TWI834117B - Goods transporting method and apparatus, transfer apparatus, warehousing system, storage medium and computer product - Google Patents

Abstract

The present disclosure provides a goods transporting method and apparatus, a transfer apparatus, a warehousing system, a storage medium and computer product. The goods transporting method is applied to the transfer apparatus. The transfer apparatus includes a drifting shelf, and the drifting shelf includes a bracket and a conveying mechanism arranged on the bracket. The conveying mechanism is a multi-layer conveying mechanism, and the method includes: obtaining size information of goods; determining a target layer of the conveying mechanism corresponding to the goods based on the size information; and transporting the goods through the target layer of the conveying mechanism, which achieving that a corresponding transportation line is determined based on the size information of the goods, so as to transport the goods based on the transporting line, thereby improving flexibility, safety and efficiency of goods transportation.

Description

Cargo transportation methods and devices, transfer devices, warehousing systems, storage media and computer program products

The present disclosure relates to the field of intelligent warehousing technology, and in particular to a cargo transportation method and device, a transfer device, a warehousing system, a storage medium and a computer program product.

The intelligent warehousing system based on warehousing robots adopts an intelligent operating system to realize automatic extraction, storage and transportation of goods through system instructions. It can also operate 24 hours a day, replacing manual management and operations, improving the efficiency of warehousing, and has been widely used. application and favor.

When the intelligent warehousing system receives a warehousing, sorting or outbound order, the goods need to be transported through one or more transportation lines to complete the warehousing, sorting or outbound delivery of the goods. The transportation line of the warehousing system usually consists of an unloader and a conveyor line assembly, and an unloader can often only transport one size of goods, that is, one transportation line operates at one time. At that time, only one size of goods could be transported, and the cargo transportation efficiency was low, resulting in inefficient order processing and inability to meet demand.

The present disclosure provides a cargo transportation method and device, a transfer device, a warehousing system, a storage medium and a computer program product, which enables adaptive matching of transportation lines based on cargo size and improves the flexibility and efficiency of cargo transportation.

In a first aspect, embodiments of the present disclosure provide a method of transporting goods. The method is applied to a transfer device. The transfer device includes a fluent shelf. The fluent shelf includes a bracket and a transmission mechanism provided on the bracket. The transfer mechanism is multi-layered, and the method includes: obtaining the size information of the goods; determining the target layer of the transfer mechanism corresponding to the goods according to the size information; transporting the goods through the target layer of the transfer mechanism .

Optionally, the transfer device further includes a cargo lifting assembly, the cargo entrance and exit of the cargo lifting assembly is docked with one end of the conveying mechanism, and the size of the conveying mechanism corresponding to the cargo is determined based on the size information. After the target layer, the method further includes: transporting the goods to the target layer of the conveyor mechanism based on the goods lifting assembly.

Optionally, obtaining the cargo size of the cargo includes: obtaining the size information of the cargo based on the first scan set on the cargo lifting component.

Optionally, the transfer device further includes a conveyor line assembly, which is docked with an end of the cargo lifting assembly away from the cargo entrance and exit, so as to Transporting the goods to the cargo lifting assembly and obtaining the cargo size of the cargo includes: obtaining the size information of the cargo based on the first scan provided on the conveyor line assembly.

Optionally, the size information is obtained based on the second scanned piece provided on the handling robot.

Optionally, transporting the goods through the target layer of the transfer mechanism includes: determining the transfer direction of the goods; based on the transfer direction, adjusting the transfer mechanism or the target layer of the transfer mechanism; through the The target layer of the conveying mechanism transports the goods.

Optionally, the transfer mechanism includes an adjustment mechanism, and adjusting the transfer mechanism or the target layer of the transfer mechanism based on the transfer direction includes: determining the transfer mechanism through the adjustment mechanism based on the transfer direction. The inclination angle of each layer of the mechanism is such that the goods located on the target layer of the conveying mechanism generate a component force along the conveying direction.

Correspondingly, transporting the goods through the target layer of the conveying mechanism includes: transporting the goods through the inclined target layer of the conveying mechanism.

Optionally, the transfer mechanism includes a first transfer part and a second transfer part, and adjusting the transfer mechanism or the target layer of the transfer mechanism based on the transfer direction includes: adjusting the transfer mechanism based on the transfer direction. The second conveying part of the conveying mechanism is such that the height of the second conveying part is greater than the height of the first conveying part, and the second conveying part forms an inclined slope.

Correspondingly, transporting the goods through the target layer of the transfer mechanism includes: an inclined slope formed by the second transfer part corresponding to the target layer and the The horizontal plane formed by the first conveying part transports the goods.

Optionally, the transfer mechanism includes a rolling transfer member, and adjusting the transfer mechanism or the target layer of the transfer mechanism based on the transfer direction includes: determining the rolling transfer member or the target layer based on the transfer direction. The target layer corresponds to a rotation mode of the rolling conveyor, so that the rolling conveyor or the target layer corresponds to the rolling conveyor to rotate around its own rotation axis in the rotation mode.

In a second aspect, embodiments of the present disclosure also provide a cargo transport device. The cargo transport device includes: a first size acquisition module, used to obtain the size information of the cargo; a first level determination module, used to determine the size according to the size. information to determine the target layer of the transmission mechanism corresponding to the goods; the first cargo transportation module is used to transport the goods through the target layer of the transmission mechanism.

In a third aspect, embodiments of the present disclosure also provide a transfer device, which is used for the transfer and transportation of goods during loading or unloading in a warehousing system. The transfer device includes a flow shelf and a first master control unit. unit; wherein, the fluent shelf includes a bracket and a transmission mechanism provided on the bracket, and the transmission mechanism is multi-layered; the first main control unit is used to generate a control signal based on the control signal and the The flow shelf implements the cargo transportation method provided by any embodiment corresponding to the first aspect of the present disclosure.

In a fourth aspect, an embodiment of the present disclosure also provides a storage system, which includes a storage shelf and a transfer device provided by a corresponding embodiment of the third aspect of the present disclosure.

In a fifth aspect, embodiments of the present disclosure also provide a computer-readable storage medium, in which computer execution instructions are stored. When the processor of the device executes the computer execution instructions, the cargo transportation device implements the cargo transportation method provided by any embodiment corresponding to the first aspect of the present disclosure.

In a sixth aspect, embodiments of the present disclosure also provide a computer program product, including a computer program. When the computer program is executed by a transfer device or a warehousing system, the cargo transport device can implement any implementation corresponding to the first aspect of the present disclosure. Examples of cargo transportation methods provided.

The cargo transportation methods and devices, transfer devices, warehousing systems, storage media and computer program products provided by the embodiments of the present disclosure are based on multi-layer fluent shelves and match corresponding transportation lines according to the size information of the goods that need to be transported, that is, matching The target layer of the conveyor mechanism of the fluent shelf transports goods through the target layer of the conveyor mechanism to transport them to the handling robot or operating table to complete the corresponding warehousing, outgoing or sorting tasks, and realizes the parallel transportation of goods of multiple sizes. , improves the flexibility and efficiency of cargo transportation, and improves the order processing efficiency of the warehousing system.

The present disclosure also provides a cargo transportation method and device, a transfer device, a warehousing system, a storage medium and a computer program product, which realizes the temporary storage rack in the transfer device and realizes the caching of goods, reducing the pressure of cargo transportation on the original conveyor line. , improving the efficiency of cargo transportation.

In a seventh aspect, embodiments of the present disclosure provide a method for transporting goods. The method is applied to a transfer device. The transfer device includes a lift, a temporary storage rack and a transmission line assembly. The temporary storage rack includes a support frame and a transmission line assembly. A transmission mechanism is provided on the support frame. One end of the transmission mechanism is docked with the cargo entrance and exit of the elevator, and the other end of the transmission mechanism is docked with the cargo entrance and exit of the transmission line assembly. The method includes: determining the goods to be transported; and transporting the goods to be transported to the transmission line assembly or the elevator based on the transmission mechanism of the temporary storage rack.

Optionally, transporting the goods to be transported to the conveyor line assembly or elevator based on the transmission mechanism of the temporary storage rack includes: based on the transmission direction of the goods to be transported, transporting the goods to be transported through the transmission mechanism The goods to be transported are transported to the conveyor line assembly or elevator.

Optionally, based on the transport direction of the goods to be transported, transporting the goods to be transported to the conveyor line assembly or the elevator through the transport mechanism includes: when the transport direction of the goods to be transported is the first When the direction is the second direction, the goods to be transported are transported to the conveyor line assembly based on the transmission mechanism of the temporary storage rack; and/or when the transportation direction of the goods to be transported is the second direction, based on the temporary storage rack, the goods to be transported are transported in the second direction. The transport mechanism of the storage rack transports the goods to be transported to the elevator; wherein the first direction and the second direction are two opposite transport directions.

Optionally, after determining the goods to be transported, the method further includes: determining the transport direction of the goods to be transported according to the transportation task of the goods to be transported and/or the location of the goods to be transported; based on the The conveying direction of the goods to be transported determines the conveying direction of the preset layer of the conveying mechanism, so that the goods to be transported are transported to the conveying line assembly or the elevator based on the preset layer of the conveying mechanism.

Optionally, the method further includes: determining a preset layer of the conveying mechanism corresponding to the goods to be transported, so as to transfer the goods to be transported along the conveying direction of the goods to be transported based on the preset layer. Transport items to the conveyor line assembly or elevator.

Optionally, determining the preset layer of the conveying mechanism corresponding to the goods to be transported includes: when the conveying direction of the goods to be transported is the first direction, determining the goods according to the goods transported by the conveying line assembly. The preset layer of the conveying mechanism corresponding to the goods to be transported.

Optionally, after determining the goods to be transported, the method further includes: determining the conveying speed of the conveying mechanism based on the goods corresponding to the elevator or the goods transported by the conveying line assembly.

Correspondingly, transporting the goods to be transported to the conveyor line assembly or elevator based on the transmission mechanism of the temporary storage rack includes: controlling the transmission mechanism to transport the goods to be transported based on the transmission speed. to the conveyor line assembly or elevator.

Optionally, determining the conveying speed of the conveying mechanism according to the goods corresponding to the elevator or the goods transported by the conveying line assembly includes: when the conveying direction of the goods to be transported is the first direction, according to the conveying speed The position of the goods transported by the line assembly and the transportation speed of the transmission line assembly determine the transmission speed of the transmission mechanism to control the transmission mechanism to transport the goods to be transported to the transmission line based on the transmission speed. assembly; and/or, when the transmission direction of the goods to be transported is the second direction, the transmission speed of the transmission mechanism is determined according to the number of layers of the elevator and the position of each cargo corresponding to the elevator to control The conveying mechanism transports the goods to be transported to the destination based on the conveying speed. Describe the elevator.

Optionally, the method further includes: when the goods to be transported are placed on a preset layer of the transmission mechanism, collecting detection information of the goods to be transported based on the transmission mechanism; based on the detection information, It is determined whether the goods to be transported meet the transportation conditions; if so, the goods to be transported are transported to the conveyor line assembly or the elevator based on the transmission mechanism.

Optionally, the detection information is one or more of the cargo identification, cargo size and cargo weight of the cargo to be transported. Based on the detection information, it is determined whether the cargo to be transported meets the transportation conditions, including the following At least one item: determine whether the cargo identification of the goods to be transported is a preset identification; determine whether the size of the goods is within the preset size range; determine whether the weight of the goods is within the preset weight range; if at least one of the above If no, it is determined that the goods to be transported do not meet the transportation conditions.

Optionally, when the goods to be transported do not meet the transportation conditions, the method further includes: determining the direction of the preset layer of the conveying mechanism to be the opposite direction of the conveying direction of the goods to be transported, so as to The goods to be transported are transported back along the original route.

Optionally, when the transport direction of the goods to be transported is the first direction and the goods to be transported do not meet the transportation conditions, the method further includes: controlling the robot to transport the goods to the operation console. Or the storage location corresponding to the goods to be transported.

Optionally, when the transport direction of the goods to be transported is the second direction, and the When the goods to be transported do not meet the transportation conditions, the method further includes: transporting the goods to be transported to a second preset level of the conveying mechanism through a lift, wherein the second preset level Opposite to the transport direction of the preset layer; based on the second preset layer, the goods to be transported are transported to the conveyor line assembly.

Optionally, the transfer device further includes a fluent shelf, the cargo inlet and outlet of the fluent shelf is docked with the cargo inlet and outlet at one end of the elevator away from the temporary storage rack, so that the goods on the elevator can pass through The fluent shelf is transmitted to the handling robot, or the goods on the handling robot are conveyed to the elevator through the fluent shelf. When the conveying direction of the goods to be transported is the second direction, the method further includes: Determine the target layer of the flow shelf corresponding to the goods to be transported; based on the target layer, generate a lifting control signal of the elevator to control the elevator to move the goods to be transported based on the lifting control signal Promote to the target level of said fluent shelf.

Optionally, determining the target layer of the fluent shelf corresponding to the goods to be transported includes: determining the target layer of the fluent shelf corresponding to the goods to be transported according to the cargo size of the goods to be transported.

In an eighth aspect, embodiments of the present disclosure also provide a cargo transport device. The cargo transport device is used in a transfer device. The transfer device includes a lift, a temporary storage rack and a transmission line assembly. The temporary storage rack includes support frame and set on the support A transmission mechanism on the rack, one end of the transmission mechanism is connected with the cargo entrance and exit of the elevator, and the other end of the transmission mechanism is connected with the cargo entrance and exit of the transmission line assembly. The cargo transportation device includes: a cargo determination module A group is used to determine the goods to be transported; a cargo transportation module is used to transport the goods to be transported to the transmission line assembly or the elevator based on the transmission mechanism of the temporary storage rack.

In a ninth aspect, embodiments of the present disclosure also provide a transfer device for the transfer and transportation of goods during loading or unloading in a warehousing system. The transfer device includes a lift, a temporary storage rack, a conveyor line assembly and Main control unit; the temporary storage rack includes a support frame and a transmission mechanism arranged on the support frame. One end of the transmission mechanism is connected to the cargo entrance and exit of the elevator, and the other end of the transmission mechanism is connected to the cargo entrance and exit of the elevator. The cargo entrance and exit of the conveyor line assembly are connected; the main control unit is used to execute the cargo transportation method provided by any embodiment corresponding to the seventh aspect of the present disclosure.

In a tenth aspect, an embodiment of the present disclosure also provides a storage system, which includes a storage shelf and a transfer device provided by a corresponding embodiment of the ninth aspect of the present disclosure.

In an eleventh aspect, embodiments of the present disclosure also provide a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When the processor of the transit device executes the computer-executed instructions, the goods are transported The device implements the cargo transportation method provided by any embodiment corresponding to the seventh aspect of the present disclosure.

