CN119349074A - Warehouse system and goods shelf - Google Patents

Abstract

The embodiment of the present application provides a storage system and a shelf, the storage system includes a plurality of shelves arranged at intervals, a tallying robot and a handling robot; the shelf includes a robot docking space; a lane is formed between adjacent shelves; the tallying robot is arranged in the lane; the handling robot is used to carry the material box outside the shelf to the material box docking layer, or to move the material box on the material box docking layer away from the shelf; the height of the robot docking space is greater than the minimum height of the handling robot carrying the material box, so that the handling robot can move arbitrarily in the robot docking space and the lane when the carrying material box moves. The robot docking space and the lane allow the handling robot to pass when carrying the material box, which increases the movable path of the handling robot, makes the handling more flexible, reduces the avoidance between the handling robots, improves the efficiency of picking up and placing goods and the handling efficiency of the handling robot, thereby improving the efficiency of picking up and placing goods and the handling efficiency of the entire storage system.

Description

Warehouse system and goods shelf

Technical Field

The application relates to the technical field of logistics storage, in particular to a storage system and a storage rack.

Background

In the related art, the warehouse system comprises a plurality of shelves, and one or more transfer robots are arranged on the roadways between the adjacent shelves and can move on the roadways to pick and place the goods on the shelves. The goods taking and placing mode has the advantages that the carrying robots can only move in the roadway, the carrying path is single, the carrying is inflexible, a plurality of carrying robots need to avoid each other when running on the same roadway, and the goods taking and placing efficiency in the warehouse system is low under the conditions.

Disclosure of Invention

The embodiment of the application aims to provide a warehouse system and a goods shelf, which can improve the picking and placing efficiency. The specific technical scheme is as follows:

The embodiment of the application provides a warehouse system, which comprises a plurality of shelves, a tallying robot and a carrying robot, wherein the shelves are arranged at intervals, each shelf comprises a bin storage space and a robot butt joint space, the bin storage space is provided with a plurality of layers of bin storage layers, the bottom of each bin storage space is provided with a bin butt joint layer, the bin butt joint layers and the ground are provided with preset heights so as to form the robot butt joint space, a roadway extending along the length direction of the shelf is formed between the adjacent shelves, the tallying robot is arranged in the roadway and used for collecting and placing bins on the adjacent shelves, and moving the bins between the bin storage layers and the bin butt joint layers of the adjacent shelves, the carrying robot is used for carrying the bins outside the shelves to the bin butt joint layers or carrying the bins on the bin butt joint layers away from the shelves, and the height of the robot butt joint space is larger than the lowest height of the carrying robot carrying bins, so that the carrying robot can move in the butt joint space and any roadway under the condition of carrying bins.

In some embodiments, a first channel and a second channel are sequentially arranged in a robot docking space of a first shelf in the adjacent shelves along a direction close to a roadway, a third channel and a fourth channel are sequentially arranged in a robot docking space of a second shelf in the adjacent shelves along a direction close to the roadway, the first channel, the second channel, the third channel and the fourth channel are all parallel to the roadway and extend to the outside of the shelves, and the transfer robot can bear a workbin to move randomly in the first channel, the second channel, the third channel, the fourth channel and the roadway.

In some embodiments, the transfer robot comprises a first moving chassis, a first lifting mechanism and a first lifting platform which are sequentially arranged from bottom to top, the material box butt joint layer comprises a plurality of butt joint storage positions, the plurality of butt joint storage positions are sequentially arranged along the length direction of the roadway and are used for butt joint with the tallying robot or the transfer robot to temporarily store a material box to be taken and placed, a through groove is formed in the bottom of each butt joint storage position, the through groove is perpendicular to the roadway, and the first lifting mechanism drives the first lifting platform to pass through the through groove to lift or place the material box.

In some embodiments, the material box butt joint layers of the first shelf and the second shelf are single deep layer boards, are located on one side of the roadway from the shelf, are arranged towards the interior of the shelf, and are located above the second channel and the fourth channel respectively.

In some embodiments, the transfer robot is configured to move, during the unloading, from any one of the first channel, the second channel, the third channel, the fourth channel, or the tunnel to a destination docking storage location where the material box is temporarily stored, lift the first lifting platform through the through-slot by using a first lifting mechanism, then move the material box along the moving through-slot to the first channel, the third channel, the fourth channel, or the tunnel based on a first moving chassis, after the first lifting platform is lowered to a lowest state, the transfer robot drives the material box to move from any one of the first channel, the second channel, the third channel, the fourth channel, or the tunnel to a destination docking storage location where the material box is temporarily stored, and, during the loading, drive, based on the first moving chassis, any one of the first channel, the second channel, the third channel, the fourth channel, or the tunnel to a first lifting mechanism, move to any one of the first channel, the first lifting mechanism, the first lifting platform, the destination docking storage location, and the first lifting platform to the destination docking storage location where the first lifting platform is moved to the destination docking storage location, and finally lift the first goods box through the first lifting platform, the first lifting mechanism, the destination storage location, or the destination storage location, and the destination storage location.

In some embodiments, the first shelf and the second shelf are double deep shelves, the material box butt joint layer of the first shelf and the second shelf is a double deep laminate, the plurality of butt joint storage positions are arranged in two rows sequentially along the length direction of the roadway, and in the two rows of butt joint storage positions, through grooves of two adjacent butt joint storage positions along the width direction of the roadway are communicated.

In some embodiments, the transfer robot is configured to move from any one of the first channel, the second channel, the third channel, the fourth channel, and the tunnel to a destination docking station temporarily storing the material box under the destination docking station when the material box is taken out of the warehouse, drive the first lifting platform to lift the material box through the through slot by using a first lifting mechanism, then drive the material box to move to the tunnel along the moving through slot based on a first moving chassis, after the first lifting platform is lowered to a lowest state, the transfer robot drives the material box to move from any one of the first channel, the second channel, the third channel, the fourth channel, or the tunnel to a first shelf or a second channel, and, when the material box is taken in the warehouse, drive the material box to move from any one of the first channel, the second channel, the third channel, the fourth channel, or the tunnel to a destination docking station corresponding to the free destination docking station by using the first lifting mechanism, drive the material box to lift the first lifting platform to the destination docking station by using the first lifting mechanism, and drive the material box to the destination docking station by using the first lifting mechanism when the material box is taken in the warehouse.

In some embodiments, the transfer robot comprises a second movable chassis, a second lifting mechanism and a second lifting platform which are sequentially arranged from bottom to top, wherein the second lifting platform is comb-tooth-shaped, the material box butt joint layer comprises a plurality of butt joint storage positions, the plurality of butt joint storage positions are sequentially arranged along the length direction of the roadway and are used for being in butt joint with the tally robot or the transfer robot to temporarily store a material box to be taken and placed, comb-tooth-shaped openings facing the inside of a goods shelf are formed in the bottom of each butt joint storage position and are used for being matched with the second lifting platform of the transfer robot, and the second lifting mechanism drives the second lifting platform to pass through the comb-tooth-shaped openings to lift or place the material box.

