TW202019793A - Fully-unmanned logistics warehousing system and fully-unmanned logistics warehousing operation method including a first robot, a second robot, a third robot, a fourth robot, and a conveying system - Google Patents

Abstract

The present invention provides a fully-unmanned logistic warehousing system, which mainly includes a first robot, a second robot, a third robot, a fourth robot, and a conveying system, through arranging multiple robots and assigning each robot with specific jobs, logistics efficiency is improved and labor cost is reduced. The present invention specifically realizes a fully-unmanned logistic warehousing system. The first robot comprises a first gripping element configured to move a first sub-carrier carried with first products to a first sorting station. The second robot comprises a second gripping element configured to move a second sub-carrier carried with second products to the first sorting station, wherein the second products are different from the first products. The third robot comprises a first gripping element arranged on the first sorting station and configured to grip the first sub-carrier and the second sub-carrier to the first sorting station. The fourth robot is arranged on a second sorting station and comprises a fourth gripping element, wherein the second sorting station is different from the first sorting station. The conveying system is arranged between the first sorting station and the second sorting station and configured to move the first sub-carrier and the second sub-carrier at the first sorting station to the second sorting station. The fourth robot is configured to pick a part of first products and a part of second products respectively from the first sub-carrier and the second sub-carrier to a shipping container according to an order assignment.

Description

Fully unmanned logistics warehousing system and fully unmanned logistics warehousing operation method

The invention relates to a logistics warehousing system, especially a logistics warehousing system which can realize completely unmanned logistics.

Since the fall of the Industrial Revolution in the 18th century, human production has entered a new era. It is no longer engaged in production work with traditional human or animal power. Instead, it is set up by large-scale factories and the use of a large number of machines. The invention and use of machines have become a symbol of this era, and historians call this generation the machine era.

As time goes by, in the modern post-industrial society, and even modern Industry 4.0, humans have higher and higher requirements for machines, and look forward to giving machines more functions and making human civilization more convenient. Under the current global trend of unmanned industrialization, industry players in all fields are taking advantage of this trend, hoping to give their respective fields a chance to leap forward.

Logistics related fields are also part of it. For example, Chinese Patent Publication No. CN107350174A discloses an automatic sorting system and its working method, including a transport unit, an automatic feeding station, a mobile sorting unit, a controller, and a complementing unit. Among them, the unloading and loading links require personnel, the intermediate links are unmanned, the degree of automation is high, and the number of abnormal packages is effectively reduced, and the number of staff is also reduced.

Obviously, although the above-mentioned conventional skills can reduce the number of staff, it can not be completely unmanned. Therefore, there is still much room for improvement in the development of a fully unmanned logistics system.

The main purpose of the present invention is to solve the shortcomings of the conventional automatic sorting system that cannot be completely unmanned.

In order to achieve the above object, the present invention provides a fully unmanned logistics warehousing system, which includes: a first robot, a second robot, a third robot, a fourth robot, and a conveying system.

The first robot has a first picking element for moving a first sub-shelf where a first commodity is placed to a first sorting station; the second robot has a for picking a second commodity Of the second sub-rack moves to the second picking element of the first sorting station, where the second commodity is different from the first commodity; the third robot is installed in the first sorting station and has a Grab the first sub-rack and the second sub-rack to the third gripping element of the first sorting station; the fourth robot is set at a second sorting station and has a fourth gripping element, wherein The second sorting station is different from the first sorting station; the conveyor system is disposed between the first sorting station and the second sorting station to separate the first sub-rack of the first sorting station and The second sub-rack moves to the second sorting station. Wherein, the fourth gripping element is used to take part of the first commodity and part of the second commodity from the first sub-rack and the second sub-rack respectively according to an order task, and place it on a shipment Container.

In one embodiment, it further includes a mobile rack for placing the first sub-rack and the second sub-rack.

In an embodiment, the first robot is the same as the second robot.

In an embodiment, at least one of the third robot or the fourth robot includes an identification element for identifying an identification mark.