In a twelfth aspect, embodiments of the present disclosure also provide a computer program product, including a computer program, where the computer program is processed by a transfer device or a storage system. When the processing is executed, the cargo transportation device is caused to implement the cargo transportation method provided by any embodiment corresponding to the seventh aspect of the present disclosure.

The cargo transportation methods and devices, transfer devices, warehousing systems, storage media and computer program products provided by the embodiments of the present disclosure are aimed at transfer devices including elevators, temporary storage racks and conveyor line components. When there is a need to pass through the transfer When the device transports the goods to be transported, the goods to be transported are transported to the conveyor line assembly or the elevator through the transmission structure of the temporary storage rack, thereby realizing the outgoing or warehousing of the goods to be transported. The temporary storage rack realizes the transfer or buffering of goods transported on the elevator or conveyor line assembly. When the quantity of transported goods is large, the elevator can transfer the goods to the temporary storage rack, thereby reducing the load of the elevator. The waiting time eliminates the need for the elevator to wait for all the goods on it to be transported by the conveyor line assembly before transporting the next batch of goods, which improves the working efficiency of the elevator and the efficiency of cargo transportation; at the same time, when the number of transported goods In many cases, by buffering the goods transported on the conveyor line assembly to the temporary storage rack, there is no need to slow down the transmission speed of the conveyor line assembly to maintain the distance between the goods transported on the conveyor line assembly, thereby improving the efficiency of the conveyor line assembly. Work efficiency and cargo transportation efficiency.

The disclosure also provides a cargo transportation method, device, fluent shelf, warehousing system and storage media, which realizes adaptive adjustment of the width of the fluent shelf based on the size of each cargo in the order, so that the fluent shelf can transport goods of different sizes at the same time, improving the efficiency Flexibility and efficiency in cargo transportation.

In a thirteenth aspect, embodiments of the present disclosure provide a method for transporting goods. The method includes: obtaining a transport order for goods; The size information of the goods is used to determine the transportation width of each layer of the conveyor mechanism of the fluent shelf, so that goods with matching width can be transported through each layer of the conveyor mechanism.

Optionally, determining the transportation width of each layer of the transmission mechanism based on the size information of each cargo in the cargo transportation order includes: determining each size level based on the size information of each cargo in the cargo transportation order; based on each size level, Determine the transport width of each layer of the conveyor mechanism.

Optionally, when the number of the size classes is less than the number of layers of the conveying mechanism, determining the transportation width of each layer of the conveying mechanism according to each size class includes: obtaining the number of goods corresponding to each size class; The transport width of each layer of the transport mechanism is determined by the quantity of goods corresponding to the size class, the quantity of the size class, the total quantity of goods in the cargo transport order and the number of layers of the transport mechanism.

Optionally, when the number of the size classes is greater than the number of layers of the conveying mechanism, determining the transportation width of each layer of the conveying mechanism according to each size class includes: determining at least according to the number of goods corresponding to each size class. A combined size level, wherein the combined size level is composed of at least two of the size levels, and the combined size level corresponds to the first preset layer of the conveying mechanism; for each combined size level, according to the combination Each size level corresponding to the size level determines at least two transportation widths of the first preset layer corresponding to the combined size level of the conveying mechanism, wherein the goods whose width matches the first preset layer are the corresponding all Goods corresponding to the above combined size classes.

When the quantity of goods corresponding to the size level is greater than the preset value, the The method further includes: for each size level except the combined size level, determining at least one second preset layer of the conveying mechanism corresponding to the size level.

Correspondingly, determining the transport width of each layer of the conveyor mechanism according to each size class includes: for the size class other than the combined size class, determining the width of at least one second preset layer according to the size class. Shipping width.

Optionally, determining at least one combined size class based on the quantity of goods corresponding to each size class includes: dividing each of the size classes into a first ratio based on a first ratio of the quantity of goods corresponding to each size class and a preset quantity. A size level and a second size level, wherein the preset quantity is the ratio of the total quantity of goods in the cargo transportation order to the number of layers of the conveying mechanism, and the ratio corresponding to the first size level is greater than or equal to 1. The ratio corresponding to the second size level is less than 1; the second quantity is determined according to the first difference between the number of layers of the transmission mechanism and the first quantity, wherein the first quantity is the first size The number of grades, the first difference is at least 1; at least one combined size grade is determined according to the second number and the number of the second size grade, wherein the combined size grade consists of at least two of the Second size class composition.

Optionally, the fluent shelf further includes a limiting component. After determining the transportation width of each layer of the conveying mechanism, the method further includes: determining the limiting parameters of the limiting component according to the transportation width of each layer of the conveying mechanism. , to adjust the transportation width of each layer of the transmission mechanism based on the limit parameter.

Optionally, each layer of the transmission mechanism is provided with at least one limiting component, and each limiting component includes two limiting members, and the two limiting members are respectively Located on both sides of the corresponding layer of the conveying mechanism, determining the limiting parameters of the limiting component according to the transportation width of each layer of the conveying mechanism includes: according to the transportation width of each layer of the conveying mechanism, determining at least one corresponding to each layer The distance between two limiting parts of one limiting component.

Optionally, obtaining the goods transportation order includes: obtaining each first goods order; and determining each of the goods transportation orders according to the quantity of the first goods order and the quantity of goods corresponding to each first goods order, wherein , the goods transportation order includes one or more first goods orders.

Optionally, obtaining each first goods order includes: obtaining each first goods order corresponding to the preset time interval according to a preset time interval.

Optionally, after determining the transportation width of each layer of the conveyor mechanism of the fluent shelf, the method further includes: transporting the goods corresponding to each of the goods transportation orders to the corresponding layer of the conveyor mechanism of the fluent shelf based on a handling robot ; Or, based on the cargo lifting assembly, transport the goods corresponding to each of the cargo transportation orders to the corresponding layer of the transmission mechanism of the fluent shelf, wherein the cargo entrance and exit of the cargo lifting assembly is docked with one end of the transmission mechanism ; Or, based on the transmission line assembly and the cargo lifting assembly, transport the goods corresponding to each of the cargo transportation orders to the corresponding layer of the transmission mechanism of the fluent shelf, wherein the transmission line assembly is far away from the cargo lifting assembly One end of the cargo entrance and exit is docked.

Optionally, after adjusting the transportation width of each layer of the transmission mechanism based on the limit parameter, the method further includes: based on the scan, collecting the second size information of each cargo in the cargo transportation order; for each cargo, According to the second of the goods The size information is used to determine the target layer of the conveying mechanism corresponding to the goods, so as to transport the goods based on the target layer of the conveying mechanism.

In a fourteenth aspect, embodiments of the present disclosure also provide a cargo transportation device. The cargo transportation device includes: an order acquisition module for obtaining a cargo transportation order; and a transportation width determination module for determining the cargo transportation order according to the order. The size information of each cargo determines the transportation width of each layer of the conveyor mechanism of the fluent shelf, so that each cargo with matching width can be transported through each layer of the conveyor mechanism.

In a fifteenth aspect, embodiments of the present disclosure also provide a fluent shelf, including a transfer mechanism and a second main control unit; wherein the transfer mechanism includes multiple layers; and the second main control unit is used to execute the thirteenth aspect of the present disclosure. The goods transportation method provided by any embodiment corresponding to this aspect.

In a sixteenth aspect, an embodiment of the disclosure further provides a storage system, which includes a storage shelf and a flow shelf provided by a corresponding embodiment of the fifteenth aspect of the disclosure.

In a seventeenth aspect, embodiments of the present disclosure also provide another storage system, which includes a fluent shelf and at least one processor; wherein the fluent shelf includes a multi-layer conveying mechanism; and the at least one processor is used to execute the present disclosure. The thirteenth aspect corresponds to the cargo transportation method provided by any embodiment.

In an eighteenth aspect, embodiments of the present disclosure also provide a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When the processor executes the computer-executable instructions, the thirteenth aspect of the present disclosure is implemented. The goods transportation method provided by any embodiment corresponding to this aspect.

In a nineteenth aspect, embodiments of the present disclosure also provide a computer program product, including a computer program. When the computer program is executed by a processor of a transfer device or a warehousing system, the cargo transport device implements the corresponding function of the thirteenth aspect of the present disclosure. Any embodiment provides a cargo transportation method.

The cargo transportation method, device, fluent shelf, warehousing system and storage media provided by the embodiments of the present disclosure adaptively determine the transportation width of each layer of the transmission mechanism of the fluent shelf based on the size information of each cargo in the cargo transportation order, thereby based on the transmission mechanism Each layer of the shelf transports goods with matching widths in the goods transportation order at the same time, making the fluent shelves capable of transporting goods of different sizes at the same time, improving the efficiency of goods transportation and order processing.

The disclosure also provides a cargo transportation method, device, flow shelf, transfer device and storage system. The correction device based on the flow shelf realizes the position correction of the goods in transportation and improves the safety of the goods transportation.

In a twentieth aspect, embodiments of the present disclosure provide a method for transporting goods. The method is applied to a fluent shelf. The medium fluent shelf includes a bracket, a transmission mechanism and a correction device provided on the bracket. The method includes: The goods are transported along the conveying direction based on the fluent shelf; when the goods on the conveying mechanism of the fluent shelf are transported to a preset area, the position of the goods is corrected based on the correction device.

Optionally, the correction device includes two clamping structures located on both sides of the conveying direction and arranged oppositely, and position correction of the goods includes: based on the two clamping structures, according to a preset mode The goods are clamped so that the goods are centered perpendicular to the conveying direction.

Optionally, the clamping structure is an arc structure or a straight structure.

Optionally, the conveying mechanism includes a rolling conveying member, the rolling conveying member has an outer contour surface that is in rolling contact with the goods, and transporting the goods along the conveying direction based on the fluent shelf includes: based on the rolling conveying member around The goods are transported along the conveying direction by rotating its own axis of rotation.

Optionally, the transfer mechanism is multi-layered. Before positioning the goods, the method further includes: determining the quantity of goods being transported on each layer of the transfer mechanism; for each layer of the transfer mechanism, if the current If the number of goods on a layer in the preset area is greater than 1, the rolling transmission member corresponding to the current layer is controlled to stop rotating to perform position correction for each of the goods on the current layer.

Optionally, clamping the goods according to a preset mode based on the two clamping structures includes: controlling the relative movement of the two clamping structures from their respective default positions until the goods are clamped; when After clamping the goods for a preset time, the two clamping structures are controlled to move to a default position.

Optionally, performing position correction on the goods includes: obtaining position information of the goods; performing position correction on the goods according to the position information.

In a twenty-first aspect, embodiments of the present disclosure further provide a cargo transport device, which includes: a cargo transport module for transporting cargo along the conveying direction based on the fluent shelf; and a cargo correction module for when the When the goods on the conveyor mechanism of the fluent shelf are transported to the preset area, the position of the goods is corrected.

In a twenty-second aspect, embodiments of the present disclosure also provide a fluent shelf, which includes a bracket, a transmission mechanism disposed on the bracket, a correction device, and a third Three main control units; wherein the third main control unit is used to generate a control signal to control the transmission mechanism and the correction device based on the control signal to implement the cargo transportation provided by any embodiment corresponding to the twentieth aspect of the present disclosure. method.

In a twenty-third aspect, embodiments of the present disclosure also provide a transfer device, which is used for the transfer and transportation of goods during loading or unloading in a warehousing system. The transfer device includes a cargo lifting assembly and the present invention. The flow shelf provided by the corresponding embodiment of the twenty-second aspect is disclosed.

In a twenty-fourth aspect, an embodiment of the present disclosure also provides a storage system, which includes a storage shelf and a transfer device provided by a corresponding embodiment of the twenty-third aspect of the present disclosure.

In a twenty-fifth aspect, embodiments of the present disclosure also provide a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When the processor executes the computer-executable instructions, the implementation of the present disclosure is implemented. The cargo transportation method provided by any embodiment corresponding to twenty aspects.

In a twenty-sixth aspect, an embodiment of the present disclosure also provides a computer program product, including a computer program. When the computer program is executed by a processor of Fluent Shelf, the cargo transport device can implement any implementation corresponding to the twentieth aspect of the present disclosure. Examples of cargo transportation methods provided.

The cargo transportation method, device, fluent shelf, transfer device and warehousing system provided by the embodiments of the present disclosure are aimed at the situation of cargo transportation based on the fluent shelf. When the goods on the transmission mechanism of the fluent shelf are transported to the preset area, the goods are transported through the fluent shelf. The correction device installed on the shelf corrects the position of the goods and realizes the positioning of the goods during transportation. Position correction improves the safety of cargo transportation.

100:Transfer device

1:Handling robot

11:Fork assembly

111:Fork body

112:Fork

113: Clamping mechanism

1131: Insertion part

1132:Telescopic part

114: Clamping component

1141: Clamping part

1141a: first clamping part

1141b: Second clamping part

1142:Telescopic parts

115: Bracket

116: Rotating mechanism

117:Telescopic fork

1171: Base plate

1172:Fork plate

12:Mobile chassis

13: Lifting components

14: Support frame

141:Partition

1411: Groove

1412: Avoidance slot

15: Correction components

151:Correction Department

16:Test parts

17: Elastic limiter

2: Fluent shelves

21: Bracket

22:Transmission mechanism

221:First transmission department

222: Second transmission department

23:Rolling transfer parts

24:Limiting parts

25:Limit gate

26: Avoidance structure

27:Calibration device

271: Clamping structure

2711: Clamping piece

2712:Buffer

28:Putter assembly

281:Telescopic arm

282:movable putter

3: Cargo lifting component

31:Ontology

32: Conveying mechanism

321:Rolling parts

33:Lifting mechanism

4:Conveyor line components

41:Matrix

42:Transmission line

43: First scan

5: Cargo storage device

51: Frame

52:Pallet

110: Warehousing management equipment

120:Transportation line

121:Unloader

122:Elevator

130:Storage shelves

S201: Get the size information of the goods

S202: Determine the target layer of the conveying mechanism 22 corresponding to the goods according to the size information.

S203: Transport the goods through the target layer of the conveying mechanism 22

S301: Obtain the size information of the goods based on the first scanning part 43 provided on the goods lifting component 3 or the conveyor line component 4

S302: Determine the target layer of the conveying mechanism 22 corresponding to the goods according to the size information.

S303: Based on the cargo lifting assembly, transport the cargo to the target layer of the conveying mechanism 22

S304: Transport the goods to the handling robot 1 through the target layer of the conveying mechanism 22

S401: Get the size information of the goods

S402: Determine the target layer of the conveying mechanism 22 corresponding to the goods according to the size information.

S403: Determine the delivery direction of the goods

S404: Based on the conveying direction, adjust the conveying mechanism 22 or the target layer of the conveying mechanism 22

S405: Transport the goods through the target layer of the conveying mechanism 22

S501: Obtain cargo transportation order

S502: According to the size information of each cargo in the cargo transportation order, determine the transportation width of each layer of the transmission mechanism 22 of the fluent shelf 2 to transport goods with matching width through each layer of the transmission mechanism 22

S601: Obtain each first goods order

S602: According to the quantity of the first goods order and each of the first goods The quantity of goods corresponding to the order determines the transportation order for each of the goods.

