by the lifting frame 23, and then the workbin is limited in the front, rear, left and right directions, so that the workbin is more stable in the transportation process and is not easy to slide from the fork arm body 21.

In some embodiments, as shown in FIG. 2, a registration sensing assembly 28 is provided on the lifting frame 23 for sensing whether the bin is moving into position.

In some embodiments, a drive mechanism is provided on the AGV trolley 24 for effecting travel control of the transport robot.

The carrying platform 11 is arranged according to the fork arm structure of the transport robot, and the carrying platform 11 has various design modes, and the carrying platform 11 is used as a temporary storage layer plate for temporarily storing the material box.

In some embodiments, as shown in fig. 6, the load carrying platform 11 is disposed between two uprights. The carrying platform 11 comprises a cross beam 111 and a longitudinal beam 112, the cross beam 111 is arranged on the shelf body, the longitudinal beam 112 is arranged on the cross beam 111, and at least one longitudinal beam 112 is arranged. When the transporting robot 2 obtains the bin or unloads the bin, the distance between the two fork arms at the outermost side of the transporting robot 2 can accommodate all the longitudinal beams 112, and the fork arms of the transporting robot 2 can ascend or descend relative to the longitudinal beams 112, so that the bin is lifted or unloaded. The present embodiment is a structure of the carrying platform 11.

When the number of stringers 112 satisfies at least two and the number of prongs of the yoke body 21 satisfies at least three, then the spacing between the outermost two stringers 112 can accommodate all of the inner prongs. For example, when the number of prongs is four and the number of stringers 112 is three, the distance between the two stringers 112 at the outermost side may accommodate the two prongs at the innermost side. When the number of the fork arms of the fork arm body 21 is one more than the number of the longitudinal beams 112, the adjacent fork arm space can only accommodate one longitudinal beam 112. For example, when the number of the fork arms is four and the number of the stringers 112 is three, the outermost two fork arms accommodate three stringers 112, and each adjacent two stringers 112 accommodate one fork arm at intervals, that is, four fork arms and three stringers 112 are in a staggered state. In the present embodiment, the pitch between the adjacent two stringers 112 is limited, and the pitch of the outermost two prongs is limited.

As an alternative embodiment, as shown in fig. 1, the carrying platform 11 includes a cross beam 111 and a longitudinal beam 112, where the cross beam 111 includes a first cross beam and a second cross beam, and the first cross beam and the second cross beam are spaced and respectively disposed on the shelf body, and the longitudinal beam 112 is provided with two longitudinal beams and is respectively disposed on the first cross beam and the second cross beam. When the transporting robot 2 obtains the bin or unloads the bin, the fork arms of the transporting robot 2 are staggered with the longitudinal beams 112 at intervals, and the fork arms of the transporting robot 2 can ascend or descend relative to the longitudinal beams 112, so that the bin is lifted or unloaded.

The spacing between two adjacent stringers 112 accommodates at most two prongs, the spacing between the two outermost prongs being greater than the spacing between the two outermost stringers 112 so that the two outermost prongs can accommodate all stringers 112.

Further, the spacing between the first and second cross members and the spacing between the two stringers 112 are both greater than the lateral width of the lifting frame 23. When the transporting robot 2 is not loaded with the material box, the fork arm body 21 is located below the material bearing platform 11, the lifting frame 23 can pass through the interval between the first cross beam and the second cross beam and the interval between the two longitudinal beams 112, so that the transporting robot can pass through the goods shelf and freely shuttle in a material storage channel, when the transporting robot finishes the acquisition or unloading of the material box, the transporting robot does not need to turn back along an original path, and can directly pass through the cross beam of the material bearing platform, so that the transporting speed and the transporting efficiency of the material box are greatly increased.