In one embodiment, the identification mark is a one-dimensional barcode, a two-dimensional barcode, a pattern mark, a radio frequency identification system (RFID) electronic tag, or a combination thereof.

In one embodiment, it further includes a terminal for confirming the order task, and the terminal includes a first control system for controlling the first robot and the second robot, and a control system for controlling the first The second control system of the three robots and the fourth robot.

In an embodiment, the first control system is a robot scheduling system.

In one embodiment, the second control system is a positioning and visual recognition system.

The present invention also provides a fully unmanned logistics warehousing operation method, which includes: according to an order task, a first robot moves a first sub-shelf where a first commodity is placed to a first sorting station; a second The robot moves a second sub-shelf where a second product is placed to the first sorting station; a third robot installed in the first sorting station grabs the first sub-shelf and the second sub-shelf To the first sorting station; move the first sub-shelf and the second sub-shelf of the first sorting station to a second sorting station by means of a conveyor system; make one set at the second sorting station The fourth robot of the station takes part of the first commodity and part of the second commodity from the first sub-rack and the second sub-rack respectively according to the order task and places it in a shipping container.

In an embodiment, the first robot is the same as the second robot.

In summary, the present invention sets up most robots with different functions in different working positions, that is, makes each robot specialize in its position and match each other. According to this, in addition to effectively improving the efficiency of goods circulation per unit time, it can also greatly reduce the demand for manpower. Compared with conventional skills, it can even achieve complete unmannedness, with the ideal glory of enterprise and industry 4.0.

The detailed description and technical content of the present invention are described below in conjunction with the drawings:

Please refer to "Figure 1". The present invention provides a fully unmanned logistics warehousing system, which includes: a first robot 10, a second robot 20, a third robot 30, a fourth robot 40, and a conveyor system 50.

The first robot 10 has a first gripping element (not shown) for moving a first sub-rack A1 where a first product is placed to a first sorting station S1. The second robot 20 has a second gripping element (not shown) for moving a second sub-rack A2 where a second commodity is placed to the first sorting station S1, wherein the second commodity is This first product is different.

In an embodiment, the first sub-rack A1 and the second sub-rack A2 may be placed on a mobile rack A. When a plurality of different goods are to be picked up as in this embodiment, the first robot 10 can move to the mobile rack A and grab the first sub-rack A1 through the first gripping element, and then move to the First sorting station S1; at this time, the second robot 20 can move to the mobile rack A and grab the second sub-rack A2 through the second gripping element, and also move to the first sorting station S1 .

Or, in other embodiments, the first robot 10 can move to the mobile shelf A and grab the first sub-rack A1 through the first gripping element, and then return to the mobile shelf A to grab the The second sub-rack A2 can be understood by those skilled in the art that in this case, the first robot 10 may correspond to the second robot 20 described above.

Next, the third robot 30 is installed in the first sorting station S1 and has a third gripper for grabbing the first sub-rack A1 and the second sub-rack A2 to the first sorting station S1取component301.

The fourth robot 40 is disposed at a second sorting station S2 and has a fourth gripping element 401, wherein the second sorting station S2 is different from the first sorting station S1 and is located at the first sorting station The conveyor system 50 is provided between S1 and the second sorting station S2 to move the first sub-rack A1 and the second sub-rack A2 placed in the first sorting station S1 to the second sorting Station S2. Wherein, the conveyor system 50 can be a box conveyor or a pallet conveyor. In other embodiments, the first robot 10 and the second robot 20 can also be substituted without limitation.

According to an order task, the fourth gripping element 401 can take part of the first commodity and part of the second commodity from the first sub-rack A1 and the second sub-rack A2, respectively, and place it on a shipment In the container B, the type of the shipping container B may be a material box, a shipping carton, a shelf, etc., which is not limited. "Part" here refers to one or more, that is, at least one meaning, for example, the fourth grabbing element 401 can grab one of the first commodity and all of the The second commodity; or five of the first commodity and three of the second commodity; or all of the first commodity and one of the second commodity.