S603: Determine each size level based on the size information of each cargo in the cargo transportation order.

S604: Determine the transportation width of each layer of the conveyor mechanism 22 according to each size level

S605: Determine the limiting parameters of the limiting component according to the transportation width of each layer of the conveying mechanism 22, so as to adjust the transportation width of each layer of the conveying mechanism 22 based on the limiting parameters and the goods whose width is matched based on the adjusted layers of the conveying mechanism 22. transportation

S701: Get each first goods order

S702: Determine each of the goods transportation orders based on the quantity of the first goods order and the quantity of goods corresponding to each first goods order.

S703: Determine each size level based on the size information of each cargo in the cargo transportation order.

S704: When the number of the size levels is greater than the number of layers of the conveying mechanism 22, determine at least one combined size level based on the number of goods corresponding to each size level.

S705: For each combined size level, determine at least two transportation widths of the first preset layer corresponding to the combined size level of the conveying mechanism according to each size level corresponding to the combined size level.

S706: For each size level except the combined size level, determine at least one second preset layer of the transmission mechanism corresponding to the size level.

S707: For each of the size classes except the combined size class, determine the transportation width of at least one second preset layer according to the size class.

S708: Transportation of goods with matching width through each layer of the conveyor mechanism

S7041: According to the first ratio between the quantity of goods corresponding to each size class and the preset quantity, divide each size class into a first size class and a second size class.

S7042: Determine the second quantity based on the first difference between the number of layers of the transmission mechanism 22 and the first quantity.

S7043: Determine at least one combined size level based on the second quantity and the number of the second size level.

S901: Transport goods in the conveying direction based on flow rack 2

S902: When the goods on the conveyor mechanism 22 of the fluent shelf 2 are transported to the preset area, the position of the goods is corrected based on the correction device 27

S1001: Transport goods in the conveying direction based on the flow rack 22

S1002: Determine the quantity of goods being transported on each floor of the conveyor mechanism 2

S1003: For each layer of the conveyor mechanism 22, if the number of goods in the current layer in the preset area is greater than 1, control the rolling conveyor 23 corresponding to the current layer to stop rotating.

S1004: For each cargo of each current layer, control the two clamping structures 271 to perform relative movement from their respective default positions until the cargo is clamped so that the cargo is centered perpendicular to the conveying direction.

S1005: After clamping the goods for a preset time, control the two clamping structures to move to the default position.

1110: First size acquisition module

1120: The first level determines the module

1130: The first cargo transportation module

1210: Order acquisition module

1220: Transport width determination module

1310: Cargo transportation module

1320:Cargo Correction Module

1410: Second master control unit

1510: The third main control unit

1610: First master control unit

1710: Processor

Figure 1 is a first structural schematic diagram of a relay device provided by Embodiment 1 of the present disclosure.

FIG. 2 is a second structural schematic diagram of the relay device provided by Embodiment 1 of the present disclosure.

FIG. 3 is a third structural schematic diagram of the relay device provided by Embodiment 1 of the present disclosure.

FIG. 4 is a fourth structural schematic diagram of the relay device provided by Embodiment 1 of the present disclosure.

FIG. 5 is a fifth structural schematic diagram of a relay device provided by Embodiment 1 of the present disclosure.

FIG. 6 is a sixth structural schematic diagram of the relay device provided in Embodiment 1 of the present disclosure.

FIG. 7 is a schematic side view of the flow shelf in the transfer device provided by Embodiment 1 of the present disclosure.

FIG. 8 is a schematic structural diagram of a flow shelf provided by Embodiment 1 of the present disclosure.

Figure 9 is another structural schematic diagram of the flow shelf provided by Embodiment 1 of the present disclosure.

Figure 10 is a schematic structural diagram of a relay device provided in Embodiment 2 of the present disclosure.

Figure 11 is a schematic structural diagram of a flow shelf in a transfer device provided in Embodiment 2 of the present disclosure.

FIG. 12 is a first structural schematic diagram of the transport robot in the transfer device provided by Embodiment 3 of the present disclosure.

FIG. 13 is a partial schematic diagram of the second structure of the transport robot in the transfer device provided in Embodiment 3 of the present disclosure.

FIG. 14 is a schematic diagram of the first state of the fork assembly in the handling robot provided in Embodiment 3 of the present disclosure.

FIG. 15 is a schematic diagram of the second state of the fork assembly in the handling robot provided in Embodiment 3 of the present disclosure.

FIG. 16 is a schematic diagram of the first state of the handling robot provided in Embodiment 3 of the present disclosure.

Figure 17 is a schematic diagram of the second state of the handling robot provided in Embodiment 3 of the present disclosure.

Figure 18 is a schematic diagram of a state of the first structure of the fork assembly in the handling robot provided in Embodiment 4 of the present disclosure.

FIG. 19 is a schematic diagram of another state of the first structure of the fork assembly in the handling robot provided in Embodiment 4 of the present disclosure.

Figure 20 is a third structural schematic diagram of a handling robot provided in Embodiment 4 of the present disclosure.

FIG. 21 is a schematic diagram of the first state of the top view structure of the fork assembly in FIG. 20 .

FIG. 22 is a schematic diagram of the second state of the top view structure of the fork assembly in FIG. 20 .

FIG. 23 is a schematic diagram of the third state of the top view structure of the fork assembly in FIG. 20 .

Fig. 24 is a schematic diagram of the fourth state of the top view structure of the fork assembly in Fig. 20.

FIG. 25 is a schematic top view of the fourth structure of the handling robot provided in Embodiment 5 of the present disclosure.

Figure 26 is a schematic structural diagram of a partition board in a handling robot provided in Embodiment 5 of the present disclosure.

Figure 27 is another structural schematic diagram of a partition board in a handling robot provided in Embodiment 5 of the present disclosure.

Figure 28 is another structural schematic diagram of a partition board in a handling robot provided in Embodiment 5 of the present disclosure.

Figure 29 is a schematic top view of the fifth structure of the handling robot provided in Embodiment 5 of the present disclosure.

Figure 30 is an application scenario diagram of the container transportation method provided by the embodiment of the present disclosure.

Figure 31 is a flow chart of a cargo transportation method provided by an embodiment of the present disclosure.

Figure 32 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure.

Figure 33 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure.

Figure 34 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure.

Figure 35 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure. Figure.

Figure 36 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure.

Figure 37 is a flow chart of step S704 in the embodiment shown in Figure 36 of the present disclosure.

Figure 38 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure.

Figure 39 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure.

Figure 40 is a schematic structural diagram of a cargo transport device provided by an embodiment of the present disclosure.

Figure 41 is a schematic structural diagram of a cargo transport device provided by another embodiment of the present disclosure.

Figure 42 is a schematic structural diagram of a cargo transport device provided by another embodiment of the present disclosure.

Figure 43 is a schematic structural diagram of a flow shelf provided by another embodiment of the present disclosure.

Figure 44 is a schematic structural diagram of a flow shelf provided by another embodiment of the present disclosure.

Figure 45 is a schematic structural diagram of a relay device provided by an embodiment of the present disclosure.

Figure 46 is a schematic structural diagram of a warehousing system provided by an embodiment of the present disclosure.

In order to more clearly explain the embodiments of the present disclosure or the technical solutions in the prior art, a brief introduction will be made below to the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are the For some disclosed embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

In order to make the above objects, features and advantages of the embodiments of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without any creative efforts fall within the scope of protection of this disclosure.

The present disclosure will be described in detail below with reference to the accompanying drawings and specific embodiments.

Embodiment 1

Figure 1 is a first structural schematic diagram of a relay device provided in Embodiment 1 of the present disclosure; Figure 2 is a second structural schematic diagram of a relay device provided in Embodiment 1 of the present disclosure; Figure 3 is a schematic structural diagram of a relay device provided in Embodiment 1 of the present disclosure. The third structural schematic diagram of the transfer device; Figure 4 is the fourth structural schematic diagram of the transfer device provided by Embodiment 1 of the present disclosure; Figure 5 is the fifth structural schematic diagram of the transfer device provided by Embodiment 1 of the present disclosure; FIG. 6 is a sixth structural schematic diagram of the transfer device provided by Embodiment 1 of the present disclosure; FIG. 7 is a schematic side view of the flow shelf in the transfer device provided by Embodiment 1 of the present disclosure.

Referring to Figures 1 to 7, the transfer device 100 provided by the embodiment of the present disclosure is used for the transfer and transportation of goods when loading or unloading the handling robot 1, wherein the transfer The device 100 includes a fluent shelf 2 and a cargo lifting assembly 3; the fluent shelf 2 includes a bracket 21 and a transmission mechanism 22 arranged on the bracket 21. One end of the transmission mechanism 22 is connected to the cargo entrance and exit of the handling robot 1, and the other end of the transmission mechanism 22 is connected to the cargo entrance and exit of the transport robot 1. The cargo inlet and outlet of the cargo lifting assembly 3 are docked, and through the traction of the transmission mechanism 22, the goods on the cargo lifting assembly 3 are transferred to the handling robot 1 to complete the loading of the handling robot 1; or the goods on the handling robot 1 are transferred to the cargo lifting Component 3 is used to complete the unloading of the handling robot 1, without manual loading or unloading, with a high degree of automation and high operating efficiency. In some embodiments, the goods are transferred through the transfer device 100, and the goods can be transferred from the workbench/sorting station to the robot, and the goods carried by the robot can also be transferred to the workbench/sorting station, completing the process. Goods outbound/inbound operations between the robot and the workbench/sorting station.

In an optional embodiment, the transfer mechanism 22 can be arranged in multiple layers, wherein the transfer directions of the multi-layer transfer mechanisms 22 can be the same. In this way, the multi-layer transfer mechanisms 22 can all be used to transfer goods at the same time, thereby improving the efficiency of the handling robot 1. The efficiency of material or unloading can also be improved; the efficiency of goods loading/unloading operations can also be improved; in another optional embodiment, the conveying direction of the conveying mechanism 22 of at least one layer can be opposite to the conveying direction of other conveying mechanisms 22 , in this way, simultaneous loading and unloading can be achieved, and the outbound/inbound paths of goods can be integrated, thereby improving operating efficiency and simplifying the design and configuration of outbound/inbound paths.

In a possible embodiment, the transmission mechanism 22 is provided with a rolling transmission member 23. The rolling transmission member 23 has an outer contour surface capable of rolling contact with the goods. The rolling transmission member 23 is used to transport the goods around its own rotation axis. direction of rotation to Convey the goods in the conveying direction. The rolling transmission member 23 may be a rotating roller or other structures.

Among them, there are a plurality of rolling conveying members 23 in each layer of conveying mechanism 22. The plurality of rolling conveying members 23 are arranged side by side along the conveying direction of the goods, and the rotation axes of the plurality of rolling conveying members 23 are parallel to each other. The rolling conveying members 23 rotate around themselves. When the axis of the conveyor rotates along the conveying direction, the traction force generated can drive the goods to move along the conveying direction, thereby realizing the conveying of the goods.

On the basis of the above embodiment, the conveying mechanism 22 includes a first conveying part 221 and a second conveying part 222. The first end of the first conveying part 221 is docked with the transport robot 1, and the second end of the first conveying part 221 is coupled with the second conveying part 222. The first ends of the two transmission parts 222 are connected, and the second end of the second transmission part 222 is docked with the cargo lifting assembly 3 . The first conveying part 221 and the second conveying part 222 each include a plurality of rolling conveying members 23 arranged in parallel.

Optionally, the first conveying part 221 and the second conveying part 222 may be arranged horizontally. The conveying mechanism 22 is also provided with a first driving mechanism. The first driving mechanism is connected to the first conveying part 221 and the second conveying part 222. The rolling conveying member 23 is connected, and the first driving mechanism drives the rolling conveying member 23 to rotate around its own rotation axis in the conveying direction of the goods, so as to convey the goods on the rolling conveying member 23 in the conveying direction.

In a possible embodiment, the fluent shelf 2 also includes a control switch, which is electrically connected to the first driving mechanism. The control switch is used to control the rotation direction of the first driving mechanism, thereby controlling the rotation direction of the rolling conveyor 23 to change The conveying direction of the goods, in this way, the conveying mechanism 22 of each layer in the fluent shelf 2 can not only It can also be used for row loading and unloading, which diversifies the functions of the fluent shelf 2 and can simplify the overall structure of the transfer device 100, making the transfer device 100 smaller in size and occupying less space.

In another optional embodiment, an inclined angle may also be formed between the first conveying part 221 and the second conveying part 222. For example, the first end of the first conveying part 221 corresponds to the height of the cargo entrance and exit of the cargo handling robot 1. The height of the second end of the second transfer part 222 is higher than the cargo entrance and exit of the lifting assembly; or, the height of the first end of the first transfer part 221 corresponding to the cargo entrance and exit of the cargo handling robot 1 is lower than the height of the second transfer part 222 . The height of the goods entrance and exit of the two ends of the lifting assembly is butted. In this way, the goods on the first conveying part 221 and/or the second conveying part 222 will generate a component force along the conveying direction of the goods, and the goods rely on this component force to move from high to low. By automatically sliding in the transmission direction, goods can be transported without relying on external driving force (such as the driving force provided by the first driving mechanism). The structure of the transfer device 100 is simplified, and electric energy is saved, thereby reducing costs.

Among them, the fluent shelf 2 also includes an adjustment mechanism, which is connected to the first transmission part 221 and the second transmission part 222 respectively. The adjustment mechanism can be used to adjust the inclination angle of the first transmission part 221 or the second transmission part 222, so that the The goods on the first conveying part 221 and/or the second conveying part 222 can generate a component force along the conveying direction of the goods, so that the goods can automatically slide along the conveying direction from high to low by relying on this component force.

For example, the adjustment mechanism can be used to adjust the height of the cargo entrance and exit of the second transfer part 222 to the cargo lifting assembly 3 to be greater than the height of the second transfer part 222 to the second transfer part 22 of the cargo lifting assembly 3 . The height of the conveying part 221 is such that the second conveying part 222 forms an inclined slope, and the first conveying part 221 is arranged horizontally. In this way, when the goods on the cargo lifting assembly 3 slide along the inclined slope of the second conveying part 222 Moving to the first conveying part 221, since the goods will have a large inertia force when sliding down the inclined slope, and the first conveying part 221 is in a horizontal state, therefore, there is a gap between the first conveying part 221 and the goods. Under the influence of the friction between the two parts, the inertial force gradually decreases, so that the sliding speed of the goods on the first conveying part 221 gradually decreases until it stops. At this time, the first conveying part 221 is equivalent to a temporary storage rack, and the goods Temporarily stored on the first conveying part 221, the transport robot 1 does not need to dock with the first conveying part 221 all the time. The robot only needs to move the goods on the first conveying part 221 when needed. In this way, it can avoid having to dock with the first conveying part 221. Occupy the handling robot 1 to avoid resource waste, reduce costs and improve work efficiency.