At present, when the fork arm body moves to the position of the cross beam, the fork arm body can be contacted with the cross beam, so that the length of the fork arm on the fork arm body is limited. And when the fork arm quantity on the fork arm body 21 in this embodiment is more than three, the fork arm length that is located both sides is unchangeable, can increase the length of the fork arm that the transport robot is located the middle part, makes the fork arm that the transport robot is located the middle part wear out from the interval between first crossbeam and the second crossbeam, and then makes fork arm body 21 can carry the workbin of bigger specification, and because of the fork arm body growth in middle part for the workbin is difficult for slipping from the fork arm body 21, has guaranteed the stability of workbin transportation.

Furthermore, the fork arm end part at the middle part is provided with a limiting piece, so that the stability of the feed box when being placed on the fork arm body is further enhanced.

Both of the above mentioned platforms 11 are used to carry the bins and to interact with the transport robot.

Whether it is a single-prong transporting robot or a multi-prong transporting robot, the prong body 21 needs to correspond to the target carrier platform. When the transporting robot 2 does not load the bin, that is, when the transporting robot 2 is required to transport the bin on the carrying platform 11 out of the warehouse, each fork arm body 21 is located below each corresponding carrying platform 11, and then the bin is acquired by controlling the lifting action of the fork arm body 21. When the transporting robot 2 loads the bin, namely when the transporting robot 2 needs to load the bin onto the carrying platform 11, each fork arm body 21 is positioned above each corresponding carrying platform 11, and then the bin is transported by controlling the descending action of the fork arm bodies 21.

In some embodiments, the bin may be any material bin such as a carton, a plastic bin, etc., and the specific structure and materials of the bin are not limited herein.

In some embodiments, as shown in fig. 2, a guide assembly 25 is provided on the top end surface of the AGV cart 24, the guide assembly 25 being capable of telescoping when in contact with the cross beam 111 and returning to its original position when out of contact with the cross beam 111, the guide assembly 25 being adapted to support the magazine on the yoke body on the lowermost tier. When the AGV trolley 24 moves toward the shelf, the guide assembly 25 moves forward a short distance when touching the cross beam of the shelf, and the guide assembly 25 is in a backward pressing state (i.e., the guide assembly is at the lowest part of the cross beam). When the fork arm body completes lifting the bin, the AGV trolley 24 is driven away from the shelf, and the guide assembly 25 is restored to the original state. When the fork arm body at the bottommost layer descends to the lowest position, the feed box is matched with the guide assembly and the protective piece of the chassis, so that the feed box is stabilized.

It should be noted that the operation of the guide assembly 25 touching the beam will only occur when no load is applied, i.e. the yoke body is not carrying the bin, because the height of the guide assembly 25 and the height of the beam remain the same. The guide assembly 25 is higher than the cross beam during full loading, i.e. the fork arm body is carrying the bin. And the guide assembly is in a preferred embodiment only suitable for single-prong transport robots and not for double-prong transport robots.

In some embodiments, the transport robot 2 also includes a protector that includes a safety plate 26 disposed on the AGV trolley 24, the safety plate 26 being able to block both sides of the bin, and being able to effectively prevent the possibility of the bin from rollover.

In some embodiments, the transport robot 2 moves along the access aisle using two-dimensional code navigation or slam navigation. The two-dimensional code navigation uses a two-dimensional code as a position identifier, and the position of the transport robot is determined by scanning and analyzing the two-dimensional code. The slam navigation principle is to realize the perception and understanding of the environment through the sensor and algorithm of the transport robot, thereby realizing autonomous navigation.

In some embodiments, the lifting mechanisms 22 on the transport robot 2 are segmented lifting mechanisms, i.e. the number of fork arm bodies is divided into a corresponding number of lifting mechanisms. Taking the fork arm body number as two as an example, the lifting mechanism is divided into a first lifting mechanism and a second lifting mechanism, the first lifting mechanism controls the lifting of the first fork arm body, and the second lifting mechanism controls the lifting of the second fork arm body. When the fork arm body at the upper layer is used for picking goods, the second lifting mechanism at the upper layer is lifted; when the fork arm body at the lower layer is used for picking goods, the first lifting mechanism at the lower layer is lifted. The lifting mechanism can be a belt lifting mechanism, a chain lifting mechanism, a column lifting mechanism and the like.

