CN222292652U - Storage device and storage system - Google Patents
Storage device and storage system Download PDFInfo
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- CN222292652U CN222292652U CN202421205400.1U CN202421205400U CN222292652U CN 222292652 U CN222292652 U CN 222292652U CN 202421205400 U CN202421205400 U CN 202421205400U CN 222292652 U CN222292652 U CN 222292652U
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Abstract
本实用新型实施例提供了一种仓储装置及仓储系统，该仓储装置包括：第一机器人货架和第二机器人货架；第一机器人货架包括用于存储容器的第一存储空间和用于容纳第二机器人货架的第一容纳空间；第二机器人货架包括用于暂存容器的第二存储空间和用于供第二机器人移动第二机器人货架的第二容纳空间；仓储系统包括仓储装置、第一机器人和第二机器人；安装在第一机器人货架上的第一机器人，能够在第一机器人货架和第二机器人货架之间取放容器以实现理货功能；第二机器人能够带动第二机器人货架，在第一机器人货架和目的地之间移动，提高了出入库的效率。
The embodiment of the utility model provides a storage device and a storage system, the storage device includes: a first robot shelf and a second robot shelf; the first robot shelf includes a first storage space for storing containers and a first accommodating space for accommodating the second robot shelf; the second robot shelf includes a second storage space for temporarily storing containers and a second accommodating space for the second robot to move the second robot shelf; the storage system includes the storage device, a first robot and a second robot; the first robot installed on the first robot shelf can pick up and place containers between the first robot shelf and the second robot shelf to realize the sorting function; the second robot can drive the second robot shelf to move between the first robot shelf and the destination, thereby improving the efficiency of warehousing.
Description
Technical Field
The utility model relates to the technical field of storage, in particular to a storage device and a storage system.
Background
In the related art, the warehouse system may include a plurality of shelves, on which cargo handling devices may be fixedly disposed, and a transmission line connected to a workstation is disposed at the bottom of the shelves. In this way, the cargo handling device can carry the cargo transported on the transmission line to the bottom of the shelf to the shelf, or carry the cargo on the shelf to the transmission line at the bottom of the shelf, and then the cargo is transported to the workstation by the transmission line. At the workstation, it is necessary to manually take away the goods on the transmission line or manually place the goods onto the transmission line.
In the above manner, a transmission line connected with a workstation needs to be arranged at the bottom of the goods shelf, and in order to cooperate with manual goods taking and placing operations, the running speed of the transmission line is limited, so that the efficiency of goods in and out of the warehouse is also required to be improved.
Disclosure of utility model
The embodiment of the utility model aims to provide a storage device and a storage system so as to improve the efficiency of goods in and out of a warehouse. The specific technical scheme is as follows:
the embodiment of the utility model provides a storage device, which comprises a first robot shelf and a second robot shelf;
The first robot shelf comprises a first storage space and a first accommodating space, wherein the first storage space is provided with a plurality of storage bins for storing containers, the first accommodating space is arranged at the lower part of the first storage space and is used for accommodating the second robot shelf, and the first robot shelf is provided with a support frame capable of installing a first robot;
The second robot shelf comprises a second storage space and a second accommodating space, wherein the second storage space is provided with a plurality of temporary storage bins for temporarily storing containers, and the second accommodating space is arranged at the lower part of the second storage space and is used for a second robot to move the second robot shelf.
In some embodiments, the support frame comprises a plurality of cross beams arranged at intervals along the vertical direction of the first robot shelf, so that the first robot is installed on the outer side of the first robot shelf based on the cross beams.
In some embodiments, a plurality of first support columns are arranged below the first storage space of the first robot shelf, and extend towards the ground to form the first accommodating space;
a plurality of second support columns are arranged below the second storage space of the second robot shelf, and extend towards the ground to form the second accommodating space.
In some embodiments, the first robotic rack is a double-deep rack or a multi-deep rack, and the second robotic rack is a double-deep rack or a multi-deep rack.
In some embodiments, the length of the first robotic shelf cross-section is greater than the length of the second robotic shelf cross-section, and the width of the first robotic shelf cross-section is greater than or equal to the width of the second robotic shelf cross-section.
In some embodiments, the first robot shelf is an integrated shelf, or the first robot shelf comprises a plurality of sub-shelves, wherein the plurality of sub-shelves are sequentially arranged in 1 column along the length direction or the width direction of the sub-shelves, or the plurality of sub-shelves are sequentially arranged in an array form along the length direction and the width direction of the sub-shelves.
The embodiment of the application also provides a storage system, which comprises any storage device, a first robot and a second robot, wherein the first robot is arranged on a first robot shelf based on a support frame and is used for moving a container of a storage bin in the first robot shelf to a temporary storage bin of the second robot shelf or moving a container of the temporary storage bin of the second robot shelf to the storage bin of the first robot shelf;
The second robot is used for carrying a second robot shelf carrying the container to be delivered to a destination or carrying the second robot shelf carrying the container to be delivered to a first accommodating space of the first robot shelf.
