CN217375862U - Storage goods shelf and storage system - Google Patents

Abstract

The utility model provides a storage goods shelves and warehouse system, relate to intelligent storage technical field, this storage goods shelves include the support, at least one bearing structure and supporting component, supporting component is connected with one of them bearing structure, and be located this bearing structure's below, supporting component includes a plurality of support pieces that set up along the length direction interval of support, along the width direction of support, support piece includes relative first end and the second end that sets up, form first opening between two adjacent support piece's the first end, form the second opening between two adjacent support piece's the second end. With the arrangement, the first robot can enter the storage shelf from one of the first opening and the second opening and can move out of the other of the first opening and the second opening, so that the freedom degree of the first robot in operation is improved.

Description

Storage goods shelf and storage system

Technical Field

The utility model relates to an intelligent storage technical field especially relates to a storage goods shelves and warehouse system.

Background

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of logistics is also continuously improved, and equipment such as a transfer robot is one of the equipment for realizing the intellectualization of logistics, so that heavy physical labor of human beings is reduced through the equipment such as the transfer robot and a discharging device.

In the related art, the warehousing system generally includes at least one warehousing shelf and a transfer robot, wherein the warehousing shelf generally includes a rack and at least two pallets disposed on the rack, a warehousing space is formed between adjacent pallets, when the storage rack is high, the first article at high position is usually taken out by a large-scale carrying device and placed on the lowest layer of the pallet, and then a small-scale carrying robot is used, the first article is taken out by moving at the bottom of the storage shelf, but the structure of the lowermost pallet of the storage shelf interferes with the movement of the small robot, therefore, the small-sized transfer robot cannot pass through the space between the lowest pallet and the ground, the movement of the small-sized transfer robot is hindered, the small-sized transfer robot is inconvenient to transfer, and the transfer efficiency of the transfer robot is reduced.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, the embodiment of the present disclosure provides a storage rack and a storage system, where the storage rack can facilitate the transportation of the first robot, and the transportation efficiency of the first robot is improved.

In order to achieve the above purpose, the embodiments of the present disclosure provide the following technical solutions:

a first aspect of the disclosed embodiments provides a storage rack, comprising: a support, at least one support structure, and a support assembly;

the supporting structures are arranged on the bracket at intervals along the height direction of the bracket and are used for bearing a first article;

the support assembly is connected with one of the support structures and located below the support structure, and a moving area for the first robot to walk when the first robot is unloaded is arranged below the support assembly, wherein the support assembly comprises a plurality of support members arranged at intervals along the length direction of the support, the support members comprise a first end and a second end which are arranged oppositely along the width direction of the support, a first opening is formed between the first ends of two adjacent support members, and a second opening is formed between the second ends of two adjacent support members.

In an alternative embodiment, the support assembly is connected to the support structure at the lowermost level.

In an alternative embodiment, the bracket has a first end face and a second end face which are oppositely arranged along the width direction of the bracket;

a first channel is arranged between the supporting component and the first end face, and/or a first channel is arranged between the supporting component and the second end face and is used for the first robot to carry cargo and walk.

In an alternative embodiment, the number of the support assemblies is at least two, and the support assemblies are arranged on the support structure at intervals along the width direction of the support frame, so that a first channel is formed between the adjacent support assemblies, and the first channel is used for the first robot to carry cargo and walk.

In an alternative embodiment, the first and second ends of the support member are each connected to the support structure above it by a connector.

In an alternative embodiment, along the width direction of the bracket, the adjacent connecting pieces and the supporting piece positioned between the adjacent connecting pieces form a containing space.

In an alternative embodiment, the connector is provided at an intermediate position of the support along the length of the stent.

In an alternative embodiment, an end of the connecting element facing away from the support element is fixedly connected to a surface of the support structure facing the support element.

In an alternative embodiment, an end of the connecting member facing away from the supporting structure is fixedly connected to an upper surface of the supporting member, so as to hoist the supporting member to the supporting structure.