When the goods on the transport robot 1 are transferred to the goods lifting assembly 3, both the first transfer part 221 and the second transfer part 222 can be adjusted to an inclined slope through the adjustment mechanism, and the first transfer part 221 and the second transfer part 222 forms an inclined slope, in which the height of the cargo-facing interface between the first conveying part 221 and the handling robot 1 is higher than the height of the cargo-facing interface between the second conveying part 222 and the cargo lifting assembly 3, and the cargo moves from there along the inclined slope. The first conveying part 221 and the second conveying part 222 slide to the docking point between the second conveying part 222 and the cargo lifting assembly 3. After waiting for the cargo lifting assembly 3 to dock with the second conveying part 222, lift the second conveying part 222. The goods are transported out through the goods lifting assembly 3.

The adjustment mechanism may be a manual adjustment mechanism or an electronically controlled adjustment mechanism.

When the adjustment mechanism is an electronically controlled adjustment mechanism, the fluent shelf 2 further includes a controller, which is electrically connected to the adjustment mechanism. The controller is used to control the adjustment mechanism so that the adjustment mechanism adjusts the first conveying part 221 and/or the second conveying part. The inclination angle of the part 222 is easy to operate and has a high degree of automation.

In order to prevent the goods from sliding out of the conveyor mechanism 22 when sliding along the inclined slope, in this embodiment, a limit gate 25 is provided at the cargo entrance and exit of the conveyor mechanism 22. When the goods entrance and exit of the conveyor mechanism 22 are not When docking the handling robot 1 and/or the cargo lifting assembly 3, the limit gate 25 can be blocked on the conveying path of the cargo to prevent the cargo from sliding out along the inclined slope. When the cargo lifting assembly 3 is docked with the conveying mechanism 22, The limit gate 25 is opened again to allow the goods to slide out onto the goods lifting assembly 3, thereby improving the reliability of the transport mechanism 22 in transporting goods.

In an optional embodiment, the limit gate 25 includes a limit rod. The first end of the limit rod is rotatably connected to the transmission mechanism 22. The second end of the limit rod is a free end. The limit rod can Rotate relative to the transmission mechanism 22 so that the limit rod can be in an unfolded or folded state. When the limit rod rotates to a horizontal position, the limit rod is in an unfolded state and blocks the conveying path of the goods to prevent the goods from moving along the inclined slope. The surface slides out, thereby improving the reliability of the conveying mechanism 22 in conveying goods.

In an optional embodiment, the limit gate 25 includes a stop plate with the ability to telescope up and down, blocking the cargo conveying path when extended, and opening the cargo conveying path when retracted.

Optionally, the transmission mechanism 22 is also provided with an electric control. The electric control is connected to the limit gate 25. The electric control is used to control the limit gate 25 to block or open the transmission path. By setting the electric control, the automatic stop and/or opening of the limit gate 25 can be realized, and the degree of automation is high. Among them, the electrical control can be a self-sensing switch, etc.

Of course, when there is an inclined angle between the first transmission part 221 and the second transmission part 222, the first transmission part 221 and the second transmission part 222 can also use external driving force to drive the first transmission part 221 and the second transmission part. The rolling conveyor 23 in 222 rotates along the conveying direction, as long as it can smoothly drive the goods to be conveyed along the conveying direction, and this embodiment does not impose specific restrictions on this.

In order to prevent the conveying mechanism 22 from deflecting the goods when conveying the goods, in this embodiment, the conveying mechanism 22 is provided with at least one set of limiting components. Each set of limiting components includes two limiting members 24, and two limiting components. The positioning members 24 are respectively located on both sides of the conveying mechanism 22, so that the two limiting members 24 form a conveying channel for the goods along the conveying direction of the goods, and the width of the conveying channel matches the width of the goods. In this way, the width of the transmission channel in each layer of the transmission mechanism 22 can be different, so that each layer of the transmission mechanism 22 can transport goods of different sizes. When goods of different sizes move along the corresponding transmission channel, the limits on both sides of the goods can The positioning member 24 can limit the position of the goods being transported to prevent the goods from shifting or falling from the side during the transportation process.

In addition, in the same set of limit components, the distance between the two limit members 24 can be adjustable, so that the limit members 24 in the limit assembly can adjust the width of the transmission channel according to the size of the goods to be conveyed. , so that the width of the conveying channel matches the width of the conveyed goods, while ensuring the passability of the goods, it can avoid the shifting of the goods during the conveying process.

Wherein, the adjustable spacing between the two limiting members 24 may be mechanically adjusted. Or electric drive adjustment.

For example, in a possible embodiment, each set of limiting components also includes two telescopic mechanisms, and the two telescopic mechanisms are respectively connected to two limiting members 24, wherein one telescopic mechanism corresponds to one limiting member 24, and the two telescopic mechanisms correspond to one limiting member 24. The mechanism drives the limiter 24 to expand and contract along the direction perpendicular to the conveying direction of the goods, so that the two limiters 24 move in a direction close to or away from each other, thereby achieving an adjustable spacing between the two limiters 24 and a simple structure. , easy to operate and low cost.

Wherein, the two telescopic mechanisms can be elastic telescopic mechanisms. For example, the elastic telescopic mechanism can include a support plate, a guide piece and a spring. The support plate is provided with a through hole, the guide piece is passed through the through hole, and the spring is set in the guide piece. and is located between the support plate and the limiter 24. One end of the spring is connected to the limiter 24, so that the expansion and contraction of the spring drives the limiter 24 to move. The elastic force of the spring drives the limiter 24 to move, thereby adjusting the two sides. The distance between the two limiting parts 24.

In another possible embodiment, the limiting assembly further includes a second driving mechanism, the second driving mechanism is connected to each telescopic mechanism respectively, and the second driving mechanism is used to drive the telescopic mechanism to telescope.

The second driving mechanism may include a motor, and the telescopic mechanism may include a push rod. The motor is connected to the push rod, and the push rod is connected to the limiting member 24, so that the motor drives the push rod to drive the limiting member 24 to move, so as to realize the limiting member. 24 positions adjustable for purpose.

In addition, there are at least two sets of limiting components. At least two sets of limiting components are arranged at intervals along the conveying direction of the goods on the conveying mechanism 22, and each limiting component is detachably connected to the conveying mechanism 22. In this way, when one of the limiting components is When a bit component fails and needs to be replaced, only The limiting component only needs to be disassembled and replaced, thereby reducing the maintenance cost of the Liuli Shelf 2.

It should be noted that the limiting member 24 may be a limiting block or a limiting plate or other structures, which is not specifically limited in this embodiment.

In the present disclosure, the transfer device 100 further includes a transmission line assembly 4, which is docked with the other end of the cargo lifting assembly 3, so that the cargo lifting assembly 3 is located between the transmission line assembly 4 and the flow shelf 2. The component 4 is used to transfer goods on the cargo lifting component 3; or, transport the goods to the cargo lifting component 3.

The structure of the conveyor line assembly 4 and the cargo lifting assembly 3 is introduced below: the conveyor line assembly 4 includes a base body 41 and a conveyor line 42 provided on the base body 41. The conveyor line 42 is used to convey goods along the conveying direction of the goods.

The transmission line 42 may be one layer, or may be at least two layers. When the transmission line 42 is at least two layers, the transmission directions of the transmission lines 42 of each layer may be the same; or, the transmission lines 42 of at least one layer of the transmission lines 42 of each layer may be The conveying direction of is opposite to the conveying direction of other conveying lines 42 .

When the conveying direction of at least one layer of conveying lines 42 is opposite to the conveying direction of other conveying lines 42 , the goods can be conveyed to the cargo lifting assembly 3 and the goods on the cargo lifting assembly 3 can be conveyed to the outside of the conveying line 42 at the same time, so that , which can improve the efficiency of cargo transmission.

The transmission line 42 may be a conveyor belt or other transmission structure, which is not specifically limited in this embodiment.

In a possible embodiment, the cargo lifting assembly 3 includes a body 31 and A conveying mechanism 32 and a lifting mechanism 33 are provided on the body 31. The conveying mechanism 32 is used to convey goods. The lifting mechanism 33 is connected to the conveying mechanism 32. The lifting mechanism 33 is connected to the conveying mechanism 32. The lifting mechanism 33 is used to drive the conveying mechanism 32 along the The main body 31 moves up and down in the vertical direction. In this way, the conveying mechanism 32 can selectively select and dock with the level of the conveying mechanism 22 that matches the size of the conveyed goods on the conveying mechanism 32, so that the goods can be conveyed smoothly without deflection to both sides. incline.

The lifting mechanism 33 may include a driving wheel, a driven wheel and an annular belt sleeved on the driving wheel and the driven wheel. The lifting mechanism 33 may also include a motor. The motor is connected to the driving wheel. The conveying mechanism 32 is fixedly connected to the belt. When the motor When the driving wheel is driven to rotate, the driving wheel drives the belt to drive the conveying mechanism 32 to rise and fall; alternatively, the lifting mechanism 33 can also be a sprocket structure, etc., as long as it can drive the conveying mechanism 32 to rise and fall. This embodiment does not impose specific restrictions on this.

In an optional embodiment, the conveying mechanism 32 is provided with a rolling element 321 , and the cargo lifting assembly 3 also includes a third driving mechanism. The third driving mechanism is connected to the rolling element 321 , so that the third driving mechanism drives the rolling element 321 Rotates around its own axis of rotation in the direction of transport of the goods. Wherein, the third driving mechanism can be a motor.

In addition, the rolling element 321 can be a roller, where there can be multiple rollers, and the multiple rollers are arranged in parallel and the central axes of each roller are parallel to each other, and the third driving mechanism drives each roller to rotate around its own axis toward the transport direction of the goods; Alternatively, the rolling element 321 can also be a transmission belt, and the conveyor belt drives the goods to move along the conveying direction.

Based on the above embodiments, the conveyor line assembly 4 or the cargo lifting assembly 3 is provided with a first scanning component 43. For example, the first scanning component 43 can be a camera or the like. structure, the first scanning part 43 is used to obtain the size information of the goods transported on the conveying mechanism 32. The size information of the goods may include information such as the width and height of the goods. The conveying mechanism 32 can selectively match the goods according to the size information of the goods. The matching levels of the conveying mechanism 22 are connected. The width and height of the level of the conveying mechanism 22 should match the width, height and other information of the goods, so as to avoid the problem that the size of the goods on the conveying mechanism 32 is inconsistent with the conveying mechanism 22 The mismatch in the size of the conveyor channel may cause the goods to be unable to be conveyed, thereby improving the reliability of the delivery of goods.

In addition, in order to improve the docking reliability between the transport robot 1 and the transfer mechanism 22, a second scanning part can be provided on the transport robot 1. The second scanning part is used to obtain the size information of the goods on the transport robot 1. According to the goods With the size information, the cargo entrance and exit of the handling robot 1 can be selectively connected to the corresponding level of the conveying mechanism 22. For example, when the handling robot 1 needs to be unloaded, first determine the size of the handling robot 1 through the second scan. The size information of the goods is then selectively connected to the level of the conveying mechanism 22 that matches the size of the goods according to the size information of the goods.

Wherein, the handling robot 1 includes a fork assembly 11, and the fork assembly 11 has a fork 112 for picking up and placing goods. For example, the fork assembly 11 can be an insertion and lifting fork assembly 11, wherein the fork 112 can be a fork tine. , the fork tines can be single or double fork tines. When the fork tines pick up the goods, the fork tines insert into the bottom of the goods and lift the goods and drive the goods to move.

When the transport robot 1 is a fork assembly, an avoidance structure 26 is provided on the end of the transmission mechanism 22 close to the transport robot 1. When the forks are inserted into and lift the transport mechanism 22 When carrying goods, the avoidance structure 26 is used to avoid the fork tines on the handling robot 1 so that the forklift can insert into the bottom of the goods and lift the goods before moving.

Among them, the avoidance structure 26 can be an avoidance groove 1412 or an avoidance hole, as long as the avoidance structure 26 can avoid the fork tines, so that the fork tines can smoothly insert into the bottom of the goods and lift the goods and move them. In this regard, this embodiment does not Make specific restrictions.

It should be noted that when the conveyor mechanism transmits goods, if the width of the goods is smaller than the width of the conveyor mechanism, that is, there is a preset distance on both sides of the goods, the fork assembly 11 can also be a push rod assembly or other structures. The component pushes the goods on the handling robot to the conveying mechanism by pushing and pulling the goods, or pulls the goods on the conveying mechanism into the handling robot.

The overall operation of the above-mentioned robot 1, fluent shelf 2, cargo lifting assembly 3 and conveyor line assembly 4 can be controlled by the server; alternatively, the server can analyze the robot 1, fluent shelf 2, cargo lifting assembly 3 and conveyor line assembly The cargo information returned by one or more of the 4 components sends corresponding control instructions; or, the server only provides the analysis results to one or more of the robot 1, the fluent shelf 2, the cargo lifting component 3, and the conveyor line component 4, and receives The equipment that analyzes the results will trigger the working mechanism accordingly.

FIG. 8 is a schematic structural diagram of a fluent shelf provided in Embodiment 1 of the present disclosure; FIG. 9 is another schematic structural diagram of a fluent shelf provided in Embodiment 1 of the present disclosure.

Referring to Figures 8 and 9, on the basis of the above embodiment, in order to correct the centering of the goods on the conveying mechanism 22, so as to prevent the goods on the conveying mechanism 22 from being unable to connect with the handling robot 1 or the goods lifting assembly due to position deviation. 3 docking occurs, in this embodiment, the transfer device 100 also includes a calibration device 27, The correction device 27 is used to correct the goods on the conveying mechanism 22 so that the goods are centered in the conveying direction perpendicular to the goods.

The specific position of the correction device 27 will be described below in conjunction with the structure of the Fluent Shelf 2 .

In an optional implementation, the correction device 27 is directly disposed on the fluent shelf 2, wherein the fluent shelf 2 includes a bracket 21 and a transmission mechanism 22 disposed on the bracket 21, and the correction device 27 can be disposed on the bracket 21; or , the correction device 27 can also be provided on the transmission mechanism 22 .

In another optional embodiment, the transfer device 100 includes a support, the correction device 27 is installed on the support, and the correction device 27 is vertically higher than the upper end surface of the transmission mechanism 22 so that the correction device 27 The goods conveyed by the conveying mechanism 22 can be centered and corrected. It can be understood that the correction device 27 and the fluent shelf 2 are independent structures, and the correction device 27 is not installed on the fluent shelf 2. In this way, the correction device 27 can be adjusted and placed as needed. position in order to correct the goods at different positions on the fluent shelf 2.