In some embodiments, a plurality of horizontal rails are arranged on at least one goods shelf on two sides of the roadway, the plurality of horizontal rails are arranged at intervals along the vertical direction, the tally robot is hung on one side of the at least one goods shelf, which is located on the roadway, based on the horizontal rails, and can move in the roadway along the horizontal rails, and the height from the bottom of the tally robot to the ground is larger than the lowest height of the carrying robot carrying bin, so that the carrying robot can move in the roadway at will under the condition that the carrying bin moves.

In some embodiments, the storage box storage layer comprises a plurality of storage box positions, the storage box robot is used for sorting, picking and placing the storage boxes on the storage box positions of the adjacent shelves and moving the storage box between the storage box layer and the storage box butt layer of the adjacent shelves based on the movement of the storage and placing components along the horizontal rail and/or the lifting of the vertical column portal.

In some embodiments, the picking and placing assembly of the tally robot is configured to move the bin of the bin storage layer on the adjacent shelf to the bin docking layer, or to move the bin of the bin docking layer on the adjacent shelf to the target bin storage location, or to move the bin of the bin storage location on the adjacent shelf to the target bin storage location.

The embodiment of the application also provides a goods shelf, which comprises a material box storage space and a robot docking space which are arranged from top to bottom, wherein the material box storage space is provided with a plurality of material box storage layers, the bottommost part of the material box storage space is provided with a material box docking layer, the material box docking layer and the ground are provided with preset heights so as to form the robot docking space for moving and docking a picking and placing material box, a roadway extending along the length direction of the goods shelf is formed between adjacent goods shelves, a tally robot is arranged in the roadway, and the height of the robot docking space is larger than the lowest height of a carrying material box of the carrying robot, so that the carrying robot can move at will in the robot docking space and the roadway under the condition that the carrying material box moves.

In some embodiments, a first channel and a second channel are sequentially arranged in the robot docking space of a first shelf in the adjacent shelves along the direction close to the roadway, a third channel and a fourth channel are sequentially arranged in the robot docking space of a second shelf in the adjacent shelves along the direction close to the roadway, and the first channel, the second channel, the third channel and the fourth channel are all parallel to the roadway and extend to the outside of the shelves.

In some embodiments, the docking layer of the bin comprises a plurality of docking storage positions, the docking storage positions are sequentially arranged along the length direction of the roadway and used for docking with the tallying robot or the carrying robot to temporarily store the bin to be picked and placed, a through groove is formed in the bottom of each docking storage position, and the through groove is perpendicular to the roadway and used for the carrying robot to pass through the through groove to lift or place the bin.

In some embodiments, the material box butt joint layers of the first shelf and the second shelf are single deep layer boards, are located on one side of the roadway from the shelf, are arranged towards the interior of the shelf, and are located above the second channel and the fourth channel respectively.

In some embodiments, the first shelf and the second shelf are double deep shelves, the material box butt joint layer of the first shelf and the second shelf is a double deep laminate, the plurality of butt joint storage positions are arranged in two rows sequentially along the length direction of the roadway, and in the two rows of butt joint storage positions, through grooves of two adjacent butt joint storage positions along the width direction of the roadway are communicated.

According to the warehouse system and the goods shelf, the goods handling robot moves in the roadway, the goods taking and placing boxes are arranged between the adjacent goods shelves, and the carrying robot carries the boxes between the goods shelves and the outside of the goods shelves, so that the goods taking and placing efficiency and the carrying efficiency of the warehouse system can be improved through the cooperation of the two robots. The robot butt joint space and the tunnel of goods shelves all allow the transfer robot when bearing the workbin to pass, have increased the mobilizable route of transfer robot, the transport is more nimble, have reduced the dodge between the transfer robot to transfer robot can not interfere with tally robot people when robot butt joint space goes, have improved transfer robot's getting put goods efficiency and transport efficiency, thereby have improved whole warehouse system's getting put goods efficiency and transport efficiency.

Of course, it is not necessary for any one product to practice the application to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the application, and other embodiments may be obtained according to these drawings to those skilled in the art.

Fig. 1 is a perspective view of a warehouse system according to a first embodiment of the present application;

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

FIG. 3 is a schematic side view of the warehousing system of FIG. 1;

fig. 4a is a perspective view of a first embodiment of the transfer robot shown in fig. 1;

Fig. 4b is a perspective view of a second embodiment of the transfer robot shown in fig. 1;

fig. 5 is a perspective view of a warehouse system according to a second embodiment of the present application;

FIG. 6 is a partial schematic view of the warehousing system of FIG. 5;

Fig. 7 is a side view schematic of the warehousing system of fig. 5.

Reference numerals:

The storage racks 100, the first storage rack 100A, the second storage rack 100B, the bin storage space 110, the bin storage layer 111, the bin storage position 1111, the bin docking layer 112, the docking storage position 1121, the through slot 1123, the robot docking space 120, the first channel 121, the second channel 122, the third channel 123, the fourth channel 124, the roadway 130 and the horizontal rail 140;

a tallying robot 200, a column portal 210, a pick-and-place assembly 220;

The transfer robot 300, a first moving chassis 310a, a first lifting mechanism 320a, a first lifting platform 330a, a second moving chassis 310b, a second lifting mechanism 320b, and a second lifting platform 330b;

A bin 400;

A workstation 500.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by the person skilled in the art based on the present application are included in the scope of protection of the present application.

As described in the background art, in the related art, a warehouse system includes a plurality of shelves, and one or more transfer robots are disposed on a roadway between adjacent shelves and can move on the roadway to pick and place goods on the shelves. The goods taking and placing mode has the advantages that the carrying robots can only move in the roadway, the carrying path is single, the carrying is inflexible, a plurality of carrying robots need to avoid each other when running on the same roadway, and the goods taking and placing efficiency in the warehouse system is low under the conditions.

In order to improve the picking and placing efficiency of the warehousing system, the embodiment of the application provides the warehousing system and the goods shelf, and firstly, the warehousing system provided by the embodiment of the application is described in detail.

Referring to fig. 1 to 3, fig. 1 is a perspective view of a warehouse system according to a first embodiment of the present application, fig. 2 is a partial schematic view of the warehouse system shown in fig. 1, and fig. 3 is a side view of the warehouse system shown in fig. 1.

As shown in fig. 1 to 3, the warehouse system provided in the first embodiment of the present application includes a plurality of shelves 100, a cargo handling robot 200 and a transfer robot 300 that are disposed at intervals.

The shelf 100 comprises a bin storage space 110 and a robot docking space 120 which are arranged from top to bottom, wherein the bin storage space 110 is provided with a plurality of bin storage layers 111, the bottommost part of the bin storage space 110 is provided with a bin docking layer 112, and the bin docking layer 112 and the ground have preset heights so as to form the robot docking space 120.

A lane 130 extending along the length of the pallet is formed between adjacent pallets 100.

The cargo robot 200 is disposed in the roadway 130, and is configured to sort and pick and place the bins 400 on the adjacent shelves 100, and move the bins 400 between the bin storage layer 111 and the bin docking layer 112 of the adjacent shelves 100.

The transfer robot 300 is used to transfer the bin 400 outside the pallet 100 to the bin docking layer 112 or to transfer the bin 400 on the bin docking layer 112 from the pallet 100.

The height of the robot docking space 120 is greater than the lowest height of the carrier bin 400 of the transfer robot 300, so that the transfer robot 300 can move at will in the robot docking space 120 and the lane 130 while the carrier bin 400 is moving.