In an alternative embodiment, the support member has first and second oppositely disposed sides along the length of the bracket, and at least one of the first and second sides is provided with a groove.

In an alternative embodiment, the number of the grooves is multiple, and the grooves are arranged on the support at intervals.

In an alternative embodiment, the depth of the groove is 1/3-1/2 of the width of the support member.

In an alternative embodiment, each of the supporting members includes two supporting blocks arranged at intervals, each of the supporting blocks is connected with a supporting structure located above the supporting block through a connecting piece, and a third opening is formed between adjacent supporting blocks.

Compared with the related art, the warehousing shelf provided by the embodiment of the disclosure has the following advantages:

the storage shelf provided by the embodiment of the disclosure comprises a supporting component, wherein the supporting component is connected with one supporting structure and is positioned below the supporting structure, the supporting component comprises a plurality of supporting pieces arranged at intervals, and the two ends of the adjacent supporting pieces respectively form a first opening and a second opening.

A second aspect of embodiments of the present disclosure provides a warehousing system, including: at least one of the storage racks provided in the first aspect, a second channel is formed between adjacent storage racks;

at least one second robot walking within the second aisle for carrying a first item from the support structure into the accommodation space or for carrying a first item from the accommodation space onto the support structure;

at least one first robot for removing a first item from the receiving space or placing a good into the receiving space.

In the warehousing system of the embodiment of the disclosure, since the warehousing shelf in the embodiment is included, the warehousing system also has the advantages of the warehousing shelf, and details are not repeated here.

In an alternative embodiment, the first robot is a lift robot that can exit the movement area through the first opening or the second opening after lifting a first article under the support assembly.

In addition to the technical problems solved by the embodiments of the present disclosure, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions, other technical problems solved by the warehousing shelf and warehousing system provided by the embodiments of the present disclosure, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.

FIG. 1 is a schematic view showing a structure of a storage shelf in the related art;

fig. 2 to 10 are schematic structural views of a storage shelf according to an embodiment of the present disclosure;

fig. 11 to 15 are schematic structural views of a support member and a connection member provided in an embodiment of the present disclosure;

fig. 16 is a schematic structural diagram of a first robot according to an embodiment of the present disclosure;

fig. 17 is a schematic structural diagram of a carrier of a first robot according to an embodiment of the present disclosure.

Reference numerals:

100: a storage shelf;

110: a support; 111: a first end face; 112: a second end face;

120: a support structure;

130: a support assembly; 131: a support member; 1311: a first end; 1312: a second end; 1313: a groove; 132: a first opening; 133: a second opening; 134: an accommodating space; 135: a connecting member; 136: a first side; 137: a second side surface; 138: a third opening;

140: a first channel;

150: a support beam;

160: a pallet;

200: a first article;

300: a first robot; 310: a carrier; 311: a protrusion; 320: moving the base; 330: a lifting member.

Detailed Description

In the smart storage, a storage rack having a plurality of storage units is generally provided, and an accommodating space is formed between adjacent storage units, the accommodating space is used for accommodating a first item, the first item may be a bin, a container, a cargo, and the like, which are to be transported, when the height of the storage rack is high, the first item located at a high position needs to be moved to the storage unit located at the bottommost layer of the storage rack so as to be conveniently traversed by a small-sized transport robot, for example, the small-sized transport robot is an AGV transport vehicle, and in the related art, as shown in fig. 1, the storage unit at the bottommost layer generally includes a supporting beam 150 and a plurality of pallets 160, both ends of the supporting beam 150 are respectively connected to the brackets 110 of the storage rack, one ends of the plurality of pallets 160 are fixed to the supporting beam 150 and spaced apart, and a gap is formed between the adjacent pallets 160, when the first item needs to be taken off from the storage rack 100, the transfer robot moves between the bottommost storage unit and the floor, the carrier of the transfer robot extends from the gap to above the pallet 160, lifts the first item, and then moves out of the storage rack 100 from the end of the pallet 160 facing away from the support beam 150, so that the transfer robot can only enter and exit the storage rack 100 from the end of the pallet 160 facing away from the support beam 150, reducing the freedom of movement of the transfer robot.