In some embodiments, the support frame comprises a plurality of cross beams arranged at intervals along the vertical direction of the first robot shelf;
The first robot comprises a stand column door frame, a carrying mechanism and at least one sliding guide rail, wherein the stand column door frame is arranged along the vertical direction of a first robot shelf, the carrying mechanism is arranged on the stand column door frame and used for taking and placing containers with different heights on the first robot shelf, the at least one sliding guide rail is fixedly arranged on the cross beam, and the stand column door frame is in sliding connection with the at least one sliding guide rail so that the stand column door frame and the carrying mechanism can slide horizontally along the cross beam to take and place different containers with different lengths on the first robot shelf.
In some embodiments, the carrying mechanism comprises a lifting assembly and a goods taking assembly, wherein the lifting assembly is arranged on the upright post portal and used for driving the goods taking assembly to move up and down along the vertical direction of the first robot shelf, and the goods taking assembly is arranged on the lifting assembly and used for extending out of the upright post portal to take and put a container.
In some embodiments, the second robot is a lifting mobile robot, the second accommodating space of the second robot shelf is higher than the lifting mobile robot, so that the lifting mobile robot can move into the second accommodating space, and the second robot shelf is lifted to move or placed on the ground.
In some embodiments, the first receiving space of the first robotic pallet has a height that is greater than a height of the second robotic pallet on which the second robot lifts the container.
In some embodiments, a docking channel and a bottom traveling channel which are mutually communicated are arranged at the bottom of the first accommodating space of the first robot shelf along the length direction of the first robot shelf, the docking channel is used for placing a second robot shelf, the second robot runs along the bottom traveling channel, and after the second robot shelf reaches the appointed docking position of the docking channel, the first robot moves the container on the temporary storage bin of the second robot shelf to the first robot shelf or moves the container on the first robot shelf to the second robot shelf.
In some embodiments, the first robot is mounted on one side of the first robot shelf adjacent to the docking channel in a longitudinal direction of the first robot shelf.
In some embodiments, a unidirectional or bidirectional external travel path for the second robot to travel is provided between the first robot shelf and the destination.
In some embodiments, the travel path includes a first external travel path destined for a workstation and a second external travel path destined for a review packaging area;
The second robot is used for carrying a second robot shelf to be delivered to the workstation along the first external driving channel so as to pick out goods and deliver the goods;
And the second robot is further used for carrying the second robot shelf to be delivered to the rechecking and packaging area along the second external driving channel so as to package and deliver all cargoes in the containers of the second robot shelf.
In some embodiments, the system further comprises a control device, wherein the control device is in communication connection with the first robot and the second robot and is used for instructing the first robot to pick and place a container and instructing the second robot to move a second robot shelf.
According to the storage device and the storage system, the first robot shelf can accommodate the second robot shelf, the first robot arranged on the first robot shelf can take and put containers between the first robot shelf and the second robot shelf to achieve a tallying function, and the second robot can drive the second robot shelf to move between the first robot shelf and a destination to achieve a container warehouse-out and warehouse-in function. In the embodiment of the utility model, the second robot shelf is provided with a plurality of temporary storage bins, so that the second robot drives the second robot shelf to move between the first robot shelf and the destination, so that the second robot can deliver or store a plurality of containers at a time, and the delivering and storing efficiency is improved.
Of course, it is not necessary for any one product to practice the utility model to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the embodiments of the present utility model 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, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
Fig. 1a is a schematic perspective view of a first embodiment of a warehouse device according to an embodiment of the present utility model;
FIG. 1b is a side view of the bin of FIG. 1 a;
FIG. 2a is a top view of a first robotic pallet of the embodiment of FIG. 1 a;
FIG. 2b is a top view of a first robotic shelf in a second embodiment of a warehouse facility provided in an embodiment of the present utility model;
FIG. 2c is a top view of a first robotic shelf in a third embodiment of a warehouse facility provided in an embodiment of the present utility model;
FIG. 3 is a top view of a second robotic pallet of the embodiment of FIG. 1 a;
Fig. 4a is a schematic perspective view of a first embodiment of a warehousing system according to an embodiment of the utility model;
FIG. 4b is a side view of the warehousing system of FIG. 4 a;
FIG. 5a is a schematic view of a first angle of the first robot in the embodiment shown in FIG. 4 a;
FIG. 5b is a schematic view of the second angle of the first robot in the embodiment shown in FIG. 4 a;
FIG. 6 is a schematic view of a second robot in the embodiment shown in FIG. 4 a;
Fig. 7 is a schematic top view of a second embodiment of a warehousing system according to an embodiment of the utility model;
Fig. 8 is a schematic top view of a third embodiment of a warehousing system according to an embodiment of the utility model;
Fig. 9 is a schematic top view of a fourth embodiment of a warehouse system according to an embodiment of the present utility model.
Reference numerals:
First robot shelf 100, first storage space 110, storage bin 111, first layer 112, first accommodation space 120, first support column 121, support frame 130, cross beam 131;
a second robot shelf 200, a second storage space 210, a temporary storage bin 211, a second deck 212, a second receiving space 220, a second support column 221;
the first robot 300, the upright posts 310, the door posts 311, the carrying mechanism 320, the lifting assembly 321, the goods taking assembly 322, the sliding guide rail 330, the sliding blocks 331 and the top shell 340;
a second robot 400, a motion chassis 410, a lifting mechanism 420, and a lifting platform 430;
Container 500, docking tunnel 600, bottom travel tunnel 700, first outside travel tunnel 710, second outside travel tunnel 720, workstation 800, review packaging area 900.