In this embodiment, at least one of the third robot 30 or the fourth robot 40 may include an identification element (not shown) for identifying an identification mark E to help the picking work proceed smoothly, "at least one "That is, the third robot 30 and the fourth robot 40 may have the identification element at the same time, or only the third robot 30 or the fourth robot 40 may be provided with the identification element, without limitation.

The identification mark E can be attached or marked on the first sub-shelf A1 and the second sub-shelf A2 by printing or other methods, or can be attached or marked on each of the first product and the second On the commodity, in a specific example, the identification mark E may be a one-dimensional barcode, a two-dimensional barcode, a pattern mark, a radio frequency identification system (RFID) electronic tag, or any combination thereof, the present invention is not particularly limited, but can be regarded as Different marking systems are selected for the situation, which can be understood by those skilled in the art. In this embodiment, a terminal C for confirming the order task may be further included, and the terminal C at least includes a first control system for controlling the first robot 10 and the second robot 20, and A second control system for controlling the third robot 30 and the fourth robot 40. It should be stated that the first control system may be a robot scheduling system, and according to the robot scheduling system, the first robot 10 and the second robot 20 may be moved out of and into the mobile rack A according to requirements. The second control system can be a positioning and visual identification system, and the identification component can be used to identify the outer box or container containing the specific commodity, to help place or take the specific commodity, but those skilled in the art can according to their own needs , With proper system configuration, without restrictions.

In order to make those with ordinary knowledge in the field understand the present invention better, the following will explain the actual operation of the present invention in detail:

Please refer to "Figure 1" and "Figure 2". First, after receiving an order task, the terminal C needs to perform a shipping step to move the goods to a sorting work area (step S100). In detail, according to the order task, the first control system can control the first robot 10 from the mobile shelf A to move the first sub-rack A1 on which the first product is placed to the first sorting Station S1 (step S101); the second robot 20 then moves the second sub-rack A2 on which the second commodity is placed from the mobile shelf A to the first sorting station S1 (step S102). When the order task needs to take more different goods, the first robot 10, the second robot 20, and/or other similar or similar mobile robots can be further assigned to the mobile shelf A Move more sub-racks to the first sorting station S1.

The third robot 30 provided at the first sorting station S1 will then grab the first sub-rack A1 and the second sub-machine on the first robot 10 and the second robot 20 arriving at the first sorting station S1 Shelf A2 to the first sorting station S1 (step S200). The above steps can be performed in the following order, but not limited to this: the plurality of third robots 30 simultaneously removes the first sub-rack A1 and the first sub-rack A1 brought by the first robot 10 and the second robot 20 Two sub-racks A2, and place them in the first sorting station S1; or, the third robot 30 first removes the first sub-rack A1 brought by the first robot 10 and places it in the first branch After the picking station S1, the second sub-rack A2 brought by the second robot 20 is removed and placed in the first sorting station S1. In this case, only a single third robot 30 can pick up After the first robot 10 removes the first sub-rack A1 brought by the first robot 10, the first robot 10 returns to the mobile rack A to grab the second sub-rack A2 to The first sorting station S1 allows the third robot 30 to place the second sub-rack A2 in the first sorting station S1. In this case, the first robot 10 can correspond to the second robot described above 20.

Next, the conveyance system 50 moves the first sub-rack A1 and the second sub-rack A2 of the first sorting station S1 to the second sorting station S2 (step S300).

At this time, the fourth robot 40 installed in the second sorting station S2 can take part of the first commodity and part from the first sub-rack A1 and the second sub-rack A2 according to the order task, respectively The second product is placed in the shipping container B (step S400), and then the shipping container B can then enter the packaging line for further packaging, sealing, shipping labeling, etc. Packaging procedures.

According to the above, the present invention sets most robots with different functions in different working positions, that is, makes the robots perform their duties and specialize in their positions. According to this, in addition to effectively improving the efficiency of goods circulation per unit time, it can also greatly reduce the demand for manpower. Compared with conventional skills, it is even more completely unmanned. It will specifically realize a fully unmanned logistics warehousing system for enterprises and industries. The ideal glory of 4.0.