The specific structure of the correction device 27 is introduced below: along the transportation direction of the goods, the correction device 27 includes two clamping structures 271 located on both sides of the transportation direction and arranged oppositely. The two clamping structures 271 can move closer to each other. Or move in directions away from each other. When the two clamping structures 271 move in the direction of approaching each other, the two clamping structures 271 are used to clamp the goods so that the goods are centered in the conveying direction perpendicular to the goods, thereby avoiding The goods are deflected during the transportation process. After the centering correction of the goods is completed, the two clamping structures 271 move toward Move in directions away from each other and loosen the goods so that the goods can continue to move in the conveying direction.

In an optional embodiment, the transfer device 100 further includes a driving device, which is connected to the two clamping structures 271 respectively, so that the driving device is used to drive the two clamping structures 271 toward each other or away from each other. direction movement. The driving device may be a motor, and the motor may move the two clamping structures 271 toward or away from each other through forward and reverse rotation.

In an optional embodiment, each clamping structure 271 includes at least two clamping members 2711. The at least two clamping members 2711 are juxtaposed and spaced apart along the conveying direction perpendicular to the goods. Two adjacent clamping members 2711 are There are buffer parts 2712 between the two adjacent clamping parts 2711. The buffer parts 2712 between two adjacent clamping parts 2711 can slow down the clamping force of the clamping parts 2711 on the goods to avoid jamming between the clamping parts 2711 and the goods. The force is too great to adjust and center the cargo, thereby improving the reliability of the cargo clamping and centering.

The buffer member 2712 may be a spring or other elastic member.

In order to enable the clamping member 2711 to better correct and center the goods, in this embodiment, the contour shape of the side of the clamping member 2711 that is close to the goods and faces the goods matches the outer contour shape of the goods. In this way, it can improve The accuracy of the clamping member 2711 in centering and correcting the cargo. For example, when the cargo transported by the conveying mechanism 22 is a tire, the contour shape of the side of the clamping member 2711 close to the cargo facing the cargo may be similar to the outer contour shape of the tire. The matching arc structure improves the accuracy of correcting the position of the goods by the clamping member 2711.

In order to further improve the accuracy of centering correction, in this embodiment, the two clamping structures 271 can also rotate oppositely around the vertical direction. Through the opposite rotation of the two clamping structures 271, and in conjunction with the adjacent two The buffer parts 2712 between the two clamping parts 2711 slow down the clamping force on the goods. In this way, the goods located between the two clamping structures 271 are displaced so that the centers of the two clamping structures 271 are in contact with the goods (such as tires). ) coincide with each other, thereby improving the accuracy of cargo centering correction.

In another optional embodiment, the outline shape of the side of the clamping member 2711 facing the goods can also be a straight plate structure. The straight plate structure can be used to correct the shifted goods on the conveying mechanism 22, and the structure is simple. , processing cost.

On the basis of the above embodiment, the flow shelf 2 also includes a start switch. The start switch is used to control the start and stop of the transmission mechanism 22. When the clamping structure 271 corrects the clamping of the goods, the start switch can selectively start or stop. For example, when only one piece of goods is conveyed on the conveying mechanism 22, the start switch can first stop the conveying mechanism 22. After the clamping structure 271 corrects the goods and releases the goods, the start switch can then start the conveying mechanism 22 to continue running. ; However, when only one piece of goods is conveyed on the conveying mechanism 22, the conveying mechanism 22 may also choose not to stop. However, when multiple goods are continuously conveyed on the conveying mechanism 22, in order to improve the centering accuracy of each piece of goods on the conveying mechanism 22 When the clamping structure 271 clamps and corrects each piece of goods, the start switch can first control the transmission mechanism 22 to stop it. When the correction is completed and the goods are released, the start switch controls the transmission mechanism 22 to start and continue to convey the goods.

The transfer device 100 provided by the embodiment of the present disclosure includes a fluent shelf 2 and a cargo lifting assembly 3. The fluent cargo includes a bracket 21 and a conveyor arranged on the bracket 21. Mechanism 22. One end of the transmission mechanism 22 is docked with the cargo entrance and exit of the handling robot 1, and the other end of the transmission mechanism 22 is docked with the cargo entrance and exit of the cargo lifting assembly 3 to complete the transfer and transportation of goods when loading or unloading materials to the handling robot 1. , and no manual loading or unloading is required, with a high degree of automation and high operating efficiency.

Embodiment 2

FIG. 10 is a schematic structural diagram of a transfer device provided in Embodiment 2 of the present disclosure; FIG. 11 is a schematic structural diagram of a fluent shelf in the transfer device provided in Embodiment 2 of the present disclosure.

Referring to Figures 10 and 11, the transfer device 100 provided by the embodiment of the present disclosure includes a fluent shelf 2 and a cargo lifting assembly 3. One end of the fluent shelf 2 is connected to the cargo storage device 5, and the other end of the fluent shelf 2 is connected to the cargo lifting assembly 3. Docking, where the cargo storage device 5 can be a storage shelf or a handling robot 1, etc.

Among them, the basic structures of the flow shelf 2 and the cargo lifting assembly 3 have been described in detail based on the above embodiments, and will not be described again one by one here.

On the basis of the above embodiment, one end of the flow shelf 2 close to the cargo storage device 5 is provided with a cargo loading and unloading assembly. The cargo handling assembly is used to transfer goods between the flow shelf 2 and the cargo storage device 5. By placing the cargo on the flow shelf 2 Set up a cargo loading and unloading assembly. At this time, in addition to transporting goods, the fluent shelf 2 can also be used as a loading or unloading device. At least one cargo is placed on the storage shelf or the shelf of the handling robot 1 through the cargo loading and unloading assembly; Alternatively, at least one piece of goods is placed on the flow shelf 2 from the storage shelf or the partition 141 of the handling robot 1 for placing goods through the cargo loading and unloading assembly, thereby realizing the multi-purpose use of the flow shelf 2 There is no need to set up a separate loading or unloading device, the structure is simple, the operation is convenient, the cost is low, and the space is small.

Among them, the cargo loading and unloading assembly is a push rod assembly 28. The push rod assembly 28 can telescopically move along the transmission direction relative to the transmission mechanism 22. The pushrod assembly 28 is used to move the goods between the flow shelf 2 and the cargo storage device 5 through its own telescopic movement. Make the transfer.

Specifically, the push rod assembly 28 includes a telescopic arm 281 and a movable push rod 282 located at the front end of the telescopic arm 281. The movable push rod 282 can rotate relative to the telescopic arm 281. When the movable push rod 282 is in a horizontal position, the movable push rod 282 is in a horizontal position. In the unfolded state, at this time, the movable push rod 282 blocks the conveying path of the goods. When the telescopic arm 281 moves relative to the conveying mechanism 22 along the conveying direction of the goods, the movable push rod 282 contacts the goods and pushes the goods to the goods storage. device or cargo lifting assembly 3; alternatively, the movable push rod 282 is used to pull the cargo into the conveying mechanism 22, and when the movable push rod 282 does not need to move the cargo, the movable push rod 282 can be folded to reduce the Takes up space.

Among them, the telescopic arm 281 can be bidirectionally telescopic along the conveying direction of the goods, as long as the goods can be taken, and this embodiment does not impose any specific limitations on this.

In addition, the cargo storage device 5 may include a frame 51. The frame 51 is provided with a plurality of pallets 52. The pallets 52 are used to place cargo. The plurality of pallets 52 are arranged at intervals along the vertical direction on the frame 51. The conveying mechanism 22 can be multi-layered. When the fluent shelf 2 is docked with the cargo storage device 5, the conveying mechanism 22 of one layer is docked with a pallet 52, and the conveying mechanism 22 is flush with the goods in the horizontal plane. In this way, the push rod assembly 28 can directly The goods on the flow shelf 2 are pushed onto the pallet 52 to complete the loading of the goods storage device 5, or the push rod assembly 28 pulls the goods on the pallet 52 into the flow shelf 2 to complete the loading of the goods storage device 5. When the unloading of the cargo storage device 5 is completed and the multi-layer conveying mechanism 22 is docked with the multi-layer pallet 52 respectively, the push rod assembly 28 on each layer of the conveying mechanism 22 can load or unload materials to the cargo storage device 5 at the same time, so that Improve loading or unloading efficiency.

In an optional embodiment, the height of the cargo inlet and outlet at one end of the conveyor mechanism 22 close to the cargo storage device 5 is equal to the height of its corresponding pallet 52. In this way, the height of the cargo inlet and outlet of the conveyor mechanism 22 and its corresponding height can be avoided. The heights of the corresponding pallets 52 are unequal, resulting in the failure of loading or unloading, thereby improving the reliability of loading and unloading.

In order to enable the goods to move smoothly along the conveying direction on the conveying mechanism 22, in this embodiment, the width of the conveying mechanism 22 perpendicular to the conveying direction of the goods is greater than the width of the goods, thereby improving the movement of the goods along the conveying direction on the conveying mechanism 22. passability.

The transfer device 100 provided by the embodiment of the present disclosure is provided with a cargo loading and unloading assembly at one end of the flow shelf 2 close to the cargo storage device 5. In this way, in addition to the function of transporting goods, the flow shelf 2 also has the functions of loading and unloading. Function, no additional loading and unloading devices are needed, the structure is simple, the space is small, and the cost is low.

Embodiment 3

FIG. 12 is a first structural schematic diagram of the transport robot in the transfer device provided by the third embodiment of the present disclosure; FIG. 13 is a partial schematic diagram of the second structure of the transport robot in the transfer device provided by the third embodiment of the present disclosure.

Referring to Figures 12 and 13, an embodiment of the present disclosure also provides a handling robot 1, which includes a mobile chassis 12, a lifting assembly 13 and a fork assembly 11. The mobile chassis 12 is used to carry the lifting assembly 13 and the fork assembly 11. The fork assembly 11 is connected with the lifting assembly 13, so that the lifting assembly 13 drives the fork assembly 11 to lift in the vertical direction.

In the present disclosure, the handling robot 1 also includes a support frame 14. The support frame 14 is installed on a mobile base. The mobile base is in contact with the support surface (such as the ground) of the handling robot 1 to support the support frame 14. The lifting assembly 13 The fork assembly 11 is installed on the support frame 14, and the lifting assembly 13 is connected to the fork assembly 11. The lifting assembly 13 drives the fork assembly 11 to rise and fall along the vertical direction of the support frame 14, so that the lifting assembly 13 can be taken to different heights. goods, or place goods at different heights. Among them, the lifting component 13 can be a chain drive or a belt drive structure.

The structure of the fork assembly 11 is introduced below, and in this embodiment, the goods picked up and placed by the fork assembly 11 are described using tires as an example: the fork assembly 11 includes a fork body 111 and a fork body 111 located on the fork body 111 . The fork 112 of the fork 112 can pick up and place the tire by clamping, inserting and lifting, or pushing and pulling. Because the clamping or push-pull method needs to reserve corresponding space for the fork 112 on both sides of the tire when picking up and placing the tire. In order to reduce the space and make the structure more compact, in this embodiment, the fork 112 can be a fork, and the fork can be directly inserted into the bottom of the tire to lift the tire and move it. The fork tines may be single fork tines or multiple fork tines.

Figure 14 is a schematic diagram of the first state of the fork assembly in the handling robot provided by the third embodiment of the present disclosure; Figure 15 is a schematic diagram of the second state of the fork assembly of the handling robot provided by the third embodiment of the present disclosure; Figure 16 It is a schematic diagram of the first state of the transport robot provided in Embodiment 3 of the present disclosure; FIG. 17 is a schematic diagram of the second state of the transport robot provided in Embodiment 3 of the present disclosure.

Referring to Figures 14 to 17, the fork 112 is provided with a locking mechanism 113. When the fork 112 is inserted and lifted into the tire, the locking mechanism 113 is inserted into the inner ring of the tire and is locked with the inner ring of the tire. This prevents the position of the tire on the fork 112 from shifting during the movement of the fork 112, thereby improving the stability and reliability of the movement of the tire driven by the fork 112.

In an optional embodiment, the locking mechanism 113 includes at least two locking parts 1131 , the at least two locking parts 1131 are arranged at intervals along the circumferential direction of the tire, and the at least two locking parts 1131 can be arranged along the circumferential direction of the tire. The radial direction shrinks toward the center of the tire or expands away from the center of the tire. When at least two clamping portions 1131 expand along the radial direction of the tire away from the center of the tire, each of the clamping portions 1131 is locked with the inner ring of the tire. When the tire When it is necessary to remove the fork 112, at least two of the engaging portions 1131 shrink toward the center of the tire along the radial direction of the tire, so that each of the engaging portions 1131 loosens the tire.

The fork assembly 11 further includes a driving member, which is connected to each of the engaging portions 1131 respectively, so that the driving member drives each of the engaging portions 1131 to contract along the radial direction of the tire toward the center of the tire or to expand away from the center of the tire.

The driving member may be a motor, and the motor rotates forward and reverse to achieve contraction of each clamping portion 1131 toward the center of the tire or expansion away from the center of the tire.

In order to improve the clamping reliability between each clamping portion 1131 and the tire, the contour shape of the side of each clamping portion 1131 close to the inner ring of the tire can match the contour shape of the inner ring of the tire. The arc-shaped structure with the same outline shape of the inner ring improves the fit between each of the inserting parts 1131 and the inner ring of the tire, thereby improving the clamping reliability between each of the inserting parts 1131 and the tire.

In another optional embodiment, each clamping portion 1131 is a rod-shaped structure extending in the vertical direction, and is clamped between each rod-shaped structure and the inner ring of the tire to improve the movement of the fork 112 in driving the tire. stability and reliability.

In order to further improve the reliability of the clamping between each inserting portion 1131 and the tire, in this embodiment, when each inserting portion 1131 is embedded in the inner ring of the tire, the top of each inserting portion 1131 is in contact with the tire. The tops of each locating portion 1131 are flush with each other, or the tops of each locating portion 1131 are higher than the top of the tire. In this way, the clamping area between each locating portion 1131 and the inner ring of the tire can be increased, thereby increasing the distance between each locating portion 1131 and the tire. The reliability of the card system.

Based on the above embodiment, the top of each inserting portion 1131 is provided with an elastic hook extending away from the center of the tire. When each inserting portion 1131 is embedded in the inner ring of the tire, the elastic hook is locked in the inner ring of the tire. The top of the tire, in this way, in addition to each clamping portion 1131 being locked with the inner ring of the tire, each elastic hook also has a compressing effect on the tire in the vertical direction, thereby further improving the distance between each clamping portion 1131 and the tire. The reliability of the card system.