Detailed Description
The following description of the embodiments of the present utility model 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 utility model, but not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by the person skilled in the art based on the present utility model are included in the scope of protection of the present utility model.
In order to improve the efficiency of goods in and out of the warehouse, the embodiment of the utility model provides a warehouse device and a warehouse system, and the warehouse device and the warehouse system are respectively described in detail below.
First, a storage device provided by the embodiment of the utility model is described in detail.
Referring to fig. 1a and 1b, fig. 1a is a schematic perspective view of a warehouse device according to an embodiment of the present utility model, and fig. 1b is a side view of the warehouse device shown in fig. 1 a. As shown in fig. 1a and 1b, the warehouse apparatus includes a first robotic shelf 100 and a second robotic shelf 200. Wherein,
The first robot shelf 100 comprises a first storage space 110 and a first accommodating space 120, wherein the first storage space 110 is provided with a plurality of storage bins 111 for storing containers 500, the first accommodating space 120 is arranged at the lower part of the first storage space 110 and is used for accommodating a second robot shelf 200, the first robot shelf 100 is provided with a support frame 130 capable of mounting a first robot 300, and the first robot 300 is used for taking and placing the containers 500 between the first robot shelf 100 and the second robot shelf 200;
The second robot shelf 200 includes a second storage space 210 and a second receiving space 220, wherein the second storage space 210 is provided with a plurality of temporary storage bins 211 for temporarily storing the containers 500, and the second receiving space 220 is provided at a lower portion of the second storage space 210 for the second robot 400 to move the second robot shelf 200.
According to the embodiment of the utility model, the first robot 300 arranged on the first robot shelf 100 can take and put the containers 500 between the first robot shelf 100 and the second robot shelf 200 to realize a tally function, the second robot 400 can drive the second robot shelf 200 to move, and the second robot shelf 200 is provided with a plurality of temporary storage bins 211, so that the second robot 400 can be used for storing and taking out of the containers 500 at one time by moving the whole second robot shelf 200 through the second robot 400, and the efficiency of storing and taking out of the containers is improved.
The container in this embodiment refers to a container capable of accommodating goods, and may be, for example, a bin, a tray, or the like, and the present application is not limited thereto.
In some embodiments, as shown in fig. 1a and 1b, the support frame 130 includes a plurality of cross beams 131 spaced apart in a vertical direction of the first robot shelf 100, such that the first robot 300 is mounted to an outside of the first robot shelf 100 based on the cross beams 131.
The first robot 300 may slide along the cross beam 131 to effect movement in the horizontal direction of the first robot shelf 100. The specific matching mode is described in detail later.
As can be seen, according to the present embodiment, the first robot 300 is able to horizontally move in the length direction of the first robot shelf 100 to take and place the respective containers 500 in the length direction. The pickup unit 322 of the first robot 300 can move up and down in the height direction of the first robot shelf 100 to pick up containers 500 of different heights on the first robot shelf 100. The specific picking and placing modes are detailed in the following description.
In this embodiment, as shown in fig. 1a and 1b, a plurality of first support columns 121 are disposed below the first storage space 110 of the first robot shelf 100, and the plurality of first support columns 121 extend toward the ground to form a first accommodating space 120.
A plurality of second support columns 221 are disposed below the second storage space 210 of the second robot shelf 200, and the plurality of second support columns 221 extend toward the ground to form a second receiving space 220.
In this embodiment, the first accommodating space 120 is formed by the simple first support column 121, so that multiple channels can be provided for the second robot 400 to drive the second robot shelf 200 to move, and the warehouse-in operation is more flexible. Meanwhile, the second accommodation space 220 is formed by the simple second support column 221, so that various channels can be provided for the second robot 400 to move to the bottom of the second robot shelf 200, so that the second robot 400 can move to the bottom of the second robot shelf 200 from various directions, and the moving direction is not limited. Meanwhile, the second robot 400 can jack up the second robot shelf 200 off the ground or place the second robot shelf 200 on the ground through the second receiving space 220.
In the embodiment of the application, the first robot shelf 100 may be a double-deep shelf or a multi-deep shelf, and the second robot shelf 200 may be a double-deep shelf or a multi-deep shelf. As long as it is ensured that the first accommodating space 120 of the first robot shelf 100 can provide enough movement space for the second robot 400 to drive the second robot shelf 200 to move.