In view of the above technical problem, an embodiment of the present disclosure provides a storage rack and a storage system, where a support assembly is provided, the support assembly is connected to one of the support structures and located below the support structure, the support assembly includes a plurality of support members arranged at intervals, and two ends of each adjacent support member respectively form a first opening and a second opening, so that a first robot can enter the storage rack from one of the first opening and the second opening and then can move out from the other of the first opening and the second opening, so as to improve the freedom of operation of the first robot.

In order to make the aforementioned objects, features and advantages of the embodiments of the present disclosure more comprehensible, embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the disclosed embodiments and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

Example one

Fig. 2 to 10 are schematic structural views of a storage shelf according to an embodiment of the present disclosure; fig. 11 to 15 are schematic structural views of a support member and a connection member provided in an embodiment of the present disclosure;

as shown in fig. 2 to 15, the storage shelf 100 provided in the embodiment of the present disclosure may be applied to a storage system, and may also be applied to other industries, which includes a rack 110, a support structure 120 and a support assembly 130.

As shown in fig. 2, the support 110 is used as a supporting component for supporting the supporting structure 120 and the supporting assembly 130 disposed thereon, wherein the support 110 may include a plurality of vertically disposed columns, the plurality of columns are disposed at intervals along a predetermined circular track, in this embodiment, the plurality of columns may enclose a rectangular frame, or may enclose a circular frame, which is not limited herein.

In addition, the number of the upright columns can be three, four or other, illustratively, the number of the upright columns is four, the four upright columns surround to form a rectangular frame, and each upright column is located at four top corners of the rectangle.

The bracket 110 may further include a reinforcing beam that may connect a plurality of columns to increase the stability of the bracket 110.

The plurality of supporting structures 120 are disposed on the bracket 110 at intervals along a height direction of the bracket 110, that is, the plurality of supporting structures 120 are disposed on the upright at intervals along an extending direction of the upright, wherein the height direction of the bracket 110 is a Z direction in fig. 2.

The supporting structures 120 are used for carrying the first item 200, for example, an accommodating space is formed between adjacent supporting structures 120, and the accommodating space is used for accommodating the first item 200, wherein the size of the accommodating space may be the same or different, so as to adapt to placing the first items 200 with different sizes on the storage shelf 100.

In this embodiment, the support structure 120 may take various forms, for example, the support structure 120 may include a support plate, and an edge of the support plate may be fixedly connected to the bracket 110; for another example, the support structure 120 may also include a support frame and a support plate connected to the support frame, wherein the support frame may be fixedly connected to the bracket 110; for another example, the supporting structure may further include a cross beam and a plurality of plate bodies connected to the cross beam, wherein both ends of the cross beam may be respectively connected to the brackets 110.

In this embodiment, the strength of the connection between the support structure 120 and the rack 110 can be supported by the arrangement of the support frame and the cross beam, so as to improve the structural strength of the storage rack 100.

The support assembly 130 is connected to one of the support structures 120 and is located below the support structure 120, and a moving area for the first robot to walk when the first robot is unloaded is provided below the support assembly 130. The supporting component 130 may be connected to a supporting plate or a plate body, or may be connected to a frame or a cross beam, which is not limited herein.

It should be noted that when the supporting component 130 is connected to one of the supporting structures 120, the supporting surface for the first robot to walk is located below the supporting structure 120, for example, taking the orientation shown in fig. 2 as an example, from bottom to top, it is not necessary to note that the supporting structures 120 are the first supporting structure 120, the second supporting structure 120 and the third supporting structure 120, and if the supporting component 130 is connected to the first supporting structure 120, the supporting surface for the first robot to walk is located below the supporting component 130; if the supporting member 130 is connected to the second supporting structure 120, the supporting surface for the first robot to walk on is located on the same plane as the first supporting structure 120; if the support assembly 130 is connected to the third support structure 120, the support surface for the first robot to walk on is located on the same plane as the second support structure 120.