According to the warehouse system provided by the embodiment of the application, the tally robot 200 moves in the roadway 130, the material box 400 is taken out and put between the adjacent shelves 100, the material box 400 is carried between the shelves 100 and the outside of the shelves 100 by the carrying robot 300, and the material taking and putting efficiency and the carrying efficiency of the warehouse system can be improved through the cooperation of the two robots. The robot docking space 120 of the goods shelf 100 and the roadway 130 allow the transfer robot 300 to pass when the material box 400 is borne, so that a movable path of the transfer robot 300 is increased, the transfer is more flexible, avoidance among the transfer robots 300 is reduced, the transfer robot 300 cannot interfere with the tally robot 200 when the robot docking space 120 runs, the picking and placing efficiency and the transfer efficiency of the transfer robot 300 are improved, and the picking and placing efficiency and the transfer efficiency of the whole warehouse system are improved.

In this embodiment, as shown in fig. 1 to 3, a first channel 121 and a second channel 122 are sequentially disposed in the robot docking space 120 of a first shelf 100A in the adjacent shelf 100 along the direction close to the roadway 130, and a third channel 123 and a fourth channel 124 are sequentially disposed in the robot docking space 120 of a second shelf 100B in the adjacent shelf 100 along the direction close to the roadway 130.

The first channel 121, the second channel 122, the third channel 123, and the fourth channel 124 are all parallel to the lane 130 and extend to the outside of the pallet 100.

The transfer robot 300 is capable of carrying the bin 400 for arbitrary movement in the first, second, third and fourth lanes 121, 122, 123, 124 and the lane 130.

Specifically, as shown in fig. 1 and 3, the first, second, third, fourth, and lane 121, 122, 123, 124, and 130 may extend to a workstation 500 outside the pallet 100, and the transfer robot 300 travels along the first, second, third, fourth, and lane 121, 122, 123, 124, and 130, transfers the bin 400 between the pallet 100 and the workstation 500 to put the bin 400 in or out of the warehouse.

The first channel 121, the second channel 122, the third channel 123, the fourth channel 124, and the roadway 130 are bi-directional channels for the transfer robot 300 to travel. The number of the transfer robots 300 may be plural, and when the transfer robot 300 travels in any one of the first lane 121, the second lane 122, the third lane 123, the fourth lane 124, or the lane 130, if there are other transfer robots 300 on the forward path, the transfer robot 300 may move to the lanes on both sides of the current lane to avoid. When the transfer robot 300 travels on the first lane 121, the second lane 122, the third lane 123, or the fourth lane 124, it is possible to improve the transfer efficiency of the warehouse system without interfering with the cargo robot 200.

By applying the embodiment of the application, the transfer robot 300 is allowed to pass when the material box 400 is borne by the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 and the roadway 130, the movable path of the transfer robot 300 is increased, the avoidance among the transfer robots 300 is reduced, and the transfer robot 300 cannot interfere with the tally robot 200 when the first channel 121, the second channel 122, the third channel 123 or the fourth channel 124 runs, so that the picking and placing efficiency and the transferring efficiency of the transfer robot 300 are improved, and the picking and placing efficiency and the transferring efficiency of the whole warehousing system are improved.

In the embodiment shown in fig. 1, as shown in fig. 1 to 3, a plurality of horizontal rails 140 are provided on at least one shelf 100 on both sides of a roadway 130, and the plurality of horizontal rails 140 are disposed at intervals in a vertical direction.

The cargo robot 200 is hung on at least one shelf 100 on one side of the roadway 130 based on the horizontal rail 140, and can move along the horizontal rail 140 in the roadway 130.

The height from the bottom of the cargo robot 200 to the ground is greater than the lowest height of the carrying bin 400 of the transfer robot 300, so that the transfer robot 300 can move arbitrarily in the tunnel 130 while the carrying bin 400 moves.

Specifically, when the carrier box 400 of the carrier robot 300 travels in the tunnel 130 in the lowest height state, the height is lower than that of the cargo robot 200, and interference with the cargo robot 200 does not occur. By applying the embodiment of the application, the carrying robot 300 can not interfere with the tally robot 200 when the carrying box 400 runs in the robot docking space 120 or the roadway 130 in the lowest height state, so that the problem that the two robots need to avoid each other is solved, and the picking and placing efficiency and carrying efficiency of the warehouse system are improved.

In the embodiment shown in fig. 1, referring to fig. 4a, fig. 4a is a perspective view of a first embodiment of the transfer robot shown in fig. 1. As shown in fig. 1 to 4a, the transfer robot 300 includes a first moving chassis 310a, a first lifting mechanism 320a, and a first lifting platform 330a, which are sequentially disposed from bottom to top.

The bin docking layer 112 includes a plurality of docking storage locations 1121, where the plurality of docking storage locations 1121 are sequentially arranged along the length direction of the roadway 130, and are used for docking with the cargo handling robot 200 or the transfer robot 300, and temporarily storing the bins 400 to be taken and placed.

A through slot 1123 is formed at the bottom of each docking storage 1121, and the through slot 1123 is perpendicular to the roadway 130, so that the first lifting mechanism 320a drives the first lifting platform 330a to pass through the through slot 1123, and the bin 400 is lifted or placed.

With the embodiment, the plurality of docking storage locations 1121 are disposed on the docking layer 112 for temporarily storing the bin 400, so that the plurality of transfer robots 300 can pick and place the bin 400 at the same time, so as to carry out the warehouse-out or warehouse-in operation of the bin 400, thereby improving the pick and place efficiency and the transfer efficiency of the warehouse system. The transfer robot 300 is able to pick and place the bin 400 at the bottom of the bin docking layer 112 by lifting the first lifting platform 330a through the through slot 1123.

Specifically, the first moving chassis 310a is disposed at the bottom of the handling robot 300, and is configured to drive the first lifting mechanism 320a and the first lifting platform 330a to move on the ground, and may include universal wheels to realize multi-directional movement, and the first lifting mechanism 320a and the first lifting platform 330a are disposed at the top of the first moving chassis 310 a.

The first lifting platform 330a in this embodiment is a flat plate, and is used for carrying the bin 400, and can horizontally move the bin 400 under the drive of the first moving chassis 310a, and lift or lower the bin 400 under the drive of the first lifting mechanism 320 a.

The width dimension of the through slot 1123 is configured to be smaller than the dimension of the bin 400 and larger than the dimension of the first lift platform 330a, thereby enabling the first lift platform 330a to raise or lower the bin 400 through the through slot 1123 and also preventing the bin 400 from falling out of the through slot 1123.

In the embodiment shown in fig. 1, as shown in fig. 1 to 3, the bin interfacing layers 112 of the first pallet 100A and the second pallet 100B are single deep laminates, which are disposed from the pallet 100 on one side of the roadway 130 toward the inside of the pallet 100, above the second channel 122 and the fourth channel 124, respectively.

Specifically, the shelf 100 may be a double deep shelf or a multi deep shelf, and accordingly, the width of the first channel 121 or the third channel 123 is greater than or equal to the width of the second channel 122 or the third channel 123. For the deep shelves, the width of the first channel 121 or the third channel 123 is larger than that of the second channel 122 or the fourth channel 124, and the first channel 121 or the third channel 123 can be divided into multiple channels for the transfer robot 300 to pass through, so that the pick-and-place efficiency and the transfer efficiency of the transfer robot 300 are further improved.