In this embodiment, the first robot shelf 100 and the second robot shelf 200 may be dual deep shelves, and the pick assembly of the first robot 300 may pick and place two deep containers. Referring to fig. 2a and 3, fig. 2a is a top view of a first robotic pallet in the embodiment of fig. 1a, and fig. 3 is a top view of a second robotic pallet in the embodiment of fig. 1 a. As shown in fig. 2a and 3, in this embodiment, the first robotic shelf 100 and the second robotic shelf 200 may be dual deep shelves, that is, shelves capable of holding two containers 500 in the width direction. In this embodiment, the first robotic pallet 100 is provided with a plurality of first laminates 112 along the height direction, and each storage bin 111 is respectively disposed on the first laminates 112. The length of the first robot shelf 100 is not limited, and for example, as shown in fig. 2a, 4 storage bins 111 are provided on the first layer 112 of the first robot shelf 100 in the length direction, and each storage bin 111 can hold one container 500, that is, 4 containers 500 can be held in the length direction. Thus, in the case of double deep bits, 8 storage bins 111 may be provided on each first deck 112. In other embodiments, the first robotic shelf 100 and the second robotic shelf 200 may be deep shelves, and two, three or more storage bins 111 may be disposed in the length direction of the first robotic shelf 100, and two, three or more temporary storage bins 211 may be disposed in the length direction of the second robotic shelf 200, which may be set according to actual requirements.
In order to facilitate the second robot 400 to drive the second robot shelf 200 to move in the first accommodating space 120 of the first robot shelf 100, in this embodiment, the length of the cross section of the first robot shelf 100 is greater than the length of the cross section of the second robot shelf 200, and the width of the cross section of the first robot shelf is greater than or equal to the width of the cross section of the second robot shelf. In this embodiment, the second robot shelf 200 is provided with a plurality of second boards 212 along the height direction, and each temporary storage bin 211 is respectively disposed on the second boards 212. The number of the second laminate 212 may be set according to the height of the first accommodating space 120 of the first robot shelf 100 and the height of the second robot. There is no limitation in this regard. For example, as shown in fig. 1a and 1b, the second robotic pallet 200 may include 3 layers of second laminate 212.
As shown in fig. 3, 2 temporary storage bins 211 are provided on the second laminate 212 of the second robot shelf 200 along the length direction, and each temporary storage bin 211 can hold one container 500, that is, 2 containers 500 can be held in the length direction. Thus, in the case of double deep, 4 temporary storage bins 211 may be provided on each second deck 212.
In addition, the first robot shelf 100 may be a single wide shelf, or may be formed by sequentially splicing a plurality of narrow shelves in one direction, or may be formed by splicing two narrow shelves back to back.
In practical application, the first robot shelf 100 includes a plurality of sub-shelves 101, the plurality of sub-shelves 101 are sequentially arranged in 1 column along the length direction or the width direction thereof, or the plurality of sub-shelves 101 are sequentially arranged in an array along the length direction and the width direction thereof.
Referring to fig. 2b, fig. 2b is a top view of a first robotic shelf in a second embodiment of a warehouse device according to an embodiment of the present utility model, where a plurality of sub-shelves 101 are sequentially arranged in 1 column along a length direction thereof, and four sub-shelves 101 are arranged in 1 column as shown in fig. 2 b. Referring to fig. 2c, fig. 2c is a top view of a first robotic shelf in a third embodiment of a warehouse device according to an embodiment of the present utility model, where a plurality of sub-shelves 101 are sequentially arranged in an array along a length direction and a width direction thereof, as shown in fig. 2c, and arranged in an array of 4*2.
In addition, for the embodiment shown in fig. 2c, in the case of such a aisle layout, when the first robotic pallet 100 is spliced together back-to-back by two rows of narrow pallets (i.e., sub-pallets 101 in fig. 2 c), the pallet width of the second robotic pallet 200 may be equal to the narrow pallet (i.e., sub-pallets 101 in fig. 2 c) width of the first robotic pallet 100. In this way, in a case where it is ensured that the second robot 400 drives the second robot shelf 200 to pass through the first accommodation space 120 of the first robot shelf 100, the first accommodation space 120 of the first robot shelf 100 can accommodate a larger number of the second robot shelves 200, and the second robot shelf 200 can accommodate a larger number of the containers 500.
The storage capacity of the storage device can be further improved by using the storage device shown in fig. 2b and 2 c.
Next, a detailed description will be given of the warehousing system provided by the embodiment of the present utility model.
Referring to fig. 4a and 4b, fig. 4a is a schematic perspective view of a first embodiment of a warehousing system according to an embodiment of the utility model, and fig. 4b is a side view of the warehousing system shown in fig. 4 a. As shown in fig. 4a and 4b, the warehouse system includes a first robot shelf 100, a second robot shelf 200, a first robot 300, and a second robot 400, wherein,
The first robot shelf 100 comprises a first storage space 110 and a first accommodating space 120, wherein the first storage space 110 is provided with a plurality of storage bins 111 for storing containers 500, the first accommodating space 120 is arranged at the lower part of the first storage space 110 and is used for accommodating a second robot shelf 200, and the first robot shelf 100 is provided with a support frame 130 capable of mounting a first robot 300.
The second robot shelf 200 includes a second storage space 210 and a second receiving space 220, the second storage space 210 is provided with a plurality of temporary storage bins 211 for temporarily storing the containers 500, and the second receiving space 220 is provided at a lower portion of the second storage space 210 for the second robot 400 to move the second robot shelf 200.