As shown in fig. 2 and 3, the supporting member 130 includes a plurality of supporting members 131 spaced along a length direction of the bracket 110, and the supporting members 131 include a first end 1311 and a second end 1312 disposed opposite to each other along a width direction of the bracket 110, a first opening 132 is formed between the first ends 1311 of two adjacent supporting members 131, and a second opening 133 is formed between the second ends 1312 of two adjacent supporting members 131.

In the present embodiment, the length direction of the bracket 110 may be the X direction in fig. 2, and the width direction of the bracket may be the Y direction in fig. 2.

Taking the orientation shown in fig. 2 as an example, the first end 1311 may be understood as the front end of the supporting member 131, the second end 1312 may be understood as the rear end of the supporting member 131, the area between the front ends of two adjacent supporting members 131 encloses the first opening 132, and the area between the rear ends of two adjacent supporting members 131 encloses the second opening 133, wherein the first opening 132 and the second opening 133 may be used as an entrance or an exit, for example, when the first opening 132 is used as an entrance, after the first robot enters the storage shelf 100 from the first opening 132, the carrier of the first robot can move out of the storage shelf 100 from the second opening 133 after lifting the first item, and can also move out of the storage shelf 100 from the first opening 132; for another example, when the second opening 133 is used as an entrance, after the first robot enters the storage rack 100 from the second opening 133, the carrier of the first robot can move out of the storage rack 100 from the first opening 132 after lifting the first item, and also can move out of the storage rack 100 from the second opening 133.

In some embodiments, the supporting component 130 is connected to the supporting structure 120 located at the lowest layer, that is, the supporting component 130 is connected to the first supporting structure 120, so that the supporting surface for the first robot to walk is the ground, which can reduce the production cost of preparing the storage shelf.

In some embodiments, as shown in fig. 4 to 6, the bracket 110 has a first end surface 111 and a second end surface 112 disposed opposite to each other in a width direction of the bracket 110; taking the orientation shown in fig. 4 as an example, the first end surface 111 may be understood as a left end surface of the bracket 110, and the second end surface 112 may be understood as a right end surface of the bracket 110.

A first passage 140 is provided between the support element 130 and the first end face 111 and/or a first passage 140 is provided between the support element 130 and the second end face 112, the first passage 140 being provided for the first robot load to walk through.

In this embodiment, the dimension of the supporting member 131 in the width direction of the bracket 110 is smaller than the width of the bracket 110, and the position of the supporting member 131 relative to the bracket 110 is set, so that a first channel 140 is formed between the supporting member 131 and the bracket 110, so that the first robot can carry cargo and walk, the walking area of the first robot is increased, and the walking freedom of the first robot is further increased.

Illustratively, as shown in fig. 4 and 5, the width of the support structure 120 includes at least two first article widths; the first end surface 111 of the bracket 110 is aligned with one of the first end 1311 and the second end 1312 of the support 131 such that the first channel 140 is formed between the second end surface 112 of the bracket 110 and the second end 1312 of the support 131, or the first channel 140 is formed between the first end surface 111 of the bracket 110 and the first end 1311 of the support 131.

As shown in fig. 6, when the width of the support structure 120 includes at least three first article widths; the first end 1311 and the second end 1312 of the support 131 are both located between the first end surface 111 and the second end surface 112 of the bracket 110, so that the first channel 140 is formed between the first end 1311 of the support 131 and the first end surface 111 of the bracket 110, and between the second end 1312 of the support 131 and the second end surface 112 of the bracket 110.