In some embodiments, when the transport robot is applied to a high-density pallet, the pallet 1 is provided with two pallets, a tunnel is formed between the two pallets 1, and a lifting robot (not shown in the drawing of the specification) capable of moving along the tunnel is provided in the tunnel. The lifting robot can carry down the bin on the storage platform on the goods shelf and can convey the bin to the conveying robot, so that the output of the bin is realized, and the lifting robot can also carry the bin conveyed by the conveying robot to the storage platform, so that the storage of the bin is realized.

In some embodiments, as shown in fig. 7, the transfer robot 4 is used in conjunction with a warehouse, the transfer robot 4 being adapted to transfer bins between the load platform 11 and the storage platform 12. The transfer robot comprises a lifting mechanism and a storing and taking mechanism, and the lifting mechanism can drive the storing and taking mechanism to lift.

When the carrying platform group is provided with a plurality of groups, if the transporting robot 2 does not have a certain travel path, the plurality of transporting robots 2 move at the same time to easily cause collision accidents. To address this problem, in some embodiments, as shown in FIG. 8, the access aisle comprises a first aisle b and a second aisle a that are perpendicular to each other. The first channel b is located in the vertical projection area of the load carrier platform 11 and is parallel to the longitudinal beams 112. The second channel a is located in the vertical projection area of the non-load carrying platform 11 and is parallel to the cross beam 111. In this embodiment, the traveling paths of the first channel b and the second channel a are specifically planned, so that the requirement that each transport robot 2 can orderly move when a plurality of groups of object bearing platform groups are arranged can be met. When the object carrying platform set is provided with a set, the object carrying platform set can also travel according to the paths of the first channel b and the second channel a.

In some embodiments, the access aisle further comprises a third aisle c located in the vertical projection area of the storage platform 12, the third aisle being configured to communicate with the first aisle b and the second aisle a. The third channel c is not limited to the shape of the channel, and may be linear, diagonal, curved, or folded in various forms, and is only a channel structure that communicates the first channel b and the second channel a. The travel path of the transport robot 2 along the third path c may take various forms such as a straight line, an oblique line, a curved line, or a broken line.

In some embodiments, when the carrying platform set is provided with multiple groups, the second channel and/or the third channel can be respectively planned and set according to the preset running state information of each transport robot 2. The preset operation state information of the transport robot 2 includes, but is not limited to, movement position information, movement speed information, and the like of the transport robot 2. In addition, during the actual running process of each transport robot 2, the second channel and/or the third channel can be planned and adjusted according to the actual running state information of the transport robot 2.

Example 2

Specific embodiments of the present invention will be described in detail below in connection with the warehousing method according to the second aspect of the present invention.

The embodiment discloses a warehousing method, which is performed based on the warehousing device of the first aspect and comprises the following steps:

S1, determining the position of a carrying platform group based on the stock state of each carrying platform 11 on a goods shelf, and obtaining the position of a carrying platform vacancy of the carrying platform group. The "stock state" refers to whether or not a bin is stored on the carrying platform 11 of the shelf.

S2, determining the position of the material accommodating box of the conveying robot 2 based on the position of the empty position of the material accommodating platform. For example, the bottom layer of the carrying platform is in a vacant state, when the transporting robot is a multi-fork arm transporting robot, the material box is placed on the fork arm body of the bottom layer, and when the transporting robot is a single-fork arm transporting robot, the material box can be directly placed on the fork arm body. Correspondingly, when the vacancy state of the carrying platform is changed, and when the transporting robot is a multi-arm transporting robot, the position for placing the feed box is correspondingly changed.

S3, determining a driving route according to the position information between the transport robot 2 and the carrying platform group, wherein the driving route comprises a route driving along a goods storing and taking channel.