In addition, the clamping mechanism 113 also includes at least two telescopic parts 1132. Each telescopic part 1132 is respectively located between each clamping part 1131 and the driving member. Among them, one telescopic part 1132 corresponds to one clamping part 1131, and the driving part drives each telescopic part 1131. The portions 1132 expand and contract, so that each expansion portion 1132 drives each clamping portion 1131 to contract toward the center of the tire along the radial direction of the tire or to expand away from the center of the tire.

Each telescopic part 1132 may be a telescopic rod.

In one embodiment, there are four clamping parts 1131 , and the four clamping parts 1131 are arranged at equal intervals along the circumferential direction of the tire. This ensures that the fork 112 drives the tire to move. While ensuring stable reliability during movement, the smaller the number of clamping portions 1131, the simpler the structure and the lower the processing and installation costs.

The fork assembly 11 also includes a lifting device. The lifting device is connected to the clamping mechanism 113. The lifting device is used to drive the clamping mechanism 113 to move up and down along the axial direction of the tire.

In specific implementation, when the fork 112 is inserting and lifting the tire, the clamping structure is in a contracted state, that is, the top of the clamping structure is flush with the upper end surface of the fork 112. When the fork 112 is inserted and lifted up the tire, the lifting device drives The clamping mechanism 113 rises to lock the clamping structure with the inner ring of the tire. The fork 112 drives the tire to move. When the fork 112 needs to lower the tire, the lifting device drives the clamping mechanism 113 to descend, so that the clamping mechanism The top of 113 is flush with the upper end surface of the cargo fork 112, and the cargo fork 112 lowers the tire to realize the picking and placing of the tire by the cargo fork 112.

The lifting device includes a motor and a driving rod connected to the motor. The driving rod is connected to the clamping mechanism 113 so that the motor drives the driving rod to drive the clamping mechanism 113 to rise and fall along the axial direction of the tire.

The lifting device can also be of other structures, which is not specifically limited in this embodiment.

Embodiment 4

Figure 18 is a schematic diagram of a state of the first structure of the fork assembly in the handling robot provided in the fourth embodiment of the present disclosure; Figure 19 is another first structure of the fork assembly in the handling robot provided in the fourth embodiment of the present disclosure. State schematic diagram; Figure 20 is a third structural schematic diagram of the handling robot provided in Embodiment 4 of the present disclosure; Figure 21 is a first state schematic diagram of the top view structure of the fork assembly in Figure 20; Figure 22 is a diagram of Figure 20 The second state schematic diagram of the top view structure of the middle fork assembly; Figure 23 is the third state schematic diagram of the top view structure of the fork assembly in Figure 20; Figure 24 is the fourth state of the top view structure of the fork assembly in Figure 20 Schematic diagram.

Referring to Figures 18 to 24, the embodiment of the present disclosure also provides another fork assembly 11, which includes a bracket 115, a rotating mechanism 116 and a telescopic fork 117 located on the rotating mechanism 116. The telescopic fork 117 passes through the rotating mechanism 116. 116 is installed on the bracket 115, and the rotation mechanism 116 is used to drive the telescopic fork 117 to rotate around a vertical axis relative to the bracket 115, so that the telescopic fork 117 can face different directions, so as to facilitate picking and placing in different directions. location of goods.

The telescopic fork 117 is provided with a clamping component 114. When the telescopic fork 117 is inserted and lifted, the clamping component 114 is clamped with the outer wall of the cargo to prevent the telescopic fork 117 from moving after the cargo is inserted and lifted. The position of the telescopic fork 117 is shifted, thereby improving the stability and reliability of the telescopic fork 117 when inserting and lifting goods and moving.

In an optional embodiment, the clamping assembly 114 includes at least two clamping parts 1141 , the at least two clamping parts 1141 are spaced apart along the circumference of the goods, and at least one of the at least two clamping parts 1141 clamps The holding portion 1141 can move toward or away from the cargo, so that at least two clamping portions 1141 are stuck with or detached from the outer wall of the cargo.

For example, the clamping assembly 114 includes two clamping parts 1141. For convenience of description, the two clamping parts 1141 are respectively represented by a first clamping part 1141a and a second clamping part 1141b, where the first clamping part 1141a and The second clamping parts 1141b can be arranged oppositely. When the telescopic fork 117 inserts and lifts the goods, one clamping part 1141 is opposite to the other. The clamping parts 1141 move toward each other, or the two clamping parts 1141 move toward each other at the same time, so that the goods are clamped between the two clamping parts 1141 , so that the two clamping parts 1141 It is locked with the outer wall of the cargo, thereby improving the stability and reliability of the telescopic fork 117 when inserting, lifting, and moving the cargo.

In an optional embodiment, along the transport direction of the goods, the first clamping part 1141a and the second clamping part 1141b are respectively located at both ends of the telescopic fork 117. When the telescopic fork 117 is retracted, the goods It is clamped between the first clamping part 1141a and the second clamping part 1141b, thereby improving the stability and reliability of the telescopic fork 117 when inserting, lifting and moving the cargo.

Among them, the telescopic fork 117 includes a bottom plate 1171 provided on the rotating mechanism 116 and a fork plate 1172 that can slide relative to the bottom plate 1171, that is, the fork plate 1172 can extend or retract relative to the bottom plate 1171, and the fork plate 1172 is used for Insert and lift goods.

In an optional embodiment, along the sliding direction of the fork plate 1172, the first clamping portion 1141a is disposed on the bottom plate 1171 near the rear end of the fork plate 1172, and the second clamping portion 1141b is disposed on the front end of the fork plate 1172. , so that the first clamping part 1141a and the second clamping part 1141b move in a direction toward or away from each other due to the picking or placing action of the fork plate 1172 .

It can be understood that the front end of the fork plate 1172 is the end that first approaches the cargo when the fork plate 1172 moves toward the cargo and lifts the cargo, and the other end that is symmetrical to it is the rear end of the fork plate 1172 .

In specific implementation, taking the fork plate 1172 to lift goods from the flow shelf 2 as an example, the second clamping portion 1141b moves toward the flow shelf 2 along with the fork plate 1172. In order to prevent the fork plate 1172 and the second clamping portion 1141b on the fork plate 1172 from interfering with the flow shelf 2, a first escape gap is provided at the end of the flow shelf 2 that is connected to the transport robot 1. The depth of the gap along the vertical direction is greater than the total height of the fork plate 1172 and the second clamping portion 1141b on the fork plate 1172. The fork plate 1172 is inserted into the bottom of the cargo and is lifted and then retracted backward, while the fork plate 1172 is in the process of retracting. , the second clamping part 1141b will move in a direction close to the first clamping part 1141a together with the fork plate 1172, so that the goods are clamped between the first clamping part 1141a and the second clamping part 1141b.

In addition, when the goods on the fork plate 1172 are to be placed on the partition 141 for placing goods on the handling robot 1, the rotating mechanism 116 first drives the telescopic fork 117 to rotate around a vertical axis, so that the fork plate 1172 is aligned with the partition 141 where the goods are to be placed, and the partition 141 is provided with a second avoidance gap for avoiding the fork plate 1172 and the second clamping portion 1141b on the fork plate 1172. After the fork plate 1172 is inserted into the second avoidance gap , the telescopic fork 117 moves downward by a preset distance in the vertical direction. At this time, the goods on the fork plate 1172 are placed on the partition 141, and the fork plate 1172 drives the second clamping part 1141b toward the first clamping part. The direction of the portion 1141a is retracted, thereby transferring the goods on the flow shelf 2 to the partition 141 on the transport robot 1.

In another optional embodiment, the telescopic fork 117 is provided with a telescopic part 1142, and the telescopic part 1142 is connected to the first clamping part 1141a and/or the second clamping part 1141b, so that the telescopic part 1142 drives the third clamping part 1141a. One clamping part 1141a and/or the second clamping part 1141b telescopically move toward each other or away from each other. That is to say, the first clamping part 1141a and/or the second clamping part 1141b can be connected with the telescopic fork. between 117 has relatively independent movement, so that the size of the cargo that can be clamped between the first clamping part 1141a and the second clamping part 1141b can be larger or smaller, and the telescopic fork 117 can insert and lift the cargo and move it when it is satisfied. While ensuring stable and reliable performance, it also increases the scope of application. The telescopic member 1142 may be a telescopic rod.

In addition, the fork assembly 11 also includes a driving structure, and the driving structure is connected to the telescopic member 1142, so that the driving structure drives the telescopic member 1142 to drive the first clamping part 1141a and/or the second clamping part 1141b to move closer to or away from each other. direction, where the driving structure can be a motor, and the motor rotates forward or reverse to enable the telescopic member 1142 to achieve telescopic or retractive purposes. The structure is simple and the cost is low.

On the basis of the above embodiments, the fork assembly 11 also includes a lifting device. The lifting device is connected to the second clamping part 1141b. The telescopic fork 117 is provided with an escape groove 1412 or an escape groove 1412 for avoiding the second clamping part 1141b. hole, when the telescopic fork 117 picks up and places goods, the lifting device drives the second clamping part 1141b to lift in the vertical direction.

In specific implementation, if the telescopic fork 117 needs to pick up and place goods, the lifting device can first drive the second clamping part 1141b to descend vertically into the avoidance groove 1412 or the avoidance hole to avoid the second clamping part 1141b. Interference occurs with the flow shelf 2 and the like. When the telescopic fork 117 is inserted into the bottom of the goods and lifted, the lifting device drives the second clamping part 1141b to rise. At this time, the second clamping part 1141b can follow the telescopic goods. The forks 117 move together toward the direction of approaching the first clamping portion 1141a, or the first clamping portion 1141a and/or the second clamping portion 1141b move toward each other as the telescopic member 1142 contracts, so that the goods can be moved closer to each other. is clamped in the first clamping between the portion 1141a and the second clamping portion 1141b, thereby improving the stability and reliability of the telescopic fork 117 when inserting and lifting goods and moving them.

In order to improve the reliability of the clamping part 1141 in clamping goods, in this embodiment, the contour shape of the side of the clamping part 1141 facing the goods when clamping the goods can match the outer contour shape of the goods, thereby improving the clamping part 1141 . 1141 and the cargo, thereby improving the clamping reliability of the clamping portion 1141 when clamping the cargo.

For example, when the cargo is a tire, the contour shape of the clamping portion 1141 facing the tire is an arc-shaped structure that matches the outer contour shape of the tire. The fork assembly 11 provided by the embodiment of the present disclosure is provided with a clamping component 114 on the telescopic fork 117. When the telescopic fork 117 inserts and lifts the goods, the clamping component 114 is locked with the outer wall of the goods, so as to This prevents the position of the cargo from shifting when the telescopic fork 117 is inserted and lifted and moved, thereby improving the stability and reliability of the telescopic fork 117 when it is inserted, lifted and moved.

Embodiment 5

FIG. 25 is a schematic top view of the fourth structure of the handling robot provided in Embodiment 5 of the present disclosure.

Referring to Figure 25, the embodiment of the present disclosure provides a handling robot 1, which includes a support frame 14. The support frame 14 is provided with a partition 141. The partition 141 is used to place goods. The partition 141 is provided with a correction component 15. When the goods are When placed on the partition 141 , the correction assembly 15 is used to correct the goods on the partition 141 so that the goods are located in the center of the partition 141 .

In the present disclosure, the correction assembly 15 is provided on the partition 141 so that The goods are located in the center of the partition 141 to avoid the position of the goods on the partition 141 being shifted due to the inertial force of the transport robot 1 or other reasons, causing the forks 112 and the like to be unable to accurately transport the goods on the partition 141 Positioning and picking up the goods, and by setting the correction component 15, the position accuracy of the goods in the partition 141 can be improved.

In an optional embodiment, the correction assembly 15 includes at least two correction portions 151 , the at least two correction portions 151 are spaced apart along the circumference of the partition 141 , and the at least two correction portions 151 can move toward or away from the partition. The central position of the goods 141 moves so that each correction part 151 is used to correct the position of the goods on the partition 141 .

In specific implementation, after the fork assembly 11 places the goods on the partition 141, each correction part 151 moves toward the center position close to the partition 141. At this time, if the goods are not located at the center position of the partition 141, The goods will move to the central position of the partition 141 under the movement of each correction part 151, thereby completing the correction of the position of the goods on the partition 141. After the correction of the goods is completed, each correction part 151 will face away from the partition 141. move to the center position.

Each correction part 151 may have a plate-like structure or a block-like structure, as long as it can correct the position of the goods.

In order to improve the accuracy of each correction part 151 when correcting the goods, the contour shape of each correction part 151 facing the goods matches the shape of the contour segment of the outer wall of the goods corresponding to each correction part 151. In this way, the correction part can be improved. 151 When correcting the position of the goods, the degree of fit between the correction part 151 and the goods is improved, thereby improving the accuracy of the correction part 151 when correcting the position of the goods.

On the basis of the above embodiment, the partition 141 is provided with at least two telescopic structure, at least two telescopic structures are respectively connected to at least two correction parts 151, wherein one telescopic structure is connected to one correction part 151, and the telescopic structures can telescope toward or away from the center of the partition 141, so that each telescopic structure drives each The correction part 151 corrects the goods on the partition 141.

The telescopic structure may be an elastic telescopic member 1142, such as a spring.

Alternatively, the telescopic structure may also be a pneumatic telescopic member 1142. The telescopic member 1142 drives each correction part 151 to move with the compression and release of air pressure, so that each correction part 151 can be used to correct the position of the goods on the partition 141.

In addition, the partition 141 is also provided with a driving component, which is connected to each telescopic structure, so that the driving component drives each telescopic structure to telescope toward or away from the center of the partition 141, where the driving component can be a motor. and other structures, as long as they can provide power for each telescopic structure, this embodiment does not impose specific limitations on this.

In an optional embodiment, the support frame 14 is also provided with a detection part 16 and a control component electrically connected to the detection part 16. The detection part 16 is used to detect the placement of goods on the partition 141, and the detection part 16 The detected placement situation of the goods is transmitted to the control component, which is connected to the correction component 15. The control component is used to control the correction component 15 so that the correction component 15 adjusts the position of the goods.

In specific implementation, when the detection component 16 detects that the goods placed on the partition 141 are not located at the center of the partition 141, the information is uploaded to the control component, and the control component controls the correction component 15 to perform correction according to the information. The goods are adjusted to the center of the partition 141; if the detection component 16 detects that the goods placed on the partition 141 are at the center of the partition 141, the control component will not activate the correction component 15. The goods on the partition 141 are calibrated, thereby improving the accuracy of the work of the correction component 15 and avoiding the situation where the position of the goods on the partition 141 does not shift but the correction component 15 is activated for correction.

The detection component 16 can be a camera or other detection device that can be used to detect the placement of goods on the partition 141. This embodiment is not specifically limited in this regard.

Figure 26 is a schematic structural diagram of the middle partition of the handling robot provided in Embodiment 5 of the present disclosure; Figure 27 is another schematic structural diagram of the middle partition of the handling robot provided in Embodiment 5 of the present disclosure; Figure 28 is provided in Embodiment 5 of the present disclosure. Another structural diagram of the partition board in the handling robot.