As shown in fig. 1 to 3, in the embodiment of the present application, the rack 100 is a double deep rack, and the cargo robot 200 is hung on the first rack 100A, so as to be able to pick and place the double deep bins 400 on the first rack 100A and the second rack 100B.

The handling work of the cargo robot 200 is specifically classified into a first type in which the bin 400 in the bin storage space 110 of the first rack 100A is moved to the target docking storage location 1121 of the bin docking layer 112 of the first rack 100A or the second rack 100B, a second type in which the bin 400 in the bin storage space 110 of the second rack 100B is moved to the target docking storage location 1121 of the bin docking layer 112 of the first rack 100A or the second rack 100B, a third type in which the bin 400 in the bin storage location 1111 of the bin storage space 110 of the first rack 100A is moved to the target bin storage location 1111 of the first rack 100A or the second rack 100B, and a fourth type in which the bin 400 in the bin storage location 1111 of the bin storage space 110 of the second rack 100B is moved to the target bin storage location 1111 of the first rack 100A or the second rack 100B.

The area enclosed by the ply, bin docking layer 112, and pallet legs of the lowest bin storage layer 111 of bin storage space 110 above either first channel 121 or third channel 123 is robot docking space 120. The first channel 121 or the third channel 123 allows the transfer robot 300 to carry the bin 400 through a greater height than the second channel 122 or the fourth channel 124 allows the transfer robot 300 to carry the bin 400 through.

By applying the embodiment, the bin docking layer 112 is a single deep layer board, the robot docking space 120 is increased, so that the height of the first channel 121 or the third channel 123 for allowing the transfer robot 300 to carry the bin 400 is higher, and the transfer robot 300 can adjust the height in the first channel 121 or the third channel 123.

In the embodiment shown in fig. 1 to 3, the transfer robot 300 is configured to move from any road of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130 to below the target docking station 1121 temporarily storing the bin 400 when the vehicle is out of the warehouse, drive the first lifting platform 330A to lift the bin 400 through the through slot 1123 by the first lifting mechanism 320A, then drive the bin 400 to move to the first channel 121, the third channel 123 or the roadway 130 along the through slot 1123 based on the first moving chassis 310A, and drive the bin 400 to move from any road of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130 to the first shelf 100A or the second shelf 100B after the first lifting platform 330A is lowered to the lowest state.

And, during warehouse entry, the transfer robot 300 carrying the target bin 400 travels in the lowest height state based on the first moving chassis 310A, moves from any one of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130 to a position corresponding to the idle target docking storage 1121 on the first channel 121, the third channel 123 or the roadway 130, drives the first lifting platform 330A to lift the bin 400 by the first lifting mechanism 320A, moves towards the through slot 1123 of the target docking storage 1121 based on the first moving chassis 310A, then drives the first lifting platform 330A to descend by the first lifting mechanism 320A to place the bin 400 in the target docking storage 1121, and finally descends the first lifting platform 330A and idly moves from any one of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130 out of the first or the second shelf 100B.

Specifically, as shown in fig. 3, a process of entering and exiting the storage location 1121 when the target docking station is located on the first shelf 100A will be described.

When the empty carrier robot 300 is delivered, the empty carrier robot may travel along any one of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130, and finally switch to the second channel 122 below the target docking storage 1121.

After the first lifting platform 330a ascends through the through slot 1123 to lift the bin 400, the transfer robot 300 drives the bin 400 to move along the through slot 1123 to the first channel 121 or the roadway 130 adjacent to the second channel 122 based on the first moving chassis 310a, and after the first lifting platform 330a descends to the lowest state, the transfer robot 300 drives the bin 400 to move out of the shelf 100 from any road of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130, and goes to the workstation 500 for ex-warehouse.

During warehouse entry, the transfer robot 300 moves to a position corresponding to the empty target docking station 1121 on the first passage 121 or the tunnel 130, the first lifting platform 330a lifts the lifting bin 400, moves toward the through slot 1123 of the target docking station 1121, descends the first lifting platform 330a, and then moves out of the pallet 100 from any one of the first passage 121, the second passage 122, the third passage 123, the fourth passage 124, and the tunnel 130 without load.

Next, a process of entering and exiting the target docking station 1121 when it is located on the second shelf 100B will be described.

When the empty carrier robot 300 is delivered, the empty carrier robot may travel along any one of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130, and finally switch to the fourth channel 124 below the target docking storage 1121.

After the first lifting platform 330a is lifted up through the through slot 1123, the transfer robot 300 drives the bin 400 to move along the through slot 1123 to the third channel 123 or the roadway 130 adjacent to the fourth channel 124 based on the first moving chassis 310a, and after the first lifting platform 330a is lowered to the lowest state, the transfer robot 300 drives the bin 400 to move out of the shelf 100 from any road of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130, and goes to the workstation 500 for ex-warehouse.

During warehouse entry, the transfer robot 300 moves to a position corresponding to the empty target docking station 1121 on the third channel 123 or the roadway 130, the first lifting platform 330a lifts the lifting bin 400, moves toward the through slot 1123 of the target docking station 1121, descends the first lifting platform 330a, and then moves out of the pallet 100 from any one of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124, and the roadway 130 without load.

The movement of the first lifting mechanism 320a in the vertical direction and the horizontal movement of the first moving chassis 310a may be performed simultaneously, that is, the first lifting mechanism 320a may raise or lower the bin 400 during the first moving chassis 310a is driven into or out of the target docking storage 1121, thereby improving the carrying efficiency of the carrying robot 300.

The warehouse system further comprises a control device which is in communication connection with the control modules arranged on each of the cargo handling robots 200 and the transfer robots 300. The control device may plan the action route of the transfer robot 300 according to the position of the target docking storage location 1121 and the occupation condition of each channel in the current warehouse system, and if other transfer robots 300 exist on the forward route when the transfer robot 300 runs along the planned action route, may send an instruction to the transfer robot 300 to instruct the transfer robot 300 to move to the channels on both sides of the current channel so as to avoid.

By applying the embodiment, the above-mentioned planning is performed on the warehouse-in and warehouse-out route of the transfer robot 300, so that the warehouse-in and warehouse-out operation of the transfer robot 300 is more flexible, the picking and placing efficiency and the transfer efficiency of the transfer robot 300 are improved, and the picking and placing efficiency and the transfer efficiency of the whole warehouse system are improved. The transfer robot 300 can perform the picking and placing of the bin 400 without stopping the traveling or with a short stop, so that the efficiency of the transfer robot 300 for picking and placing the bin 400 can be improved, and in addition, the transfer robot 300 performs the picking and placing of the bin 400 below the docking station 1121, so that the space utilization of the pallet 100 can be improved.

In other embodiments, the specific structure of the transfer robot 300 and the manner in which the head box 400 is accessed may be varied.

The transfer robot 300 may move to the position below the target docking station 1121 in the above embodiment, that is, on the second channel 122 or the fourth channel 124, to take the bin 400 by lifting, or may also be the position on the side of the target docking station 1121, that is, on the first channel 121, the third channel 123 or the roadway 130, to move the bin 400 by transversely retracting the retracting and putting mechanism, for example, the retracting and putting mechanism may be a toggle mechanism.