A first robot 300 mounted on the first robot shelf 100 based on a support 130 for moving the container 500 of the storage bin 111 of the first robot shelf 100 to the temporary storage bin 211 of the second robot shelf 200 or moving the container 500 of the temporary storage bin 211 of the second robot shelf 200 to the storage bin 111 of the first robot shelf 100;
The second robot 400 is configured to carry the second robot shelf 200 carrying the container 500 to be delivered to a destination, or carry the second robot shelf 200 carrying the container 500 to be delivered to the first accommodating space 120 of the first robot shelf 100.
In the warehouse system provided by the embodiment of the utility model, the first robot shelf 100 can accommodate the second robot shelf 200, the first robot 300 arranged on the first robot shelf 100 can pick and place the container 500 between the first robot shelf 100 and the second robot shelf 200 to realize the tallying function, and the second robot 400 can drive the second robot shelf 200 to move between the first robot shelf 100 and the destination to realize the warehouse-out and warehouse-in functions of the container 500. In the embodiment of the utility model, the second robot shelf 200 is provided with a plurality of temporary storage bins 211, so that the second robot 400 drives the second robot shelf 200 to move between the first robot shelf 100 and a destination, so that the second robot 400 can deliver or store a plurality of containers 500 at a time, and the delivering and storing efficiency is improved.
It should be noted that, the first robot shelf 100 and the second robot shelf 200 in this embodiment form the aforementioned storage device, and the specific structure thereof may be the same as that of the foregoing embodiment, and will not be described herein again.
The specific modes of the first robot 300, the second robot 400, and the warehouse-in and warehouse-out in the warehouse system provided by the embodiment of the utility model are described in detail below.
As shown in fig. 4a, the supporting frame 130 includes a plurality of cross beams 131 spaced apart in the vertical direction of the first robot shelf 100.
Referring to fig. 4a, 4b, 5a and 5b, fig. 5a is a schematic view of a first angle of the first robot in the embodiment shown in fig. 4a, and fig. 5b is a schematic view of a second angle of the first robot in the embodiment shown in fig. 4 a. As shown in fig. 5a and 5b, the first robot 300 includes a column gantry 310, a carrying mechanism 320 and at least one sliding rail 330, the column gantry 310 is installed along the vertical direction of the first robot shelf 100, the carrying mechanism 320 is disposed on the column gantry 310 for taking and placing containers 500 of different heights of the first robot shelf 100, and the at least one sliding rail 330 is fixedly installed on the cross beam 131. The column mast 310 is slidably coupled to at least one slide rail 330 to enable the column mast 310 and the handling mechanism 320 to slide horizontally along the cross beam 131 to access different containers 500 along the length of the first robotic pallet 100.
In this embodiment, as shown in fig. 4a and 4b, a plurality of cross beams 131 are disposed on the side surface of the first robot shelf 100 in the longitudinal direction and spaced vertically. For the stable installation of the first robot 300, two sliding rails 330 are provided on the first robot 300 and are respectively fixed to the two cross beams 131 (for example, can be fixed to the cross beams by screws). The upright posts 310 are slidably connected to the two cross beams 131, so as to move along the horizontal direction of the first robot shelf 100.
Specifically, as shown in fig. 5a, a sliding block 331 is disposed on two door posts 311 fixed to the upright post frame 310, and the sliding block 331 can drive the upright post frame 310 and the carrying mechanism 320 disposed between the two door posts 311 to slide horizontally along the sliding guide rail 330. Since the slide rail 330 is fixedly connected to the cross beam 131 of the first robot shelf 100, the column gantry 310 and the transfer mechanism 320 provided between the two door posts 311 can move horizontally along the cross beam 131 of the first robot shelf 100. In other embodiments, rollers may be provided on both door posts 311 in place of the slider 331 to increase the speed of horizontal movement of the first robotic shelf 100.
As shown in fig. 5a and 5b, in the present embodiment, the handling mechanism 320 includes a lifting assembly 321 and a picking assembly 322, where the lifting assembly 321 is disposed on the upright gantry 310 and is used to drive the picking assembly 322 to move up and down along the vertical direction of the first robotic shelf 100, and the picking assembly 322 is mounted on the lifting assembly 321 and is used to extend out of the upright gantry 310 and pick and place the container 500.
In this embodiment, the lifting assembly 321 may include a driving motor, a driving wheel, a driven wheel, and two synchronous belts. Wherein, driving motor and action wheel set up in top casing 340, follow the driving wheel setting in the bottom of two gateposts 311, two hold-in range cover are established outside action wheel, gateposts 311 and follow the driving wheel. The pick-up assembly 322 is connected to the two timing belts through connection blocks on both sides.
Thus, the two synchronous belts of the lifting assembly 321 can drive the connecting block to move up and down, so as to drive the goods taking assembly 322 to move up and down, and the goods taking assembly 322 can move up and down along the vertical direction of the first robot shelf 100.
Wherein the pick-up assembly 322 may include a telescoping mechanism by which to extend into either the first robotic shelf 100 or the second robotic shelf 200 to pick and place containers 500 at a single depth and/or multiple depths.
In this embodiment, the pick-up assembly 322 is in the form of, but not limited to, a fork arm, suction cup, roller, hook and pull arm, and the like.