S4, indicating the transport robot 2 to travel to the position of the carrying platform group along the traveling route, and indicating the transport robot 2 to convey the material box to the carrying platform vacancy of the carrying platform group.

When the transport robot 2 runs to the position of the carrying platform group along the running route, a two-dimensional code navigation mode or a slam navigation mode is adopted for running, so that the running accuracy is ensured.

Instruct the transport robot 2 to carry the bin to the process of the empty space of the carrying platform group:

S41, when the transporting robot 2 is a single-fork transporting robot, as shown in fig. 9, whether the fork arm body 21 of the transporting robot 2 is lifted or not is judged based on the position of the empty space of the carrying platform.

When the fork arm body 21 of the transporting robot 2 corresponds to the empty space of the carrying platform, the fork arm body 21 of the transporting robot 2 is indicated to be higher than the longitudinal beam 112 and the transporting robot 2 is moved in place, the fork arm body 21 of the transporting robot 2 is indicated to be moved downwards to a position not higher than the longitudinal beam 112, and the material box is carried to the empty space of the carrying platform.

When the fork arm body 21 of the transporting robot 2 does not correspond to the empty space of the carrying platform, the lifting mechanism 22 of the transporting robot 2 is instructed to drive the fork arm body 21 to lift, then the fork arm body 21 of the transporting robot 2 is instructed to move higher than the longitudinal beam 112 and the transporting robot 2 is instructed to move in place, the fork arm body 21 of the transporting robot 2 is instructed to move downwards to a position not higher than the longitudinal beam 112, and the material box loaded on the transporting robot 2 is transported to the empty space of the carrying platform.

S42, when the transporting robot 2 is a multi-arm transporting robot, as shown in fig. 10, the fork arm body 21 of the transporting robot 2 is indicated to move up to a position higher than the longitudinal beam 112 and the transporting robot 2 is moved in place, the fork arm body 21 of the transporting robot 2 is indicated to move down to a position not higher than the longitudinal beam 112, and the material box loaded on the transporting robot 2 is carried to a blank space of the carrying platform.

After the transport robot 2 carries the bin to the empty space of the carrying platform group, the method further comprises the step of driving away from the goods temporary storage area of the goods shelf 1:

When the beam 111 is a segmented beam: the fork arm body 21 of the indicating transport robot 2 moves downwards to a position lower than the cross beam 111 and the longitudinal beam 112, and the indicating transport robot 2 passes through the cross beam 111 along the X direction or along the-X direction so that the transport robot 2 drives away from the goods temporary storage area of the goods shelf 1; or instruct the transport robot 2 to return according to the original path of the driving route;

When the beam 111 is an integral beam: the transport robot 2 is instructed to return along the travel route.

As shown in the right two diagrams in fig. 14, taking the transport robot 2 as a double-fork robot and the lifting mechanism as a segmented lifting mechanism as an example, the object bearing platforms 11 on the shelf are divided into two layers, namely a first object bearing platform and a second object bearing platform, and the first object bearing platform is located below the second object bearing platform. When the upper layer is used for picking goods, namely the fork arm body positioned on the upper layer is filled with a material box, the material box is required to be conveyed to the second carrying platform, the fork arm body above the material box can be independently controlled to lift, the fork arm body above the material box is enabled to move to the position above the second carrying platform (the fork arm body above the material box moves to the height position of 700mm at the moment), and then the fork arm body above the material box descends again to release the material box to the second carrying platform. When the lower layer is used for picking goods, namely the fork arm body positioned at the lower layer is filled with a material box, the material box is required to be conveyed to the second carrying platform, the fork arm body below and the fork arm body above can be controlled to lift respectively, the fork arm body below is enabled to move to the position above the second carrying platform (the fork arm body below at the moment moves to the height position of 700 mm), and then the fork arm body below descends again to release the material box to the second carrying platform.

Example 3

Specific embodiments of the present invention will be described in detail below in connection with the method of delivery of the third aspect of the present invention.