Referring to fig. 4b, fig. 4b is a perspective view of a second embodiment of the transfer robot shown in fig. 1. As shown in fig. 4b, the transfer robot 300 includes a second moving chassis 310b, a second lifting mechanism 320b, and a second lifting platform 330b, which are sequentially disposed from bottom to top, and the second lifting platform 330b is comb-shaped.

As shown in fig. 3, the bin docking layer 112 includes a plurality of docking storage locations 1121, and the plurality of docking storage locations 1121 are sequentially arranged along the length direction of the roadway 130, and are used for docking with the cargo handling robot 200 or the transfer robot 300, and temporarily storing the bins 400 to be taken and placed.

The bottom of each docking storage place 1121 is provided with a comb-shaped opening facing the interior of the shelf, and the comb-shaped opening is used for being matched with the second lifting platform 330b of the carrying robot 300, so that the second lifting mechanism 320b drives the second lifting platform 330b to pass through the comb-shaped opening, and the bin 400 is lifted or placed.

Specifically, the second lifting platform 330b is comb-shaped, the top is provided with a plurality of protrusions arranged in a comb-shaped manner, each of the protrusions is connected to the comb-shaped opening of the storage location 1121, and the comb gap is larger than the width dimension of the protrusion at the top of the second lifting platform 330b, so that the comb-shaped protrusions of the second lifting platform 330b can pass through the comb-shaped opening, thereby lifting or placing the bin 400.

The comb-shaped openings of the docking station 1121 of the first pallet 100A are oriented toward the first channel 121, and the comb-shaped openings of the docking station 1121 of the second pallet 100B are oriented toward the third channel 123. The second moving chassis 310b and the second lifting mechanism 320b may have the same structure as the first moving chassis 310a and the first lifting mechanism 320a in the above-described embodiment.

The transfer robot 300 of the present embodiment is configured to move from any road of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130 to below the target docking storage location 1121 temporarily storing the bin 400 during the unloading, drive the second lifting platform 330B to lift the bin 400 through the comb-shaped opening by the second lifting mechanism 320B, then drive the bin 400 to move to the first channel 121 or the third channel 123 along the comb-shaped opening based on the second moving chassis 310B, and drive the bin 400 to move from any road of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130 after the second lifting platform 330B is lowered to the lowest state, and then move out of the first shelf 100A or the second shelf 100B.

And, during warehouse entry, the transfer robot 300 carrying the target bin 400 runs in the lowest height state based on the second moving chassis 310B, moves from any one of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130 to a position corresponding to the idle target docking storage place 1121 on the first channel 121 or the third channel 123, drives the second lifting platform 330B to lift the bin 400 through the second lifting mechanism 320B, moves towards the comb-shaped opening of the target docking storage place 1121 based on the second moving chassis 310B, then drives the second lifting platform 330B to descend to place the bin 400 in the target docking storage place 1121 through the second lifting mechanism 320B, and finally descends the second lifting platform 330B and idles from any one of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130, and moves out of the first shelf 100A or the second shelf 100B.

In the embodiment shown in fig. 1, as shown in fig. 1 to 3, the cargo robot 200 includes a column gantry 210 and a pick and place assembly 220, the column gantry 210 is vertically mounted on the horizontal rail 140, and the pick and place assembly 220 is disposed on the column gantry 210 and can move along the horizontal rail 140 along with the column gantry 210 and can be lifted along the column gantry 210.

The bin storage layer 111 includes a plurality of bin storage locations 1111, and the tally robot 200 is configured to place and retrieve bins 400 on the plurality of bin storage locations 1111 of adjacent shelves 100 based on movement of the pick and place assembly 220 along the horizontal rail 140 with the upright gantry 210 and/or lifting along the upright gantry 210, and to move the bins 400 between the bin storage layer 111 and the bin docking layer 112 of adjacent shelves 100.

By applying the embodiment of the application, the picking and placing components move along the horizontal track 140 along the upright post portal 210, so that different bins 400 in the length direction of the adjacent shelves 100 can be picked and placed, the picking and placing components can be lifted along the upright post portal 210, and the bins 400 with different heights of the adjacent shelves 100 can be picked and placed, and the specific picking and placing modes are described later.

In the embodiment shown in fig. 1, as shown in fig. 1 and 5, pick and place assembly 220 of the storage robot 200 is configured to move bins 400 of bin storage layer 111 on adjacent shelves 100 onto bin docking layer 112, or to move bins 400 on bin docking layer 112 of adjacent shelves 100 onto target bin storage 1111, or to move bins 400 on bin storage 1111 of adjacent shelves 100 onto target bin storage 1111.

Specifically, pick and place assembly 220 has a telescoping function, which can telescope toward either first shelf 100A or second shelf 100B to perform pick and place bin 400. The specific structure of the pick-and-place assembly 220 may be a fork, a clamping plate, a sucker, a hook, etc., which is not limited by the present application.

By applying the embodiment of the application, the picking and placing components 220 can be used for finishing the bins 400 on the adjacent goods shelves 100 and picking and placing the bins 400 to be put in and out of the warehouse on the bin docking layer 112.

As described above, in the warehouse system of the first embodiment shown in fig. 1, the bin docking layers 112 of the first shelf 100A and the second shelf 100B are single deep laminates, and in other warehouse system embodiments, the bin docking layers 112 of the first shelf 100A and the second shelf 100B may be double deep laminates.

Referring to fig. 5 to 7, fig. 5 is a perspective view of a warehouse system according to a second embodiment of the present application, fig. 6 is a partial schematic view of the warehouse system shown in fig. 5, and fig. 7 is a side view of the warehouse system shown in fig. 5.As shown in fig. 5 to 7, in the warehouse system according to the second embodiment of the present application, the first shelf 100A and the second shelf 100B are dual deep shelves. The bin docking layer 112 of the first shelf 100A and the second shelf 100B is a double deep layer plate, the plurality of docking storage locations 1121 are arranged in two rows sequentially along the length direction of the roadway 130, and in the two rows of docking storage locations 1121, the through grooves 1123 of two adjacent docking storage locations 1121 along the width direction of the roadway 130 are communicated.

Specifically, the arrangement mode of the tally robot 200 may be the same as that of the first embodiment shown in fig. 1, and the tally robot is hung on the first shelf 100A, so that the bin 400 with double deep positions on the first shelf 100A and the second shelf 100B can be taken and placed. The picking mode is the same as the first embodiment shown in fig. 1, and will not be described again. The transfer robot 300 employs the transfer robot 300 of the first embodiment shown in fig. 4 a.

As shown in fig. 5 to 7, the cargo robot 200 may be a robot for picking and placing single-deep bins 400, and picking and placing bins only between the bin storage layer 111 and the bin docking layer 112 of the first pallet 100A, or picking and placing bins between the bin storage layer 111 and the bin docking layer 112 of the second pallet 100B. Since the docking storage 1121 is arranged in two rows, the cargo robots 200 are disposed in the lanes 130 beside the two rows of docking storage 1121. The cargo robots 200 are disposed on both sides of the racks 100 located at the outermost sides of the rack array.

The plurality of shelves 100 of the warehousing system may be arranged in a line or in a square array.