In some embodiments, the number of the supporting assemblies 130 is one, or may be at least two, and when the number of the supporting assemblies 130 is multiple, the number of the first articles temporarily stored on the storage shelf 100 may be increased, and further, the practicability of the storage shelf 100 may be increased.

When the number of the support assemblies 130 is at least two, the plurality of support assemblies 130 are arranged on the support structure 120 at intervals along the width direction of the support frame 110, so that a first passage 140 is formed between the adjacent support assemblies 130, and the first passage is used for the first robot to carry cargo and walk.

Taking the orientation shown in fig. 7 as an example, the number of the support assemblies 130 is two, wherein the left end of one support assembly 130 is aligned with the first end surface 111 of the bracket 110, and the right end of the other support assembly 130 is aligned with the second end surface of the bracket 110, so that a first channel 140 is formed between the two support assemblies 130, and thus, the first robot can take goods from the first articles on the support assemblies 130 located at two sides of the first channel 140 in the first channel 140, the moving path of the first robot can be shortened, and the carrying efficiency of the first robot can be improved.

In some embodiments, first end 1311 and second end 1312 of support members 131 are each connected to support structure 120 above it by a connector 135, and adjacent connectors 135 and support members 131 between adjacent connectors 135 enclose a receiving space 134 along the width of rack 110, and receiving space 134 is used for receiving a portion of the first item.

The supporting member 131 is connected to the supporting structure 120 above the supporting member 131 through the two connecting members 135, so that the connection strength between the supporting member 131 and the supporting structure 120 above the supporting member can be improved, the gravity borne by the supporting member 130 can be improved, the first article on the supporting member 131 can be prevented from falling, and the safety of the storage shelf can be improved.

The receiving space 134 may be used to receive a portion of one of the first articles 200 and a portion of the other first article 200, that is, when the width of the supporting member 131 is larger, one first article 200 may be placed on the first supporting member 131 and the second supporting member 131, and one first article 200 may be placed on the second supporting member 131 and the third supporting member 131, so that the three supporting members 131 may receive two first articles 200, increasing the number of first articles 200 received by the supporting member 130.

In some embodiments, one end of the connecting element 135 facing away from the supporting element 131 is fixedly connected to a surface of the supporting structure 120 facing the supporting element 131, and thus, the connecting position between the two ends can be hidden in the storage rack 100, so as to avoid scratching an operator, and improve the safety of the storage rack 100.

In this embodiment, an end of the connecting member 135 facing away from the supporting member 131 may be welded to the supporting structure 120 located above the connecting member, and the connecting member 135 may also be locked to the supporting structure 120 located above the connecting member through a hole, for example, an external thread may be formed on an end of the connecting member 135 facing away from the supporting member 131, a threaded hole having an internal thread may be formed on the supporting structure 120 connected to the connecting member, and the connecting member 135 and the supporting structure 120 located above the connecting member are connected by a threaded connection.

In addition, one end of the connecting member 135, which is away from the supporting structure 120, is fixedly connected to the upper surface of the supporting member 131, so as to hang the supporting member 131 on the supporting structure 120, and thus, the lower surface of the connecting member 135 can be prevented from extending to the lower side of the supporting member 131, so that a sufficient space is provided for the first robot to walk, and the walking freedom of the first robot is improved.

It should be noted that, in this embodiment, there may be other options for the connection manner between the supporting member 131 and the supporting structure 120 located above the supporting member 131, for example, when the connecting member 135 is a connecting plate having a certain width, one end of the connecting member 135 may be disposed at the middle position of the side edge of the supporting member 131, so as to achieve the connection between the supporting structure 120 and the supporting member 131, and for example, the number of the connecting members 135 may also be three, four, or even more, so as to increase the stability between the supporting member 131 and the supporting structure 120.

In some embodiments, the connection member 135 is disposed at a middle position of the support member 131 along the length direction of the bracket 110, so that the connection member 135 can be prevented from interfering with the first article disposed in the accommodating space 134, and the first article 200 can be conveniently placed in the accommodating space 134.