The embodiment discloses a warehouse-out method based on the warehouse device of the first aspect, wherein the method is that a transport robot is in an empty-load state and goes to a goods shelf material taking box. The method comprises the following steps:

S10, determining the position of a carrying platform group on the goods shelf. When only one group of object bearing platform groups is arranged on the goods shelf, the object bearing platform groups of the group can be directly determined; when a plurality of object bearing platform sets are arranged on the goods shelf, a certain object bearing platform set can be selectively confirmed to be used as an object to be carried.

S20, determining a driving route according to the position information between the transport robot 2 and the carrying platform group, wherein the driving route comprises a route driving along a goods storing and taking channel.

S30, indicating the transport robot 2 to travel to the position of the carrying platform group along the traveling route.

S40, acquiring the position of the material box of the carrying platform group, and indicating the transport robot 2 to move the material box away from the carrying platform.

The position of the bin from which the carrying platform set is obtained can be sensed by a sensor provided on the transport robot 2.

Instructing the transport robot 2 to move the bin away from the carrying platform:

s401, when the transporting robot 2 is a single-fork transporting robot, as shown in fig. 11 and 12, capturing a state of a bin, and judging whether the fork arm body 21 of the transporting robot 2 is lifted or not based on the position of the bin of the carrying platform.

When the fork arm body 21 of the transporting robot 2 does not correspond to the material box on the carrying platform, the lifting mechanism 22 of the transporting robot 2 is instructed to drive the fork arm body 21 to lift. For example, the carrying platforms 11 on the shelf are divided into two layers, namely a first carrying platform and a second carrying platform, and the first carrying platform is located below the second carrying platform. The workbin is in goods shelves second stock platform (i.e. two-layer stock platform), then goes up and down single load platform (yoke body), corresponds to second stock platform height, because the stock platform is the yoke structure here, in fact the stock platform need be less than stock platform minimum height. The fork arm body 21 of the transporting robot 2 is instructed to move to a position lower than the longitudinal beam 112, the transporting robot 2 is instructed to move in place, the fork arm body 21 of the transporting robot 2 is instructed to move up to a position higher than the longitudinal beam 112, and the bin is moved away. After the gesture of carrying the thing platform is adjusted, the transport vechicle begins to advance to carrying thing platform department, when the crossbeam of goods shelves is touched to the guide on the automobile body, advance again for a short distance about several centimetres, at this moment the guide assembly is in the back pressure state, the guide assembly is in the crossbeam bottommost (before touching state, guide assembly and crossbeam height keep unanimous), when the guide assembly is under the crossbeam, carrying thing platform lifts the workbin on the second carrying thing platform, make the workbin leave behind the certain distance of second carrying thing platform, the automobile body is driven away from carrying thing platform region, finally carrying thing platform falls to minimum height after the workbin cooperatees with the guide assembly, the guard piece of chassis, accomplish the workbin and go out of stock operation after fixing the workbin.

When the fork arm body 21 of the transport robot 2 corresponds to the magazine on the carrying platform, the transport robot 2 is instructed to move into place and to move the magazine away. For example, the bin is located on the first carrying platform (i.e. one layer of carrying platform), and the default state of the car body carrying platform is the posture corresponding to the first carrying platform, so that adjustment is not needed.

S402, when the transporting robot 2 is a multi-arm transporting robot, as shown in fig. 13, the fork arm body 21 of the transporting robot 2 is instructed to move to a position lower than the longitudinal beam 112, the transporting robot 2 is moved in place, the fork arm body 21 of the transporting robot 2 is instructed to move up to a position higher than the longitudinal beam 112, and the bin is moved away. When the transport robot runs to the target position, the state of the material box is captured, no matter the material box is in the first object carrying platform, the second object carrying platform or the first object carrying platform and the second object carrying platform, the default states of the two object carrying platforms are the postures of the first object carrying platform and the second object carrying platform respectively, and adjustment is not needed.