As shown in fig. 5, a plurality of shelves 100 form a square matrix, and the shelves 100 positioned at two sides of the square matrix may be configured as single deep shelves, so as to avoid waste caused by the need of arranging rational robots 200 at two sides of the shelf 100 at the outermost side of the shelf array.

The area enclosed by the bin docking layer 112 and the pallet legs is a robot docking space 120. The first channel 121 or the third channel 123 allows the transfer robot 300 to carry the height through which the bin 400 passes equal to the second channel 122 or the fourth channel 124 allows the transfer robot 300 to carry the bin 400.

By applying the embodiment of the application, the bin docking layer 112 is configured as a double deep layer plate and comprises two rows of docking storage positions 1121, so that the space utilization rate of the robot docking space 120 of the goods shelf 100 is improved, the temporary storage capacity of the bin docking layer 112 is improved, and the picking and placing efficiency and the carrying efficiency of a warehouse system are improved.

In the second embodiment of the present application, as shown in fig. 5 to 7, the transfer robot 300 is configured to move from any one of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130 to below the target docking station 1121 where the bin 400 is temporarily stored, drive the first lifting platform 330A to lift the bin 400 through the through slot 1123 by the first lifting mechanism 320A, then drive the bin 400 to move to the roadway 130 along the through slot 1123 based on the first moving chassis 310A, and drive the bin 400 to move from any one of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130 after the first lifting platform 330A is lowered to the lowest state by the transfer robot 300.

And, during warehouse entry, the transfer robot 300 carrying the target bin 400 travels in the lowest height state based on the first moving chassis 310A, moves from any road of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130 to a position corresponding to the idle target docking station 1121 on the roadway 130, drives the first lifting platform 330A to lift the bin 400 by the first lifting mechanism 320A, moves towards the through slot 1123 of the target docking station 1121 based on the first moving chassis 310A, then drives the first lifting platform 330A to descend by the first lifting mechanism 320A to place the bin 400 in the target docking station 1121, and finally descends the first lifting platform 330A and idly moves from any road of the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 or the roadway 130 to leave the first or the second shelf 100B.

Specifically, during the warehouse-in and warehouse-out process, the transfer robot 300 needs to travel on the roadway 130 after taking the bin 400 or when going to place the bin 400, but can avoid to the first channel 121, the second channel 122, the third channel 123 or the fourth channel 124 in the lowest state if avoiding is required, and finally starts to dock with the target docking station 1121 at the roadway 130 side of the target docking station 1121.

By applying the embodiment of the application, the above planning is performed on the warehouse-in and warehouse-out route of the transfer robot 300, so that the warehouse-in and warehouse-out operation of the transfer robot 300 is more flexible, the picking and placing efficiency and the transfer efficiency of the transfer robot 300 are improved, and the picking and placing efficiency and the transfer efficiency of the whole warehouse system are improved.

In addition, in the second embodiment shown in fig. 5, the configuration of the bin storage space 110, the configuration of the cargo handling robot 200, and the configuration of the transfer robot 300 may be identical to those of the bin storage space 110, the configuration of the cargo handling robot 200, and the configuration of the transfer robot 300 in the first embodiment shown in fig. 1 except for the configuration of the cargo handling robot 200, the configuration of the bin docking layer 112, and the transfer modes of the cargo handling robot 200 and the transfer robot 300, and will not be described again.

That is, the second embodiment shown in fig. 5 is different from the first embodiment shown in fig. 1 mainly in that the arrangement of the cargo robot 200, the structure of the bin docking layer 112, and the conveyance methods of the cargo robot 200 and the conveyance robot 300 may be identical.

In practical applications, whether the first embodiment or the second embodiment or the modified solutions of the two embodiments are adopted, the two robots can work separately and cooperate, the cargo handling robot 200 moves in the roadway 130, the material box 400 is taken out between the adjacent shelves 100, the material box 400 is carried by the carrying robot 300 between the shelves 100 and the outside of the shelves 100, and the material taking and placing efficiency and the carrying efficiency of the warehouse system are improved. The robot docking space 120 and the roadway 130 allow the transfer robot 300 to pass when the material box 400 is borne, a movable path of the transfer robot 300 is increased, avoidance among the transfer robots 300 is reduced, the transfer robot 300 cannot interfere with the tally robot 200 when the robot docking space 120 runs, and the picking and placing efficiency and the transfer efficiency of the transfer robot 300 are improved, so that the picking and placing efficiency and the transfer efficiency of the whole storage system are improved.

Finally, the shelf provided by the embodiment of the application is described in detail. Referring to fig. 1 to 3 and 5 to 7, the pallet includes a bin storage space 110 and a robot docking space 120 arranged from top to bottom, the bin storage space 110 is provided with a plurality of bin storage layers 111, the bottom of the bin storage space 110 is provided with a bin docking layer 112, the bin docking layer 112 and the ground have preset heights to form a robot docking space 120 for a transfer robot 300 to move and dock a pick-and-place bin 400, a roadway 130 extending in the pallet length direction is formed between adjacent pallets 100, a cargo robot 200 is arranged in the roadway 130, and the height of the robot docking space 120 is greater than the lowest height of the transfer robot 300 to bear the bin 400, so that the transfer robot 300 can move at will in the robot docking space 120 and the roadway 130 under the condition that the load-bearing bin 400 moves.

By applying the embodiment of the application, the shelf 100 is divided into the bin storage space 110 and the robot docking space 120, and the bin storage space is respectively used for storing the bin 400 and temporarily storing the bin 400 to be stored in and taken out of the warehouse, so that the partition is clear, and the space utilization rate of the shelf 100 and the efficiency of docking the picking and placing bin 400 by the tallying robot 200 and the carrying robot 300 with the bin docking layer 112 are improved. The robot docking space 120 and the roadway 130 allow the transfer robot 300 to pass when the material box 400 is borne, so that a movable path of the transfer robot 300 is increased, avoidance among the transfer robots 300 is reduced, the transfer robot 300 cannot interfere with the tally robot 200 when the robot docking space 120 runs, and the picking and placing efficiency and the transfer efficiency of the transfer robot 300 are improved.

In some embodiments of the present application, as shown in fig. 1 to 3 and 5 to 7, a first channel 121 and a second channel 122 are sequentially disposed in the robot docking space 120 of a first shelf 100A of the adjacent shelves 100 in a direction approaching the roadway 130, and a third channel 123 and a fourth channel 124 are sequentially disposed in the robot docking space 120 of a second shelf 100B of the adjacent shelves 100 in a direction approaching the roadway 130. The first channel 121, the second channel 122, the third channel 123, and the fourth channel 124 are all parallel to the lane 130 and extend to the outside of the pallet 100.

By applying the embodiment of the application, the first channel 121, the second channel 122, the third channel 123, the fourth channel 124 and the roadway 130 are arranged for the transfer robot 300 to run between the bottom of the goods shelf 100 and the adjacent goods shelf 100, so that the movable path of the transfer robot 300 is increased, the avoidance among the transfer robots 300 is reduced, and the space utilization rate of the goods shelf 100 and the efficiency of receiving and placing the material box 400 are improved.

In some embodiments of the present application, the bin docking layer 112 includes a plurality of docking stations 1121, and the plurality of docking stations 1121 are sequentially arranged along the length direction of the roadway 130, and are used for docking with the cargo handling robot 200 or the transfer robot 300, and temporarily storing the bins 400 to be fetched and placed.