In some embodiments, as shown in fig. 9-14, the support 131 has a first side 136 and a second side 137 opposite to each other along the length of the bracket 110, and at least one of the first side 136 and the second side 137 is provided with a groove 1313.

Taking the orientation shown in fig. 11 as an example, the first side 136 may be a left side of the supporting member 131, and the second side 137 may be a right side of the supporting member 131.

At least one of the first side surface 136 and the second side surface 137 is provided with a groove 1313, it can be understood that the groove 1313 is provided on the first side surface 136 or the groove 1313 is provided on the second side surface 137, the structure of which is shown in fig. 12 and 13, or the grooves 1313 are provided on both the first side surface 136 and the second side surface 137, so that the supporting member 131 is saw-toothed, and the structure of which is shown in fig. 14, so that the supporting member 131 can be lighter in weight on the premise of ensuring the bearing capacity of the supporting member 131, and the purposes of saving materials and reducing cost can be achieved, and in addition, the gravity center of the supporting member 131 can be closer to the connecting member 135, thereby improving the safety of the storage shelf 100.

As shown in fig. 14, the second supporting member 131, the third supporting member 131 and the fourth supporting member 131 are all prepared into a zigzag shape from left to right, so that a space can be formed between the adjacent supporting members 131 for placing the first article 200, the number of the first articles that can be carried by the supporting assembly 130 is increased, and then a plurality of first robots can carry the first articles at the same time, thereby increasing the shipment efficiency of the warehousing system.

In some embodiments, the number of the grooves 1313 is multiple, and the grooves 1313 are spaced apart from each other on the supporting member 131, so that the supporting member 131 can be subjected to a weight reduction process to the maximum extent, and the tensile force applied to the supporting structure 120 above the supporting member 131 can be reduced.

The shape of the groove 1313 may be regular, for example, U-shaped groove, or irregular. In addition, the number of the grooves 1313 can be freely designed according to the weight and shape of the first article.

In some embodiments, if the ratio of the depth of the groove 1313 to the width of the support 131 is less than 1/3, the depth of the groove 1313 will be too small to reduce the weight of the support 131, and if the ratio of the width of the groove 1313 to the width of the support 131 is greater than 1/2, the depth of the groove 1313 will be too large to reduce the structural strength of the support 131, so that in the present embodiment, the depth of the groove 1313 occupies 1/3 to 1/2 of the width of the support 131, which is configured to reduce the weight of the support 131 and ensure the structural strength of the support 131.

In addition, the width of the groove 1313 in the width direction of the rack 110 may be freely adjusted according to the amount and shape of the first article.

In some embodiments, as shown in fig. 15, each supporting member 131 includes two supporting blocks spaced apart from each other, each supporting block is connected to the supporting structure 120 above the supporting block through a connector 135, and a third opening 138 is formed between adjacent supporting blocks, so that the weight of the supporting member can be reduced, the pulling force on the supporting structure 120 connected to the supporting member can be reduced, and the stability of the storage rack can be improved.

It should be noted that, the supporting block and the connecting member 135 may be in a split structure, or may be integrally formed, for example, the bottoms of the two connecting members 135 are bent toward opposite directions to form a bent portion, and the bent portion constitutes the supporting block, so that the stability between the connecting member 135 and the supporting block can be improved.

Example two

Fig. 16 is a schematic structural diagram of a first robot according to an embodiment of the present disclosure; fig. 17 is a schematic structural diagram of a carrier of a first robot according to an embodiment of the present disclosure.

As shown in fig. 16 and 17, the embodiment of the present disclosure also provides a storage system, at least one storage shelf 100 as described in the first embodiment, and a second channel is formed between the adjacent storage shelves 100.

At least one second robot, which walks in the second channel, for carrying the first item 200 from the support structure 120 into the accommodation space 134 or for carrying the first item 200 from the accommodation space 134 onto the support structure 120.