In this embodiment, the first robot 300 is capable of picking and placing the container 500 on the first robot shelf 100 and/or the second robot shelf 200 in the horizontal direction based on the relative sliding between the slider 331 and the sliding rail 330 fixedly provided on the cross beam 131 on the first robot shelf 100, and picking and placing the container 500 on the first robot shelf 100 and/or the second robot shelf 200 in the vertical direction based on the lifting unit 321.
Referring to fig. 6, fig. 6 is a schematic structural view of the second robot in the embodiment shown in fig. 4 a. As shown in fig. 6, the second robot 400 is a lifting type mobile robot. As shown in fig. 4a and 4b, the second accommodation space 220 of the second robot shelf 200 has a height higher than that of the lifting mobile robot, so that the lifting mobile robot can move inside the second accommodation space 220, lifting the second robot shelf 200 or placing the second robot shelf 200 on the ground.
As shown in fig. 6, the second robot 400 includes a motion chassis 410, a lifting mechanism 420, and a lifting platform 430. Wherein the motion chassis 410 is disposed at the bottom of the second robot 400, and may include universal wheels to realize multi-directional motion, and the lifting mechanism 420 and the lifting platform 430 are disposed at the top of the motion chassis 410. When the second robot 400 is located in the second accommodating space 220 of the second robot shelf 200, the lifting mechanism 420 can lift the lifting platform 430 by a certain height, so that the second robot shelf 200 can be entirely separated from the ground and move together with the second robot 400.
Specifically, as shown in fig. 4a and 4b, the second accommodating space 220 of the second robot shelf 200 is higher than the lifting mobile robot, so that the lifting mobile robot can move into the second accommodating space 220, lift the lifting platform 430 by the lifting mechanism 420, so that the lifting platform 430 contacts with the top of the second accommodating space 220, lift the entire second robot shelf 200 and drive the entire second robot shelf 200 to move, or lower the lifting platform 430 by the lifting mechanism 420, and place the second robot shelf 200 on the ground.
As shown in fig. 4a and 4b, in the present embodiment, the height of the first accommodating space 120 of the first robot shelf 100 is higher than the height of the second robot 400 to lift the second robot shelf 200 carrying the container 500. In this way, the second robot 400 can move the second robot shelf 200 carrying the container 500 in the first accommodation space 120 of the first robot shelf 100.
Referring to fig. 7, fig. 7 is a schematic top view of a second embodiment of the warehouse system according to the present utility model, in some embodiments, a docking channel 600 and a bottom driving channel 700 that are mutually communicated are provided along the length direction of the first robot shelf 100 at the bottom of the first accommodating space 120 of the first robot shelf 100, the docking channel 600 is used for placing the second robot shelf 200, the second robot 400 drives along the bottom driving channel 700, so that after the second robot shelf 200 reaches the designated docking position of the docking channel 600, the first robot 300 moves the container 500 on the temporary storage bin 211 of the second robot shelf 200 onto the first robot shelf 100, or moves the container 500 on the first robot shelf 100 onto the second robot shelf 200.
In this embodiment, the second robot shelf 200 is placed on the docking channel 600, and the second robot 400 can also travel along the docking channel 600 when no load is applied, and the second support column 221 of the second robot shelf 200 needs to be avoided during the traveling.
Since the first robot 300 needs to pick and place the containers 500 on the first and second robot shelves 100 and 200, the upright posts 310 of the first robot 300 need to extend from the first storage space 110 to the first receiving space 120 in the vertical direction, and the height of the upright posts 310 of the first robot 300 can ensure that the pick and place assembly 322 of the first robot 300 can pick and place the bottommost container 500 of the second robot shelf 200. In practical application, the first robot 300 is installed at the position of the first robot shelf 100, and needs to avoid the docking channel 600, so as not to interfere with the docking channel, and the second robot 400 cannot move the second robot shelf 200 out of the first robot shelf 100. For example, the docking channel 600 may be disposed from one end along the length direction of the first robot shelf 100 to the other end along the length direction, and the first robot 300 may be mounted on an outer side surface of the first robot shelf 100 adjacent to the docking channel 600 in the length direction of the first robot shelf 100, such that the column gantry 310 of the first robot 300 is not disposed in the docking channel 600 and does not block the second robot 400 from moving the second robot shelf 200 out of the first robot shelf 100.
In some embodiments, a one-way or two-way travel path for the second robot 400 to travel may be provided between the first robot shelf 100 and the destination.
In practical applications, the destination of the second robot 400 may be a workstation or a review packaging area. Specifically, as shown in FIG. 7, the travel path between the first robotic pallet 100 and the destination may include a first external travel path 710 destined for the workstation 800 and a second external travel path 720 destined for the review packaging area 900.
In this way, the second robot 400 can either transport the second robot shelf 200 to be picked out to the workstation 800 along the first external travel path 710 for pick out, or transport the second robot shelf 200 to be put in to the first robot shelf 100 for container put in.
The second robot 400 can also transport the second robot shelf 200 to be discharged to the recheck packaging area 900 along the second external travel path 720 to package and discharge all the cargoes in the containers 500 of the second robot shelf 200.