The present invention has been described in detail above, but the above is only a preferred embodiment of the present invention, which should not limit the scope of the present invention. That is, all changes and modifications made in accordance with the scope of the application of the present invention shall still fall within the patent coverage of the present invention.

10: First robot 20: Second robot 30: Third robot 301: Third gripping element 40: Fourth robot 401: Fourth gripping element 50: Conveying system A: Mobile shelf A1: First sub-shelf A2 : Second sub-shelf B: Shipping container S1: First sorting station S2: Second sorting station C: Terminal E: Identification marks S100, S101, S102, S200, S300, S400: Steps

"Figure 1" is a schematic diagram of practical application of an embodiment of the present invention. "Figure 2" is a schematic flowchart of an embodiment of the present invention.

10: The first robot

20: Second robot

30: The third robot

301: third gripping element

40: Fourth robot

401: Fourth gripping element

50: Conveying system

A: mobile shelves

A1: The first sub-shelf

A2: Second sub-shelf

B: shipping container

S1: First sorting station

S2: Second sorting station

C: Terminal

E: Identification mark

Claims (10)

A fully unmanned logistics warehousing system, including: a first robot with a first gripping element for moving a first sub-shelf with a first product to a first sorting station; a second robot , With a second gripping element for moving a second sub-shelf where a second product is placed to the first sorting station, wherein the second product is different from the first product; a third robot, It is installed in the first sorting station and has a third gripping element for grabbing the first sub-rack and the second sub-rack to the first sorting station; a fourth robot is installed in a first The second sorting station also has a fourth picking element, wherein the second sorting station is different from the first sorting station; and a conveyor system is provided between the first sorting station and the second sorting station To move the first sub-shelf and the second sub-shelf of the first sorting station to the second sorting station; wherein, the fourth gripping element is used to separate from the first according to an order task After taking part of the first product and part of the second product from the sub-shelf and the second sub-shelf, they are placed in a shipping container. The fully unmanned logistics warehousing system as described in item 1 of the scope of the patent application further includes a mobile shelf for placing the first sub-rack and the second sub-rack. The fully unmanned logistics warehousing system as described in item 1 of the patent application scope, wherein the first robot is the same as the second robot. The fully unmanned logistics warehousing system as described in item 1 of the patent application scope, wherein at least one of the third robot or the fourth robot includes an identification element for identifying an identification mark. The fully unmanned logistics warehousing system as described in item 4 of the patent application scope, wherein the identification mark is a one-dimensional barcode, a two-dimensional barcode, a pattern mark, a radio frequency identification system (RFID) electronic tag or a combination thereof. The fully unmanned logistics warehousing system as described in item 1 of the scope of the patent application further includes a terminal for confirming the order task, and the terminal includes a terminal for controlling the first robot and the second robot A control system and a second control system for controlling the third robot and the fourth robot. The fully unmanned logistics warehousing system as described in item 6 of the patent application scope, wherein the first control system is a robot dispatching system. The fully unmanned logistics warehousing system as described in item 6 of the patent application scope, wherein the second control system is a positioning and visual recognition system. A fully unmanned logistics warehousing operation method, including: according to an order task, causing a first robot to move a first sub-shelf where a first product is placed to a first sorting station; causing a second robot to place a A second sub-shelf of a second product is moved to the first sorting station; a third robot installed at the first sorting station grabs the first sub-shelf and the second sub-shelf to the first Sorting station; the first sub-shelf and the second sub-shelf of the first sorting station are moved to a second sorting station by a conveyor system; and a first set at the second sorting station The four robots take part of the first commodity and part of the second commodity from the first sub-rack and the second sub-rack respectively according to the order task and place it in a shipping container. The completely unmanned logistics warehousing operation method as described in item 9 of the patent application scope, wherein the first robot is the same as the second robot.

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