Referring to Figures 26 to 28, on the basis of the above embodiment, in order to make the partition 141 suitable for placing goods of different sizes, and the goods will not shift in position while traveling with the handling robot 1, in this embodiment , the partition 141 is provided with a groove 1411. The diameter of the groove 1411 decreases from the opening of the groove 1411 to the bottom of the groove 1411. The goods on the partition 141 will be held in the groove due to its own gravity. 1411, in this way, the partition 141 is not only suitable for placing goods of different sizes, but also the position of the goods on the partition 141 will not be shifted due to inertial force and other reasons when the goods are traveling with the transport robot 1. .

In an optional embodiment, the diameter of the groove 1411 decreases in a stepwise manner from the notch of the groove 1411 to the bottom of the groove 1411. In this way, the contact between the outer wall of the cargo and the inner wall of the groove 1411 can be reduced. area, thereby improving the stability and reliability of goods being held in the groove 1411.

In another optional embodiment, the diameter of the groove 1411 decreases on a slope from the notch of the groove 1411 to the bottom of the groove 1411. In this way, more goods of different sizes can be applied, thereby improving the partition wall 141. The range of cargo that can be carried.

In an optional embodiment, the cross-sectional shape of the inner space of the groove 1411 along the horizontal plane may be a square, rectangle or polygon formed by multiple straight lines; or, the cross-sectional shape of the inner space of the groove 1411 along the horizontal plane The shape can be formed by multiple arcs, or a regular shape or an irregular rectangular shape formed by arcs and straight lines.

In one possible embodiment, the space inside the groove 1411 is funnel-shaped. It can be understood that the space inside the groove 1411 is funnel-shaped, that is, the radial dimension of the space inside the groove along the vertical direction is from top to bottom. It gradually decreases downward. In this way, when the goods are located in the groove 1411, the goods in the groove 1411 will be stuck in the groove due to their own gravity and the friction between the goods and the groove wall of the groove 1411. 1411, thereby avoiding the shift of goods when traveling with the handling robot 1, with simple structure and low cost.

Optionally, the space in the groove 1411 is in the shape of at least two layers of funnels. In this way, the size range of the goods that can be accommodated in the groove 1411 is increased, thereby increasing the use range of the partition 141.

Based on the above embodiment, the partition 141 is provided with a cargo inlet and outlet, and the cargo inlet and outlet are connected with the groove 1411. The cargo fork 112 on the handling robot 1 can place the goods in the groove 1411 through the cargo inlet and outlet or from the groove 1411. Take out the goods from the groove 1411.

Among them, the side of the groove 1411 close to the fork 112 in the handling robot 1 can be an opening structure, and the opening structure forms a cargo inlet and outlet. Therefore, the cargo inlet and outlet and the groove 1411 can be integrally formed, reducing processing steps and reducing costs.

When the cargo forks 112 in the handling robot 1 are picked up and placed by inserting and lifting, in order to facilitate the insertion of the cargo forks 112 into the bottom of the cargo, in this embodiment, the inner bottom wall of the groove 1411 is provided with a space for avoiding the cargo forks. The avoidance groove 1412 of 112 is connected with the cargo inlet and outlet. When the cargo fork 112 places goods in the groove 1411 or takes the goods from the groove 1411, the cargo fork 112 is first inserted into the avoidance groove 1412, and then lifted. Or move down to pick up and place goods.

The depth of the escape groove 1412 in the vertical direction is greater than the thickness of the cargo fork 112 so that the cargo fork 112 can move up or down in the escape groove 1412, thereby realizing the picking and placing of goods by inserting and lifting.

In order to prevent the fork 112 from getting stuck or colliding with the wall of the escape groove 1412 when it enters the escape groove 1412, in this embodiment, a guide portion is provided on the inner bottom wall of the escape groove 1412, and the guide portion is used for The cargo fork 112 is guided along the incoming and outgoing direction of the goods to improve the accuracy of the goods entering the avoidance groove 1412, thereby improving the guidance reliability of the goods entering the avoidance groove 1412.

In an optional embodiment, the bottom of the avoidance groove 1412 is a slope. Along the insertion direction of the cargo fork 112, the height of the slope decreases sequentially from the inside of the avoidance groove 1412 to the cargo entrance and exit. When the cargo fork 112 enters and exits along the cargo fork 112, When the direction is inserted into the avoidance groove 1412, the inclined surface can guide the fork 112. Therefore, in this embodiment, the inclined surface can form a guide portion for guiding the fork 112. In this way, the guide portion can be aligned with the concave surface. The groove 1411 is formed in one piece, which reduces the processing steps and reduces the cost.

In an optional embodiment, the escape groove 1412 can be an escape gap without a bottom plate, and both sides of the gap are regarded as guide parts. This can increase the movable space for the insertion of the fork 112 and avoid insufficient depth of the escape groove 1412. The clamping part is too high, causing the clamping part to interfere with the cargo when the fork is withdrawn, causing the cargo placement operation to be unable to be completed.

On the basis of the above embodiment, there may be multiple partitions 141 , and the plurality of partitions 141 are spaced apart in the vertical direction on the support frame 14 . In this way, the transport robot 1 can transport multiple goods at one time, thereby improving the efficiency of the transport robot. 1 handling efficiency, saving time.

Figure 29 is a schematic top view of the fifth structure of the handling robot provided in Embodiment 5 of the present disclosure.

Referring to Figure 29, in order to further prevent the position of the goods on the partition 141 from shifting, in this embodiment, the partition 141 is provided with an elastic limiter 2417, and the elastic limiter 2417 is used to prevent the goods placed on the partition 141 from shifting. When the elastic limiter 2417 limits the goods, the elastic limiter 2417 will be extruded and deformed by the goods, thereby preventing the goods from shifting on the partition 141 .

In an optional embodiment, the elastic limiter 2417 is provided on the inner wall of the partition 141. When goods are placed on the partition 141, the elastic limiter 2417 on the inner wall of the partition 141 is squeezed by the goods. , In this way, the cargo is clamped with the elastic limiter 2417, thereby preventing the cargo from shifting and improving the stability and reliability of the cargo during movement with the handling robot 1.

Among them, there can be multiple elastic limiting parts 2417, and multiple elastic limiting parts 2417 are arranged at intervals on the inner side wall of the partition 141. In this way, while preventing the goods from shifting, the elastic limiting members 2417 do not need to cover the entire inner side wall of the partition 141, thereby improving economy and saving costs.

In addition, a plurality of elastic limiters 2417 can be arranged at equal intervals on the side wall of the partition 141 along the circumferential direction of the partition 141. In this way, the degree of deformation of each elastic limiter 2417 can be kept consistent when being squeezed by the cargo. Further, The stability and reliability of the cargo carrying robot 1 during movement are improved.

In an optional embodiment, the elastic limiting member 2417 may be a rubber strip or other elastic member, which is not specifically limited in this embodiment.

In another optional embodiment, the elastic limiting member 2417 may also include multiple springs and pads, the multiple springs are arranged at intervals on the partition 141, the pads are laid on the multiple springs, and the pads Located at one end of the spring close to the cargo, when the cargo is placed on the partition 141, the pad is sandwiched between multiple springs and the cargo. In this way, the contact area between the spring and the cargo can be increased through the pad, thereby improving the The elastic limiter 2417 can limit the cargo reliably.

In the present disclosure, when the partition 141 is provided with a groove 1411 for placing goods, the goods are clamped in the groove 1411. In addition, the elastic limiter 2417 is provided on the groove wall of the groove 1411. In this way, While the groove 1411 prevents the goods from shifting while moving with the handling robot 1, the elastic limiters 2417 on the groove wall further prevent the goods from shifting from the groove 1411, thus improving the restriction of the goods. reliability.

In specific implementation, the partition 141 is provided with a cargo inlet and outlet, and the cargo inlet and outlet are The opening is connected with the groove 1411. When the cargo fork 112 on the handling robot 1 puts the goods into the groove 1411 through the cargo inlet and outlet, the elastic limiter 2417 on the inner wall of the groove 1411 is clamped with the goods, thereby To prevent the goods from shifting when moving with the handling robot 1; and when the cargo fork 112 takes the goods out of the groove 1411, the cargo fork 112 is inserted into the bottom of the goods through the cargo inlet and outlet and lifted up, because the goods and the elastic limiter 2417 There is elastic clamping between them. Therefore, as long as the lifting force of the cargo fork 112 is greater than the friction between the elastic limiter 2417 and the cargo, the cargo can be smoothly taken out of the groove 1411. The structure is simple. , easy to operate.

The handling robot 1 provided by the embodiment of the present disclosure provides an elastic limiter 2417 on the partition 141 , and uses the elastic limiter 2417 to limit the goods placed on the partition 141 , thereby preventing the goods from being moved along with the handling robot 1 The offset occurs during the movement, which improves the stability and reliability of the cargo handling robot 1 during the movement.

Embodiment 6

Embodiments of the present disclosure also provide a warehousing system, including the transfer device 100 and the transfer robot 1 provided above. The structures of the transfer device 100 and the transfer robot 1 have been described in detail in the above embodiments, and will not be explained here. Let’s go over them one by one.

Embodiment 7

The application scenario of the embodiment of the present disclosure is explained below: Figure 30 is an application scenario diagram of the container transportation method provided by the embodiment of the present disclosure. As shown in Figure 30, when the warehousing management device 110 of the warehousing system receives an order task, as shown in Inbound tasks, sorting tasks, outbound tasks, etc. need to go through the warehousing system The transportation line 120 transports various goods in the order task. For the warehousing task, each goods on the transportation line 120 needs to be transported to the corresponding storage location of the warehouse shelf through the handling robot 1; for the outbound task or sorting task, it needs to be transported through the transportation robot 1. The line 120 transports each goods to the operation station, so that each goods is sorted or shipped out of the warehouse.

Specifically, the transportation line 120 is composed of an unloader 121, an elevator 122 and a conveyor belt. When the order task is a warehousing task, each of the goods of the warehousing task needs to be transported by the conveyor belt to each layer of the unloader 121 through the elevator 122, and then the transport robot 1 will transport the goods placed on each layer of the unloader 121 to its storage shelf 130 on each floor and transport the goods to the corresponding storage location. When the order task is an outgoing task or a sorting task, the handling robot 1 is required to carry each of the goods corresponding to the order task from its storage location to each layer of the storage shelf 131 of the handling robot 1, and then to the unloader 121. Thereby, the unloader 121 unloads the goods on each layer of the storage shelf 130 to each layer of the unloader 121 , and the goods placed on each layer of the unloader 121 are sequentially transported to the conveyor line assembly 123 through the elevator 122 , and then through the conveyor line assembly 123 transports each cargo to the operating station in turn to complete the order task.

Each layer of the existing unloader 121 can only place goods of the same size. As a result, goods of different sizes need to be transported through different unloaders and their corresponding conveying lines. The transportation efficiency is low and the cost is high.

In order to improve the transportation efficiency of goods, the goods transportation method provided by the embodiment of the present disclosure is based on the transfer device to transport goods. The fluent shelves of the transfer device can place goods of different sizes, so that the goods can be adaptively determined based on the size information of the goods. The target layer of the corresponding fluent shelf, and then based on the conveyor line corresponding to the target layer. Transportation of goods.

Figure 31 is a flow chart of a cargo transportation method provided by an embodiment of the present disclosure. The cargo transportation method is applied to the transfer device 100. The transfer device 100 is used for the transfer and transportation of cargo when loading or unloading the transport robot 1. , including a fluent shelf 2. The fluent shelf 2 includes a bracket 21 and a transmission mechanism 22 arranged on the bracket 21. The transmission mechanism 22 is multi-layered, and the width of each layer of the transmission mechanism 22 is fixed. The width of at least two layers of the transmission mechanism 22 is different, such as As shown in Figure 31, the cargo transportation method includes the following steps:

Step S201: Obtain the size information of the goods.

Among them, the goods can be any kind of items, such as tires, building materials, etc., or they can be boxes provided by the warehousing system. One or more items that the user needs to store can be placed in the box, which can be clothing, cosmetics, porcelain, etc. .

Among them, the size information can be the width of the goods, and can also include one or both of the height or length.

Specifically, there may be an upstream device, such as a warehouse management device of a warehousing system, that sends the pre-stored size information of the goods to the transfer device 100 . Or the transfer device 100 can monitor the size information of the cargo in real time to improve the accuracy of the cargo size.

Furthermore, the size information of the goods can be obtained in real time through the scans provided on the transfer device 100 or other devices in the warehousing system.

Furthermore, the size information of each cargo corresponding to the set time can be obtained. The set time can be a fixed time period, such as 10 minutes, 1 hour, or other time periods, or it can be an adaptively adjusted time period, for example, it can be determined based on the order volume of the warehousing system.

Furthermore, the size information of a preset number of goods can be obtained, and the preset number can be the number of layers of the conveying mechanism.

Optionally, when the transfer device 100 is used to unload the transport robot 1 , the size information is obtained based on the second scanned document provided on the transport robot 1 .

Among them, the second scanning part can be a camera or camera, or it can be an ultrasonic sensor, a laser sensor, or other sensors, or it can be a scanning device that can identify the cargo code. The cargo identification code is set in accordance with the predetermined location of the cargo. If the location is set, the cargo identification code can be in any form such as QR code, bar code, encoding, etc.

Specifically, when the transport robot 1 transports the goods to its storage shelf, it can scan the goods based on the second scan to obtain the size information of the goods, and send the size information to the multi-layer elevator or storage system. .

Step S202: Determine the target layer of the conveying mechanism 22 corresponding to the goods according to the size information.

Wherein, the target layer is a certain layer of the conveying mechanism 22 used to transport the goods.

The conveying mechanism 22 includes multiple layers, and at least two layers of the conveying mechanism 22 can place goods with different size information.

Specifically, according to the size information of the goods, a layer of the conveying mechanism 22 that matches the size information can be determined as the target layer.

Furthermore, when the size information of multiple goods is obtained, the target layer of the conveying mechanism 22 corresponding to each goods can be determined according to the size information of each goods, so that each goods can be transported based on the determined target layers.

Specifically, the size information of multiple goods can be sorted from large to small, and based on the sorting results and the size information of each goods, the target layer of the conveying mechanism 22 corresponding to each goods is determined in turn.

Step S203, transport the goods through the target layer of the conveying mechanism 22.

Specifically, after the target layer corresponding to the goods is determined, the goods can be placed on the target layer of the conveying mechanism 22, and then the goods are transported by the target layer of the conveying mechanism 22 to complete the corresponding order.

Furthermore, when the goods need to be stored in the warehouse, the goods need to be transported to the corresponding layer of the storage shelf of the transport robot 1 through the target layer of the transmission mechanism 22, and then the transport robot 1 places the goods on the shelf of the storage system. on the corresponding location.