A through slot 1123 is formed in the bottom of each docking station 1121, and the through slot 1123 is perpendicular to the roadway 130, so that the transfer robot 300 can lift or place the bin 400 through the through slot 1123.

By applying the embodiment of the application, the plurality of docking storage positions 1121 are arranged on the docking layer 112 of the material box to temporarily store the material box 400, so that a plurality of transfer robots 300 can take and put the material box 400 at the same time to carry out warehouse-out or warehouse-in, and the taking and putting efficiency and the transfer efficiency of a warehouse system are improved. The transfer robot 300 is able to pick and place the bin 400 at the bottom of the bin docking layer 112 by lifting the first lifting platform 330a through the through slot 1123.

In some embodiments of the present application, as shown in fig. 1-3, the bin interfacing layers 112 of the first pallet 100A and the second pallet 100B are single deep laminates, each positioned from a side of the pallet 100 on the roadway 130 toward the interior of the pallet 100, above the second aisle 122 and the fourth aisle 124, respectively.

By applying the embodiment of the application, the bin docking layer 112 is a single deep layer plate, the robot docking space 120 is increased, so that the height of the first channel 121 or the third channel 123 for allowing the transfer robot 300 to carry the bin 400 to pass through is higher, and the transfer robot 300 can adjust the height in the first channel 121 or the third channel 123.

In some embodiments of the present application, as shown in fig. 5-7, the first pallet 100A and the second pallet 100B are dual deep pallets, and the bin interface layer 112 of the first pallet 100A and the second pallet 100B is a dual deep ply.

The bin docking layer 112 includes a plurality of docking stations 1121, wherein the plurality of docking stations 1121 are arranged in two rows sequentially along the length direction of the roadway 130, and in the two rows of docking stations 1121, through grooves 1123 of two adjacent docking stations 1121 along the width direction of the roadway 130 are communicated.

By applying the embodiment of the application, the bin docking layer 112 is arranged as a double deep layer plate and comprises two rows of docking storage positions 1121, so that the space utilization rate of the robot docking space 120 of the goods shelf 100 is improved, the temporary storage capacity of the bin docking layer 112 is improved, and the picking and placing efficiency and the carrying efficiency of a warehouse system are improved.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application are included in the scope of the present application.

Claims (16)

1. The warehousing system is characterized by comprising a plurality of shelves (100), a tallying robot (200) and a carrying robot (300) which are arranged at intervals;

the goods shelf (100) comprises a material box storage space (110) and a robot docking space (120) which are arranged from top to bottom, wherein the material box storage space (110) is provided with a plurality of material box storage layers (111), the bottommost part of the material box storage space (110) is provided with a material box docking layer (112), and the material box docking layer (112) and the ground have preset heights so as to form the robot docking space (120);

A roadway (130) extending along the length direction of the shelf is formed between the adjacent shelves (100);

The tallying robot (200) is arranged on the roadway (130) and is used for arranging, taking and placing the bins (400) on the adjacent shelves (100) and moving the bins (400) between the bin storage layer (111) and the bin butt joint layer (112) of the adjacent shelves (100);

The transfer robot (300) is used for transferring a bin (400) outside the goods shelf (100) to the bin docking layer (112) or removing the bin (400) on the bin docking layer (112) from the goods shelf (100);

The height of the robot docking space (120) is larger than the lowest height of the carrying box (400) of the carrying robot (300), so that the carrying robot (300) can move at will in the robot docking space (120) and the roadway (130) under the condition that the carrying box (400) moves.

2. The warehousing system according to claim 1, wherein a first channel (121) and a second channel (122) are sequentially arranged in a robot docking space (120) of a first shelf (100A) of the adjacent shelves (100) along a direction approaching a roadway (130), and a third channel (123) and a fourth channel (124) are sequentially arranged in a robot docking space (120) of a second shelf (100B) of the adjacent shelves (100) along a direction approaching the roadway (130);

-the first channel (121), the second channel (122), the third channel (123) and the fourth channel (124) are all parallel to the lane (130) and extend to the outside of the pallet (100);

the transfer robot (300) can carry the workbin (400) to move randomly in the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) and the roadway (130).

3. The warehousing system of claim 2 wherein the storage system is configured to store, in a storage system,

The transfer robot (300) comprises a first movable chassis (310 a), a first lifting mechanism (320 a) and a first lifting platform (330 a) which are sequentially arranged from bottom to top;

The material box butt joint layer (112) comprises a plurality of butt joint storage positions (1121), wherein the plurality of butt joint storage positions (1121) are sequentially arranged along the length direction of the roadway (130) and are used for butt joint with the tallying robot (200) or the carrying robot (300) to temporarily store the material box (400) to be taken and put;

A through groove (1123) is formed in the bottom of each butt joint storage position (1121), the through groove (1123) is perpendicular to the roadway (130), and the first lifting mechanism (320 a) drives the first lifting platform (330 a) to penetrate through the through groove (1123) so as to lift or place the material box (400).

4. The warehousing system of claim 3 wherein the storage system is configured to store,

The material box butt joint layers (112) of the first goods shelf (100A) and the second goods shelf (100B) are single deep layer plates, are arranged on one side of a roadway (130) from the goods shelf (100) and face the inside of the goods shelf (100) and are respectively located above the second channel (122) and the fourth channel (124).

5. The warehousing system of claim 4 wherein the storage system is configured to store,

The transfer robot (300) is configured to, when the transfer robot goes out of the warehouse, move to a position below a target butt joint storage location (1121) temporarily storing the bin (400) from any one of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the roadway (130), drive the first lifting platform (330A) to lift the bin (400) through the through slot (1123) through a first lifting mechanism (320A), and then drive the bin (400) to move to the first channel (121), the third channel (123) or the roadway (130) along a moving through slot (1123) based on a first moving chassis (310A), and after the first lifting platform (330A) descends to a lowest state, drive the bin (400) to move from any one of the first channel (121), the second channel (122), the third channel (124) or the goods shelf (130) to go out of the first channel (100A) or the second channel (100B);

And, during warehouse entry, the transfer robot (300) carrying the target bin (400) runs in the lowest height state based on the first movable chassis (310A), moves from any one of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the roadway (130) to a position corresponding to the idle target docking storage position (1121) on the first channel (121), the third channel (123) or the roadway (130), drives the first lifting platform (330A) to lift the bin (400) through the first lifting mechanism (320A), moves towards the through groove (1123) of the target docking storage position (1121) based on the first movable chassis (310A), then drives the first lifting platform (330A) to descend through the first lifting mechanism (320A) so as to place the bin (400) on the target docking storage position (1121), and finally descends the first lifting platform (330A) and moves from any one of the first channel (123), the second channel (124 a) or the empty goods shelf (100B).

6. The warehousing system of claim 3 wherein the storage system is configured to store,

The first goods shelf (100A) and the second goods shelf (100B) are double deep goods shelves;

the bin interfacing layer (112) of the first shelf (100A) and the second shelf (100B) is a double deep layer plate;

The plurality of butt joint storage positions (1121) are sequentially arranged in two rows along the length direction of the roadway (130), and in the two rows of butt joint storage positions (1121), through grooves (1123) of two adjacent butt joint storage positions (1121) along the width direction of the roadway (130) are communicated.