The warehouse entry process will be described in detail below based on the embodiment shown in fig. 7.
In the warehousing system of this embodiment, a control device may also be provided, where the control device is in communication connection with the first robot 300 and the second robot 400, and is configured to instruct the first robot 300 to pick and place the container 500, and instruct the second robot 400 to move the second robot shelf 200, so as to complete the functions of tallying and warehousing.
Specifically, the ex-warehouse process may be indicated by the control device, and specifically includes the following steps:
Step A, selecting the second robot shelf 200 closest to the storage bin 111 of the first robot shelf 100 where the container 500 to be delivered is located, and determining the optimal docking position of the docking channel 600.
Here, the selected second robotic pallet 200 may be a second robotic pallet 200 that does not carry a container 500, i.e., is completely empty, or may already carry a portion of a container 500, but has an empty temporary storage bin 211. So long as the second robotic shelf 200 is capable of carrying containers 500 to be delivered. Alternatively, the optimal docking station may be on the docking channel 600, closest to the container 500 to be shipped, and may be at the location of the second robotic shelf 200 that carries the container 500 to be shipped.
In some embodiments, the operation areas of the first robot 300 may be divided according to the distribution situation of the containers 500 to be delivered on the first robot shelf 100, that is, the area where the containers 500 to be delivered are relatively concentrated in the distribution is divided into one operation area, and each operation area corresponds to one docking station 600.
In some embodiments, the optimal docking position is determined by preferentially selecting the position of the second robot shelf 200 that is closer to the operation area and has the empty temporary storage bin 211 as the optimal docking position, and if the second robot shelf 200 is not present on the docking channel 600, the second robot 400 transports the second robot shelf 200 that can carry the container 500 to the position closest to the operation area for the first robot 300 to place.
And step B, indicating the second robot 400 to drive the selected second robot shelf 200 to move to the optimal docking position.
Step C, instruct the first robot 300 to move to the position of the storage column where the container 500 to be delivered is located based on the support 130. The storage column is a column formed by a plurality of storage bins 111 in the up-down direction.
And step D, the first robot 300 is instructed to move the picking assembly 322 up and down along the height direction of the first robot shelf 100 by using the lifting assembly 321, so as to move the picking assembly to the height corresponding to the storage bin 111 where the container 500 to be delivered is located, and to take out the container 500 to be delivered by using the picking assembly 322, so as to move the picking assembly to the idle temporary storage bin 211 of the second robot shelf 200.
If the number of the containers 500 to be delivered is plural, a new optimal docking position may be determined according to the position of the containers 500 to be delivered on the first robot shelf 100, and the steps B-D are repeated to move all the containers 500 to be delivered to the idle temporary storage space 211 of the second robot shelf 200.
And F, after the second robot shelf 200 is fully filled or a preset time is reached, the second robot 400 is instructed to move the second robot shelf 200 to a destination along the driving channel.
In the case that the goods to be discharged are in the container 500 to be discharged, and the goods to be discharged are still in the container 500 to be discharged, the second robot 400 is instructed to travel along the first external travel path 710 to the workstation 800.
At the workstation 800, the goods to be delivered can be picked out and delivered manually, other goods not requiring delivery can be retained in the original container 500, meanwhile, the goods to be delivered can be supplemented into the original container 500, and can be used as a container 500 to be delivered, the second robot 400 carries the second robot shelf 200 to the first accommodating space 120 of the first robot shelf 100, and then the first robot 300 carries the goods to the first storage space 110 for delivery.
In the case that the container 500 to be delivered needs to be delivered in whole, that is, in the case that the container 500 to be delivered is the goods to be delivered, the second robot 400 is instructed to travel to the rechecking and packaging area 900 along the second external travel path 720, and then delivered directly after the automatic rechecking and packaging is completed.
In the warehouse entry process, first, the cargo is manually transported to the second robot shelf 200. Specifically, at the workstation 800, the goods to be stocked may be placed in the containers to be stocked 500 by a person. The container 500 to be stocked is placed on the idle temporary storage bin 211 of the second robot 400. Then, the following steps may be performed, as instructed by the control device:
Step E, according to the positions of the idle storage bins 111 of the first robot shelf 100, the idle storage bins 111 are allocated to the second robot shelf 200 based on the principle that the number of the to-be-put-in containers 500 on the second robot shelf 200 is less than or equal to the number of the plurality of idle storage bins 111 concentrated in the positions of the first robot shelf 100.
The second robot shelf 200 in this step may be a second robot shelf 200 already filled in the workstation 800, or may be a second robot shelf 200 not filled, and only needs to carry the container 500 to be stocked.
Step F, determining the optimal docking position of the docking channel 600 according to the position of the allocated idle storage bin 111.
Step G, instruct the second robot 400 to drive the second robot shelf 200 carrying the container 500 to be put in storage to move to the optimal docking position.
Step H, instruct the first robot 300 to move to the position of the storage column where the free storage bin 111 is located based on the support 130.