As shown in the left two diagrams in fig. 14, taking the transporting robot 2 as an example of a double-fork arm robot, the two fork arm bodies need to be lowered, so that the fork arm bodies are lower than the carrying platform (the fork arm bodies below the carrying platform move to a height position of 200 mm), enter the buffer storage position, and the two fork arm bodies are lifted to lift the material box. When the fork arm body moves out of the carrying platform, the fork arm body is lowered to the lowest position (the fork arm body below the fork arm body moves to the height position of 250mm at the moment), and the buffer storage position is obtained.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.

Claims (16)

1. A warehouse facility, comprising:

The goods shelf (1), goods shelf (1) is equipped with goods temporary storage area and goods storage area, goods shelf (1) include goods shelf body, be located goods temporary storage area hold thing platform group and be located goods storage area in the storage area hold thing platform group, hold thing platform group and be provided with at least one group, every group hold thing platform group include at least two hold thing platform (11) of arranging from top to bottom interval, store the platform group and include at least one deck storage platform (12);

-a transporting robot (2), the transporting robot (2) having a lifting frame (23) and at least one yoke body (21), the yoke body (21) comprising at least two mutually spaced yoke arms, the transporting robot (2) being adapted to transport a bin (3) onto a carrying platform (11) and/or the transporting robot (2) being adapted to take out a bin (3) on a carrying platform (11);

a pick-and-place aisle located within the vertical projection area of the storage platform (12), the pick-and-place aisle being adapted to provide movement space for the transport robot (2);

-a handling robot (4), the handling robot (4) being adapted to transfer bins between a carrying platform (11) and a storage platform (12);

The carrying platform (11) comprises a cross beam (111) and a longitudinal beam (112), the cross beam (111) is arranged on a shelf body, the longitudinal beam (112) is arranged on the cross beam (111), at least one longitudinal beam (112) is arranged, and when the carrying robot (2) obtains a material box or carries out unloading of the material box, the distance between two fork arms at the outermost side of the carrying robot (2) can accommodate all the longitudinal beams (112).

2. The warehouse facility according to claim 1, characterized in that the transport robot (2) comprises:

an AGV trolley (24);

A lifting frame (23), wherein the lifting frame (23) is arranged on the AGV trolley (24);

A lifting mechanism (22), the lifting mechanism (22) being arranged on a lifting frame (23); the fork arm body (21) is arranged on the lifting mechanism (22) and can lift along with the lifting mechanism (22), the top end surface of the fork arm body (21) is a carrying platform, and the carrying platform is suitable for being matched with a carrying platform (11) of a goods shelf.

3. The bin of claim 1 wherein said access channel includes first and second channels that are perpendicular to each other;

the first channel is located in the vertical projection area of the carrying platform (11) and is parallel to the longitudinal beam (112);

the second channel is located in the vertical projection area of the non-carrying platform (11) and is parallel to the cross beam

4. The bin of claim 3, wherein said access channel further comprises a third channel;

The third channel is located within a vertical projection area of the storage platform (12);

the third channel is used for communicating the first channel and the second channel.

5. The warehouse unit according to claim 1, characterized in that, when the number of stringers (112) satisfies at least two and the number of prongs of the prong body (21) satisfies at least three, then the distance between the two outermost stringers (112) is such as to accommodate all inner prongs.

6. The warehouse unit according to claim 1, characterized in that, when the number of prongs of the prong body (21) is one more than the number of stringers (112), then the adjacent prong spacing can accommodate only one stringer (112).

7. The warehouse device according to claim 1, characterized in that the cross beam (111) is a segmented cross beam, the cross beam (111) comprises a first cross beam and a second cross beam, a space is provided between the first cross beam and the second cross beam and the first cross beam and the second cross beam are respectively arranged on the shelf body, and the longitudinal beams (112) are provided with two longitudinal beams and are respectively arranged on the first cross beam and the second cross beam.