The second robot may include a moving chassis, a support pillar disposed on the moving chassis, and a pick-and-place device.

Get and put goods device slidable mounting on the support post to get and put goods device and can reciprocate along the direction that the perpendicular to removed the chassis, with the adjustment get put the distance between goods device and the ground, and then conveniently get and put goods device and get and put the first article 200 that are located different height departments.

At least one first robot, the first robot 300 for taking the first item 200 out of the receiving space 134 or placing goods into the receiving space 134.

For example, when the first item is located on the support structure 120 at a high level, the second robot may be used to place the first item 200 on the support assembly 130 at the lowest level, and then the first robot 300 may be used to take the first item 200 out of the receiving space 134, and then the first robot 300 may lift the first item 200 and then enter or exit the storage rack 100 through any one of the first opening 132 and the second opening 133 of the storage rack 100, so that the degree of freedom of operation of the first robot 300 may be improved, and the carrying efficiency of the first robot 300 may be further improved, compared to the related art in which the storage rack 100 has only one entrance/exit.

For another example, the first opening 132 and the second opening 133 may be provided to facilitate the first robot 300 to rapidly move from one of the storage shelves 100 to the second channel and enter another storage shelf 100, so as to improve the freedom of the first robot 300.

It should be noted that the structure of the second robot generally includes a frame, and a fork and a temporary storage pallet that are disposed on the frame, which are the same as those in the related art, and the detailed description of this embodiment is omitted here.

In some embodiments, the first robot 300 is a lift-type robot, and the first robot can leave the moving area through the first opening 132 or the second opening 133 after lifting the first article 200 under the supporting assembly 130.

Illustratively, the first robot 300 includes a carrier 310, a mobile base 320, and a lift 330.

The moving base 320 is used for driving the first robot 300 to move, wherein the moving base 320 can comprise a bottom plate and a traveling mechanism (not shown in the figure) arranged on one side of the bottom surface of the bottom plate, the traveling mechanism can comprise a plurality of traveling wheels and a driving mechanism, the traveling wheels comprise a driving wheel and a driven wheel, the driving wheel is connected with the driving mechanism, the moving base 320 can be driven by the driving mechanism to move and turn, and therefore the first robot can move to an operation position.

The movable base 320 is arranged at one end of the lifting member 330, and the lifting member can extend up and down along the direction perpendicular to the movable base 320 to adjust the distance between the other end of the lifting member 330 and the ground, so that the first robot can conveniently enter and exit the region between the supporting structure 120 at the bottommost layer and the ground, wherein the lifting member 330 can be a telescopic loop bar and can be other conventional structures, and the embodiment is not specifically limited herein.

The supporting member 310 is fixedly connected to the other end of the lifting member 330, and the lifting member 330 drives the supporting member 310 to move up and down along a direction perpendicular to the moving base 320, so as to lift the first item 200 on the bottommost supporting structure.

When the first article at the high position of the storage shelf needs to be taken and placed, the large-scale carrying equipment is firstly utilized to move the first article at the high position to the supporting structure at the bottommost layer of the storage shelf, then the small-scale first robot moves to the moving area between the supporting structure at the bottommost layer and the ground, when the first article moves to the lower part of the corresponding first article, the lifting piece 330 drives the bearing piece 310 to move upwards to lift the first article 200, and finally, the first article enters or exits the storage shelf 100 from any one of the first opening 132 and the second opening 133 of the storage shelf 100.

In some embodiments, the supporting member 310 comprises a supporting plate, and at least one of the opposite sides of the supporting plate is provided with a protrusion 311, that is, one of the opposite sides of the supporting plate is provided with a protrusion 311, or both of the opposite sides of the supporting plate are provided with protrusions 311, which is configured as shown in fig. 12, so that the contact area between the supporting plate and the first article 200 can be increased, and the smoothness of the first article can be improved during the transferring process of the first article.