7. The warehousing system of claim 6 wherein the storage system includes,

The transfer robot (300) is configured to, when the transfer robot is out of the warehouse, move to a position below a target butt joint storage location (1121) temporarily storing a bin (400) from any one of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the roadway (130), lift the bin (400) by driving the first lifting platform (330A) through the through slot (1123) through a first lifting mechanism (320A), then move the bin (400) to the roadway (130) along a moving through slot (1123) based on the first moving chassis (310A), and move the bin (400) from any one of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the roadway (130) to a first shelf (100A) or a second shelf (100B) after the first lifting platform (330A) is lowered to a minimum state;

And, during warehouse entry, the transfer robot (300) carrying the target bin (400) runs in the lowest height state based on the first movable chassis (310A), moves from any one of the first channel (121), the second channel (122), the third channel (123), the fourth channel (124) or the roadway (130) to a position corresponding to the idle target docking storage position (1121) on the roadway (130), drives the first lifting platform (330A) to lift the bin (400) through the first lifting mechanism (320A), moves towards the through groove (1123) of the target docking storage position (1121) based on the first movable chassis (310A), then drives the first lifting platform (330A) to descend through the first lifting mechanism (320A) to place the bin (400) in the target docking storage position (1121), and finally descends the first lifting platform (330A) to idle load and moves from any one of the first channel (121), the second channel (122) or the first pallet (100B).

8. The warehousing system of claim 2 wherein the storage system is configured to store, in a storage system,

The transfer robot (300) comprises a second movable chassis (310 b), a second lifting mechanism (320 b) and a second lifting platform (330 b) which are sequentially arranged from bottom to top, wherein the second lifting platform (330 b) is comb-shaped;

The material box butt joint layer (112) comprises a plurality of butt joint storage positions (1121), wherein the plurality of butt joint storage positions (1121) are sequentially arranged along the length direction of the roadway (130) and are used for butt joint with the tallying robot (200) or the carrying robot (300) to temporarily store the material box (400) to be taken and put;

The bottom of each butt joint storage position (1121) is provided with a comb-shaped opening facing the inside of the goods shelf, and the comb-shaped opening is used for being matched with a second lifting platform (330 b) of the carrying robot (300), so that the second lifting mechanism (320 b) drives the second lifting platform (330 b) to penetrate through the comb-shaped opening, and the material box (400) is lifted or placed.

9. The warehousing system of claim 1 wherein the storage system is configured to store,

A plurality of horizontal rails (140) are arranged on at least one goods shelf (100) at two sides of the roadway (130);

The plurality of horizontal rails (140) are arranged at intervals along the vertical direction;

the tallying robot (200) is hung on one side of the at least one goods shelf (100) on the basis of the horizontal rail (140) and can move in the roadway (130) along the horizontal rail (140);

The height from the bottom of the tally robot (200) to the ground is larger than the lowest height of the carrying box (400) of the carrying robot (300), so that the carrying robot (300) can move randomly in the roadway (130) under the condition that the carrying box (400) moves.

10. The warehousing system of claim 9 wherein the storage system includes,

The tallying robot (200) comprises a vertical column door frame (210) and a picking and placing assembly (220), wherein the vertical column door frame (210) is vertically arranged on the horizontal rail (140), and the picking and placing assembly (220) is arranged on the vertical column door frame (210) and can move along the horizontal rail (140) along with the vertical column door frame (210) and can lift along the vertical column door frame (210);

The bin storage layer (111) comprises a plurality of bin storage positions (1111), the tally robot (200) is used for arranging, picking and placing bins (400) on the bin storage positions (1111) of the adjacent shelves (100) and moving the bins (400) between the bin storage layer (111) and the bin butt joint layer (112) of the adjacent shelves (100) based on the movement of the picking and placing components (220) along the horizontal track (140) along the upright portal (210) and/or along the lifting of the upright portal (210).

11. The warehousing system of claim 10 wherein the storage system is configured to store,

The picking and placing assembly (220) of the tally robot (200) is used for moving the bin (400) of the bin storage layer (111) on the adjacent goods shelf (100) to the bin docking layer (112), or moving the bin (400) of the bin docking layer (112) of the adjacent goods shelf (100) to the target bin storage position (1111), or moving the bin (400) of the bin storage position (1111) of the adjacent goods shelf (100) to the target bin storage position (1111).

12. The goods shelf is characterized by comprising a material box storage space (110) and a robot docking space (120) which are arranged from top to bottom;

The robot storage system comprises a bin storage space (110), a bin butt-joint layer (112), a robot butt-joint space (120) and a loading and unloading bin (400), wherein the bin storage space (110) is provided with a plurality of bin storage layers (111), the bottom of the bin storage space (110) is provided with the bin butt-joint layer (112), and the bin butt-joint layer (112) and the ground have preset heights so as to form the robot butt-joint space (120) for moving and butt-joint of the transfer robot (300);

A roadway (130) extending along the length direction of the goods shelf is formed between the adjacent goods shelves (100), and a cargo robot (200) is arranged in the roadway (130);

The height of the robot docking space (120) is larger than the lowest height of the carrying box (400) of the carrying robot (300), so that the carrying robot (300) can move at will in the robot docking space (120) and the roadway (130) under the condition that the carrying box (400) moves.

13. The shelf according to claim 12, wherein a first channel (121) and a second channel (122) are sequentially arranged in the robot docking space (120) of a first shelf (100A) in the adjacent shelves (100) along the direction approaching the roadway (130), and a third channel (123) and a fourth channel (124) are sequentially arranged in the robot docking space (120) of a second shelf (100B) in the adjacent shelves (100) along the direction approaching the roadway (130);

The first channel (121), the second channel (122), the third channel (123) and the fourth channel (124) are all parallel to the roadway (130) and extend to the outside of the pallet (100).

14. The pallet of claim 13, wherein the pallet is configured to hold the pallet,

The material box butt joint layer (112) comprises a plurality of butt joint storage positions (1121), the plurality of butt joint storage positions (1121) are sequentially arranged along the length direction of the roadway (130) and used for being in butt joint with the tally robot (200) or the transfer robot (300) to temporarily store the material box (400) to be taken and placed, a through groove (1123) is formed in the bottom of each butt joint storage position (1121), the through groove (1123) is perpendicular to the roadway (130) and used for the transfer robot (300) to penetrate through the through groove (1123) to lift or place the material box (400).

15. The pallet of claim 14, wherein the bin interfacing layers (112) of the first pallet (100A) and the second pallet (100B) are single deep laminates, each positioned from a side of the pallet (100) on the roadway (130), toward the interior of the pallet (100), above the second channel (122) and the fourth channel (124), respectively.

16. The pallet of claim 14, wherein the first pallet (100A) and the second pallet (100B) are dual deep pallets;

the bin interfacing layer (112) of the first shelf (100A) and the second shelf (100B) is a double deep layer plate;

The plurality of butt joint storage positions (1121) are sequentially arranged in two rows along the length direction of the roadway (130), and in the two rows of butt joint storage positions (1121), through grooves (1123) of two adjacent butt joint storage positions (1121) along the width direction of the roadway (130) are communicated.