8. The warehouse unit according to claim 7, characterized in that the distance between the first and second cross members and the distance between the two stringers (112) are both larger than the transverse width of the lifting frame (23) so that the transport robot (2) can pass through the distance between the first and second cross members and the distance between the two stringers (112).

9. The warehouse facility according to claim 7, characterized in that, when the number of the fork arms on the fork arm body (21) is more than three, the fork arm length at the middle part is longer than the fork arm length at both sides, and the fork arm at the middle part can pass out from the interval between the first beam and the second beam.

10. The warehouse apparatus according to claim 1, characterized in that each fork arm body (21) is located below each corresponding load platform (11) when the transport robot (2) is not loading a bin;

When the transport robot (2) loads the material box, each fork arm body (21) is positioned above each corresponding carrying platform (11).

11. The warehouse unit according to any one of claims 1-10, characterized in that the top end surface of the transport robot (2) is provided with a guiding assembly (25), which guiding assembly (25) is retractable in a state of touching the cross beam (111) and returns to its original position when out of touching with the cross beam (111), which guiding assembly (25) is adapted to support the bin on the yoke body located on the lowest layer.

12. A warehousing method, characterized in that it is performed on the basis of a warehousing device according to any one of claims 1-11, comprising the following steps:

Determining a position of a carrying platform group based on stock states of the carrying platforms (11) on the goods shelves, and obtaining positions of carrying platform vacancies of the carrying platform group;

Determining the position of an unloading bin of the transport robot (2) based on the position of the empty space of the object bearing platform;

Determining a driving route according to the position information between the transport robot (2) and the carrying platform group, wherein the driving route comprises a route driving along a goods storing and taking channel;

the transport robot (2) is instructed to travel to the position of the object bearing platform group along the traveling route, and the transport robot (2) is instructed to convey the material box to the object bearing platform empty space of the object bearing platform group; when the transporting robot (2) is a single-fork transporting robot, judging whether a fork arm body (21) of the transporting robot (2) ascends and descends based on the position of a vacancy of the carrying platform; when the fork arm body (21) of the transport robot (2) corresponds to the empty space of the carrying platform, indicating the fork arm body (21) of the transport robot (2) to move upwards to a position higher than the longitudinal beam (112) and enable the transport robot (2) to move in place, indicating the fork arm body (21) of the transport robot (2) to move downwards to a position not higher than the longitudinal beam (112), and carrying the material box to the empty space of the carrying platform; when the fork arm body (21) of the transport robot (2) is not corresponding to the empty position of the carrying platform, a lifting mechanism (22) of the transport robot (2) is instructed to drive the fork arm body (21) to lift, then the fork arm body (21) of the transport robot (2) is instructed to move higher than the position of the longitudinal beam (112) and the transport robot (2) is moved in place, the fork arm body (21) of the transport robot (2) is instructed to move downwards to the position not higher than the position of the longitudinal beam (112), and a material box loaded on the transport robot (2) is transported to the empty position of the carrying platform; when the transporting robot (2) is a multi-fork arm transporting robot, the fork arm body (21) of the transporting robot (2) is indicated to move upwards to a position higher than the longitudinal beam (112) and the transporting robot (2) is enabled to move in place, the fork arm body (21) of the transporting robot (2) is indicated to move downwards to a position not higher than the longitudinal beam (112), and the material box loaded on the transporting robot (2) is transported to a vacant position of the carrying platform.

13. The warehousing method according to claim 12, characterized in that after the transport robot (2) carries the bin onto the empty spaces of the loading platforms of the loading platform set, the method further comprises the step of driving off the cargo temporary storage area of the pallet (1):

When the beam (111) is a segmented beam: the fork arm body (21) of the conveying robot (2) is instructed to move downwards to a position lower than the cross beam (111) and the longitudinal beam (112), and the conveying robot (2) is instructed to pass through the cross beam (111) along the X direction or along the-X direction, so that the conveying robot (2) is driven away from a goods temporary storage area of the goods shelf (1); or instruct the transport robot (2) to return according to the original route of the driving route;

When the beam (111) is an integral beam: the transport robot (2) is instructed to return along the original route of the travel route.