In this embodiment, the number of the protrusions 311 may be multiple, the protrusions 311 are disposed on the supporting board at intervals, wherein the number of the protrusions 311 corresponds to the number of the grooves 1313 on the supporting board, for example, when the number of the grooves 1313 is two, the number of the protrusions 311 is also two, when the supporting board is located between adjacent supporting boards, the protrusions 311 may be accommodated in the grooves 1313, the protrusions and the grooves are used in cooperation with each other in this embodiment, so that the interference of the supporting board moving from the lower side of the supporting board to the upper side of the supporting board can be avoided, and the safety of the first robot in lifting the first article can be improved.

The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

In the description of the present specification, reference to the description of the terms "one embodiment", "some embodiments", "an illustrative embodiment", "an example", "a specific example", or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims (15)

1. A storage rack comprising a support, at least one support structure, and a support assembly;

the supporting structures are arranged on the bracket at intervals along the height direction of the bracket, and the supporting structures are used for bearing a first article;

the support assembly is connected with one of the support structures and located below the support structure, and a moving area for the first robot to walk when the first robot is unloaded is arranged below the support assembly, wherein the support assembly comprises a plurality of support pieces arranged at intervals along the length direction of the support, the support pieces comprise first ends and second ends which are arranged oppositely along the width direction of the support, a first opening is formed between the first ends of two adjacent support pieces, and a second opening is formed between the second ends of two adjacent support pieces.

2. The storage rack of claim 1, wherein the support assembly is connected to the support structure at the lowermost level.

3. The storage rack according to claim 1 or 2, wherein the rack has a first end face and a second end face which are oppositely arranged along the width direction of the rack;

a first channel is arranged between the supporting component and the first end face, and/or a first channel is arranged between the supporting component and the second end face and is used for the first robot to carry cargo and walk.

4. The storage rack according to claim 1 or 2, wherein the number of the support assemblies is at least two, the support assemblies are arranged on the support structure at intervals along the width direction of the support, so that a first passage is formed between the adjacent support assemblies, and the first passage is used for the first robot to carry cargo for walking.

5. Storage rack according to claim 1 or 2, wherein the first and second ends of the support element are each connected to a support structure located above it by a connecting element.

6. The storage rack as claimed in claim 5, wherein along the width direction of the rack, the adjacent connectors and the supporting member between the adjacent connectors form a receiving space.

7. The storage rack of claim 6, wherein the connector is disposed at an intermediate location along the length of the rack with respect to the support.

8. The storage rack as claimed in claim 7, characterized in that the end of the connecting element facing away from the support element is fixedly connected to the surface of the support structure facing the support element.

9. Storage rack according to any one of claims 6-8, wherein the end of the connecting element facing away from the support structure is fixedly connected to the upper surface of the support element for hoisting the support element to the support structure.

10. The storage rack according to claim 1 or 2, wherein the support has a first side and a second side opposite to each other along the length of the rack, and at least one of the first side and the second side is provided with a groove.

11. The storage rack of claim 10, wherein the number of the grooves is plural, and the plural grooves are spaced apart from each other on the supporting member.

12. The storage rack of claim 11, wherein the depth of the groove is 1/3-1/2 of the width of the brace.

13. The storage rack of claim 1, wherein each support member comprises two spaced apart support blocks, each support block being connected to a support structure above the support block by a connector, and wherein adjacent support blocks define a third opening therebetween.

14. A storage system, characterized by at least one storage rack according to any one of claims 1-13, adjacent storage racks forming a second channel therebetween;

at least one second robot walking within the second aisle for carrying a first item from the support structure into the accommodation space or for carrying a first item from the accommodation space onto the support structure;

at least one first robot for removing a first item from the receiving space or placing a good into the receiving space.

15. The warehousing system of claim 14 wherein the first robot is a lift-type robot that can exit the moving area through the first opening or the second opening after lifting a first item under the support assembly.

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