Step I, the first robot 300 is instructed to move the picking assembly 322 up and down along the height direction of the first robot shelf 100 by using the lifting assembly 321 to move to the height corresponding to the container 500 to be put on the second robot 400, load the container 500 to be put on the picking assembly 322 by using the picking assembly 322, move the picking assembly 322 up along the height direction of the first robot shelf 100 by using the lifting assembly 321 to move the loaded container 500 to the height corresponding to the idle storage bin 111, and move the container 500 to be put on the idle storage bin 111 of the first robot shelf 100 by using the picking assembly 322.
If the number of the containers 500 to be stored is plural, a new optimal docking position may be determined according to the position of the containers 500 to be stored on the first robotic shelf 100, and the above steps G-I are repeated to move all the containers 500 to be stored onto the idle storage bin 111 of the first robotic shelf 100. And (5) finishing the warehouse-in operation.
By applying the embodiment, the following beneficial effects can be obtained:
In the first embodiment, the first robot 300 is used for sorting, and can transfer the container 500 on the first robot shelf 100 to the second robot shelf 200 or store the container 500 on the second robot shelf 200 on the first robot shelf 100. The second robot 400 only carries the second robot shelf 200 to the workstation for zero removal and picking of cargoes or whole box delivery, so that the cargo handling efficiency of the first robot 300 is improved.
In the second embodiment, through the tally of the first robot 300, the container 500 containing the goods to be delivered can be carried to the second robot shelf 200, and the goods not to be delivered are retained on the first robot shelf 100, so that the containers 500 on the second robot shelf 200 carried by the second robot 400 all need to be delivered, the shelf hit rate of the second robot 400 is improved, the carrying times of the second robot 400 are reduced, and the carrying efficiency of the second robot 400 is improved.
Third, in this embodiment, the containers 500 stored on the first robot shelf 100 and the second robot shelf 200 may be carried by the second robot 400 through the second robot shelf 200, and the second robot shelf 200 is provided with a plurality of temporary storage spaces 211, so that in one transfer process of the second robot 400, a plurality of containers 500 may be transferred, thereby improving the transfer efficiency. In addition, in the present embodiment, the presence of the first robotic arm 100 increases the vertical storage space compared to a solution where only the second robotic arm is used to store and transport the containers 500 by the first robotic arm 100 and the second robotic arm 200.
Fourth, in the present embodiment, for the case of the whole box going out, that is, the case of the container 500 in which all the goods need to go out, the first robot 300 may transfer the container 500 from the first robot shelf 100 to the second robot shelf 200, then the second robot 400 may transfer the second robot shelf 200 to the recheck packaging area, and after the process is finished, the second robot 400 may be triggered to transfer the second robot shelf 200 back. Thus, the second robotic shelf 200 can serve a dual role of transport and caching.
Fifth, in this embodiment, for the whole case of the ex-warehouse scenario, the container 500 goes from the first robot shelf 100 to the sorting area of the workstation 800 and goes out of the warehouse, and since the whole case of the ex-warehouse does not need to be manually sorted, the sorting is not performed, and the effect of reducing the cost and enhancing the efficiency is achieved.
In the embodiment shown in fig. 7, the second robot 400 enters the docking channel 600 of the first robot shelf 100 with the second robot shelf 200 from the side in the width direction of the first robot shelf 100. In other embodiments, referring to fig. 8, fig. 8 is a schematic top view of a third embodiment of a warehouse system according to an embodiment of the present utility model, and as shown in fig. 8, a second robot 400 may also enter a docking channel 600 of a first robot shelf 100 from a side of the first robot shelf 100 along the length direction with the second robot shelf 200.
As can be seen from the embodiments shown in fig. 7 and fig. 8, in the warehousing system provided by the embodiment of the utility model, the manner in which the second robot 400 enters the first robot shelf 100 can be flexibly set according to the actual place of warehousing, so that the practicability is improved.
As described above, the first robot shelf 100 may be a double deep shelf or a multi-deep shelf. For example, referring to fig. 9, fig. 9 is a schematic top view of a fourth embodiment of a warehouse system provided in an embodiment of the present utility model, where the first robotic shelf 100 is a four deep shelf capable of storing more containers 500.
The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model are included in the protection scope of the present utility model.
Claims (16)
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421205400.1U CN222292652U (en) | 2024-05-29 | 2024-05-29 | Storage device and storage system |
| EP25789204.2A EP4722130A1 (en) | 2024-05-29 | 2025-02-13 | Warehouse device, warehouse system, and order-processing, storage and retrieval method |
| PCT/CN2025/077155 WO2025218332A1 (en) | 2024-05-29 | 2025-02-13 | Warehouse device, warehouse system, and order-processing, storage and retrieval method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202421205400.1U CN222292652U (en) | 2024-05-29 | 2024-05-29 | Storage device and storage system |
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| CN222292652U true CN222292652U (en) | 2025-01-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025218332A1 (en) * | 2024-05-29 | 2025-10-23 | 杭州海康机器人股份有限公司 | Warehouse device, warehouse system, and order-processing, storage and retrieval method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025218332A1 (en) * | 2024-05-29 | 2025-10-23 | 杭州海康机器人股份有限公司 | Warehouse device, warehouse system, and order-processing, storage and retrieval method |
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