14. A method of ex-warehouse, characterized in that it is performed on the basis of a warehouse facility according to any one of claims 1-11, comprising the steps of:

Determining the position of a carrying platform group on a goods shelf;

Determining a driving route according to the position information between the transport robot (2) and the carrying platform group, wherein the driving route comprises a route driving along a goods storing and taking channel;

Indicating the transport robot (2) to travel to the position of the object bearing platform group along the travel route;

Acquiring the position of a material box of the carrying platform group, and indicating a transport robot (2) to move the material box away from the carrying platform; when the transporting robot (2) is a single-fork transporting robot, judging whether a fork arm body (21) of the transporting robot (2) ascends and descends based on the position of the material box of the material bearing platform; when the fork arm body (21) of the transport robot (2) corresponds to the material box on the carrying platform, the fork arm body (21) of the transport robot (2) is instructed to move to a position lower than the longitudinal beam (112) and the transport robot (2) is moved in place, the fork arm body (21) of the transport robot (2) is instructed to move upwards to a position higher than the longitudinal beam (112), and the material box is moved away; when the fork arm body (21) of the transport robot (2) is not corresponding to the material box on the carrying platform, a lifting mechanism (22) of the transport robot (2) is instructed to drive the fork arm body (21) to lift, then the fork arm body (21) of the transport robot (2) is instructed to move to a position lower than the longitudinal beam (112) and the transport robot (2) is instructed to move in place, the fork arm body (21) of the transport robot (2) is instructed to move upwards to a position higher than the longitudinal beam (112), and the material box is moved away; when the transporting robot (2) is a multi-arm transporting robot, the fork arm body (21) of the transporting robot (2) is instructed to move to a position lower than the longitudinal beam (112) and the transporting robot (2) is moved in place, the fork arm body (21) of the transporting robot (2) is instructed to move upwards to a position higher than the longitudinal beam (112), and the material box is moved away.

15. The ex-warehouse method according to claim 14, characterized in that the travel route is divided into a through-shelf travel route and a normal travel route based on structural information of an upper cross member (111) of the shelf (1);

the process of indicating the transport robot (2) to travel to the position of the carrying platform group along the travel route further comprises the following steps:

When the beam (111) is a segmented beam: based on a running route passing through the goods shelf, indicating the fork arm body (21) of the transport robot (2) to move downwards to a position lower than the cross beam (111) and the longitudinal beam (112), and indicating the transport robot (2) to move through the cross beam (111) along the-X direction so that the transport robot (2) enters a goods temporary storage area of the goods shelf (1); or based on the normal driving route, indicating the transportation robot (2) to move in the X direction to drive into the goods temporary storage area of the goods shelf (1);

When the beam (111) is an integral beam: based on the normal driving route, the transport robot (2) is instructed to move in the X direction to enter the goods temporary storage area of the goods shelf (1).

16. The ex-warehouse method according to claim 14 or 15, characterized in that when the transporting robot (2) is a single-fork transporting robot, it further comprises the step of supporting the bin with a guiding assembly (25):

After the fork arm body (21) of the indicating transportation robot (2) is lower than the longitudinal beam (112), the indicating transportation robot (2) moves, the guide assembly (25) touches the cross beam (111) of the goods shelf (1), the indicating transportation robot (2) moves, and after the guide assembly (25) retracts and moves to the position below the cross beam (111), the indicating transportation robot (2) stops moving;

The fork arm body (21) of the indicating transportation robot (2) moves upwards to a position higher than the longitudinal beam (112), after the bin is moved away, the guide assembly (25) stretches to the original state, the fork arm body (21) of the indicating transportation robot (2) moves downwards to the position where the bin is contacted with the guide assembly (25) and then stops, and the bin is lifted by the guide assembly (25) and the fork arm body (21) together.