Furthermore, when the goods need to be shipped out of the warehouse or sorted, the goods need to be transported to the operation station through the target layer of the conveying mechanism 22, and then the goods are sorted or shipped out of the warehouse.

The cargo transportation method provided by the embodiment of the present disclosure is based on multi-layer fluent shelves. According to the size information of the goods that need to be transported, the corresponding transportation line is matched, that is, the target layer of the transmission mechanism of the fluent shelf is matched, thereby passing through the target layer of the transmission mechanism. Transport goods to the handling robot 1 or the operating table to complete the corresponding warehousing, outgoing or sorting tasks, realizing parallel transportation of goods of multiple sizes, improving the flexibility of goods transportation and transportation efficiency, and improving warehousing The order processing efficiency of the system.

Figure 32 is a cargo transportation method provided by another embodiment of the present disclosure. The embodiment is aimed at the situation where the transfer device 100 unloads and transports the handling robot 1. The transfer device 100 also includes a cargo lifting assembly 3. This embodiment is based on the embodiment shown in Figure 31, with the steps S201 is further refined, and after step S202, a step of transporting the goods to the target layer is added. As shown in Figure 32, the goods transportation method provided by this embodiment includes the following steps:

Step S301: Obtain the size information of the goods based on the first scanning part 43 provided on the goods lifting component 3 or the conveyor line component 4.

Among them, the cargo entrance and exit of the cargo lifting assembly 3 is connected with one end of the conveying mechanism 22 . The conveyor line assembly 4 is docked with an end of the cargo lifting assembly 3 away from the cargo entrance and exit to transport the cargo to the cargo lifting assembly 3 . The first scanning element 43 may be a scanning sensor such as an ultrasonic sensor, a laser sensor, an infrared sensor, or an image acquisition device such as a camera or camera.

Specifically, when the goods are transported to the lifting assembly 3, the lifting assembly scans the goods based on the first scanner 43 provided thereon, such as scanning the position where the goods identification code is set on the goods, thereby obtaining the size information of the goods.

Specifically, when the goods need to be stored in the warehouse of the warehousing system, the goods can be processed by the operation station and then transported to the conveyor line assembly 4. When transported to the preset range, the preset range is the conveyor assembly 4 The scanning area of the first scanning part is based on the first scanning part 43 provided on the conveying line assembly to obtain the dimensional information of the goods.

Step S302: Determine the target layer of the conveying mechanism 22 corresponding to the goods according to the size information.

Step S303, based on the cargo lifting assembly, transport the cargo to The target layer of the transport mechanism 22.

Specifically, after the size information of the goods is determined based on the first scan 43 , when the goods are transported to the goods lifting assembly 3 , the goods lifting assembly 3 transports the goods to the target layer of the conveying mechanism 22 .

Specifically, the cargo lifting assembly 3 may include a conveying mechanism 32 and a lifting mechanism 33. After the target layer is determined, the lifting instruction of the lifting mechanism 33 is determined based on the target layer to control the lifting mechanism 33 to lift to a position corresponding to the target layer, thereby conveying The mechanism 32 carries the goods placed thereon to the target layer of the conveyor mechanism 22 .

Step S304, transport the goods to the handling robot 1 through the target layer of the conveying mechanism 22.

Specifically, each layer of the storage shelf of the transport robot 1 is connected to each layer of the conveyor mechanism 22 . The goods can then be transported to the corresponding layer of the storage shelf of the transport robot 1 based on the target layer of the transfer mechanism 22 .

Specifically, the transport robot 1 can move to a corresponding position of the transport mechanism 22 , such as a set distance directly in front, and then the transport robot 1 transports the goods placed on the target layer of the transport mechanism 22 to the corresponding layer of the storage shelf of the transport robot 1 .

In this embodiment, for the situation where the transfer robot 1 is loaded with materials through the transfer device 100, the goods are automatically acquired through the transfer mechanism 22 of the flow shelf 2 of the transfer device 100 or the first scanning part 43 provided on the transfer line assembly 4. The size information of the conveyor mechanism 22 is determined based on the size information, and the matching target layer of the conveyor mechanism 22 is determined. The goods are transported to the target layer of the conveyor mechanism 22 through the cargo lifting assembly 3, and the goods are transported to the conveyor through the target layer of the conveyor mechanism 22. Robot 1 to pass the handling robot 1. Complete the warehousing of goods. Based on the multi-layer fluent shelves that can place different sizes 2, adaptive transportation of goods of different sizes is realized, improving the flexibility and efficiency of goods transportation.

Figure 33 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure. This embodiment further refines step S203 based on the embodiment shown in Figure 31. As shown in Figure 33, this embodiment The method of transporting goods provided includes the following steps:

Step S401: Obtain the size information of the goods.

Step S402: Determine the target layer of the conveying mechanism 22 corresponding to the goods according to the size information.

Step S403: Determine the transport direction of the goods.

The transmission direction may include two opposite directions, the first direction and the second direction, so as to transport the goods from the operating table to the handling robot 1 or transport the goods on the handling robot 1 to the operating table, thereby realizing the transfer of the handling robot 1 loading or unloading. The first direction is the direction corresponding to the loading of the transport robot 1, and the second direction is the direction corresponding to the unloading of the transport robot 1.

Specifically, the goods can be transported to the flow shelf 2 through the conveyor line assembly 4 and the goods lifting assembly 3, and the goods on the flow shelf 2 can be transported to the operation platform.

Specifically, the transport direction of goods can be determined based on the type of order. When the order type is an inbound type, the transport direction is the first direction, and when the order type is an outbound type or a sorting type, the transport direction is the second direction.

Specifically, it can also be determined based on the state parameters of the handling robot 1 Send directions. For example, when the goods are placed on the storage shelf of the handling robot 1, the conveying direction is the second direction, and when the goods are not placed on the storage shelf of the handling robot 1, the conveying direction is the first direction.

Step S404: Adjust the conveying mechanism 22 or the target layer of the conveying mechanism 22 based on the conveying direction.

Specifically, when the conveying mechanism 22 is only adjustable as a whole, that is, the conveying direction of each layer of the conveying mechanism 22 is the same, after determining the conveying direction, the conveying mechanism 22 can be adjusted based on the conveying direction, so that each layer of the conveying mechanism 22, Including the target layer, goods are transported along the transport direction.

Specifically, when each layer of the conveying mechanism 22 can be adjusted individually, or at least the target layer can be adjusted individually, after the conveying direction is determined, the target layer of the conveying mechanism 22 can be adjusted individually, so that the target layer can convey goods along the conveying direction. . The transport direction corresponding to the target layer may be different from the cargo transport direction of at least one of the remaining layers of the transport mechanism 22 .

Furthermore, when each layer of the conveying mechanism 22 can be adjusted individually, different layers of the conveying mechanism 22 may have different conveying directions according to transportation requirements, thereby improving the efficiency of cargo transportation.

Optionally, as can be seen in conjunction with Fig. 1, Fig. 6 or Fig. 8, the transfer mechanism 22 includes a rolling transfer member 23. Based on the transfer direction, adjusting the transfer mechanism 22 or the target layer of the transfer mechanism 22 includes: based on the transfer direction, Determine the rotation mode of the rolling conveyor 23 or the target layer corresponding to the rolling conveyor 23, so that the rolling conveyor 23 or the target layer The corresponding rolling conveyor 23 rotates around its own rotation axis in the rotation mode, thereby realizing transportation of goods along the conveying direction.

The rotation mode includes the rotation direction of the rolling transmission member 23, such as clockwise rotation or counterclockwise rotation.

Specifically, when the conveying mechanism 22 is only fully adjustable, each layer of the conveying mechanism 22 can control the conveying direction of the goods on each layer through only one rolling conveyor 23, so that the conveying direction of the goods on each layer of the conveying mechanism 22 is the same. After the transmission direction is determined, the rotation mode of the rolling transmission member 23 is determined based on the transmission direction, so that the rolling transmission member 23 rotates around its own rotation axis in this rotation mode, thereby making each layer of the transmission mechanism 22, including the target layer, The direction of cargo transportation is the conveying direction.

Specifically, when each layer of the transfer mechanism 22 can be adjusted individually, or at least the target layer can be adjusted individually, the rotation mode of the rolling transfer member 23 corresponding to the target layer can be determined based on the transfer direction, thereby controlling the rolling transfer member 23 corresponding to the target layer. 23 rotates around its own rotation axis in this rotation mode, so that the target layer of the transfer mechanism 22 can transport goods along the transfer direction.

Step S405, transport the goods through the target layer of the conveying mechanism 22.

Specifically, after the conveying mechanism 22 or the target layer of the conveying mechanism 22 is adjusted, the goods are transported along the conveying direction based on the adjusted target layer of the conveying mechanism 22 . The direction of cargo transportation on the target layer, that is, the transport direction, may be different from the direction of cargo transportation on at least one of the remaining layers of the transport mechanism 22 .

Optionally, the transfer mechanism 22 includes an adjustment mechanism. Based on the transfer direction, the transfer mechanism 22 or the target layer of the transfer mechanism 22 is adjusted, including: based on the In the conveying direction, the adjustment mechanism determines the inclination angle of each layer of the conveying mechanism 22 so that the goods located on the target layer of the conveying mechanism 22 generate a component force along the conveying direction. The tilt angle may be 30°, 45° or other angles. Correspondingly, transporting the goods through the target layer of the conveying mechanism 22 includes: transporting the goods through the target layer of the inclined conveying mechanism 22 .

Optionally, as can be seen in conjunction with FIGS. 1 to 6 , the transfer mechanism 22 includes a first transfer part 221 and a second transfer part 222 . Based on the transfer direction, adjusting the transfer mechanism 22 or the target layer of the transfer mechanism 22 includes: based on the transfer direction. According to the conveying direction, the second conveying part 222 of the conveying mechanism 22 is adjusted so that the height of the second conveying part 222 is greater than the height of the first conveying part 221 and the second conveying part 222 forms an inclined slope. Correspondingly, transporting the goods through the target layer of the conveying mechanism 22 includes transporting the goods through the inclined slope formed by the second conveying part 222 corresponding to the target layer and the horizontal surface formed by the first conveying part 221 .

In this embodiment, the conveying direction of the conveying mechanism 22 of the fluent shelf 2 is adjustable, so that the fluent shelf 2 can process different orders at the same time to complete various types of cargo transportation tasks such as outgoing, warehousing, and sorting of goods, and improves the efficiency The cargo transportation capacity of the fluent shelf 2; after obtaining the size information of the goods that need to be transported and determining the target layer of the transmission mechanism 22 of the fluent shelf 2 based on the size information, the target layer or the entire transmission mechanism can be further determined based on the transmission direction of the goods. 22 is adjusted to realize the transportation of goods in the transmission direction, so that the fluent shelf 2 can not only handle the transportation of goods of different sizes but also the transportation of goods in different transmission directions at the same time, further improving the efficiency of cargo transportation.

Figure 34 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure. This embodiment is aimed at the case where the width of the transmission mechanism 22 of the fluent shelf 2 is adjustable. As shown in Figure 34, the cargo transportation method provided by this embodiment Includes the following steps:

Step S501: Obtain the goods transportation order.

Among them, the goods transportation order can be a goods warehousing order, a goods outgoing order, or a goods sorting order. The goods inbound order is an order that requires each of the goods in the order to be transported to the warehouse of the warehousing system through the smooth shelf 2 and the handling robot 1. The goods outgoing order and the goods sorting order are respectively required to transport each of the goods in the order through the handling robot. 1 and the fluent shelves 2 transport the orders to the operation station for outbound and sorting.

Specifically, each goods order can be generated by the warehouse management equipment of the warehousing system, and then each goods order can be sent to the flow shelf 2 . After obtaining each goods order, the flow shelf 2 can obtain a goods transportation order based on each goods order, and the goods transportation order may include one or more goods orders.

Furthermore, the flow shelf 2 can obtain the goods transportation order according to the order level and deadline of each goods order. For example, one or more cargo orders with high order levels and deadlines close to the current time can be selected as cargo transportation orders. It can also be combined with the cargo transportation capacity of the fluent shelf 2, that is, the number of goods that can be transported on the fluent shelf 2, and based on the order level and deadline of each cargo order, one or more cargo orders can be combined into one cargo transportation order.

For example, assume that the number of goods that can be transported on the flow shelf 2 is 10; the order level of the goods order A is level one, and the deadline is 5:00 this afternoon. The number of goods that need to be transported is 6; the order level of goods order B is level three, and the deadline is 3 p.m. today, and the number of goods that need to be transported is 5; the order level of goods order C is level three, and the deadline is 3 p.m. today. At 10:20, the number of goods that need to be transported is 4; then goods order B and goods order C are determined as goods transportation orders.

Step S502: Determine the transportation width of each layer of the conveyor mechanism 22 of the smooth shelf 2 according to the size information of each cargo in the cargo transportation order, so that goods with matching widths can be transported through each layer of the conveyor mechanism 22.

Among them, the size information of the goods may include the width of the goods, and may also include one or both of the height and length of the goods. The transportation width of each layer of the conveyor mechanism 22 of the fluent shelf 2 can be adjusted, such as through electronic control or mechanical adjustment.

Specifically, the size information of each cargo in the cargo transportation order can be sorted, and based on the sorting results and the number of layers of the conveying mechanism 22 of the fluent shelf 2, the transportation width of each layer of the conveying mechanism 22 is determined, so that based on the conveying mechanism of the fluent shelf 2 Each layer of 22 transports one or more goods in the cargo transportation order corresponding to each layer.

For example, assume that the cargo transportation order includes 100 tires, including 25 21-inch tires, 50 19-inch tires, and 25 17-inch tires. The conveyor mechanism 22 of the fluent shelf 2 includes 3 layers. 22 includes 3 layers, then you can set the width of the first layer to the width required for the 17-inch tire, the width of the second layer to the width required for the 19-inch tire, and the third layer to the width required for the 21-inch tire. Thus, tires of three sizes can be transported simultaneously based on the three layers of the conveying mechanism 22 . You can also set the width of the first layer to the width required for 17-inch tires, the width of the second layer to the width required for 19-inch tires, and the third layer to the width required for 21-inch tires. The required width of 19-inch tires, so that 25 17-inch tires can be transported on the first layer of the conveyor mechanism 22, 40 19-inch tires can be transported on the second layer, and 25 21-inch tires can be transported on the third layer. , and transport 10 19-inch tires.

Optionally, after determining the transportation width of each layer of the conveyor mechanism of the fluent shelf, the method further includes: based on the handling robot 1, transporting the goods corresponding to each of the cargo transportation orders to the corresponding part of the conveyor mechanism 22 of the fluent shelf 2 or, based on the cargo lifting assembly 3, transport the goods corresponding to each cargo transportation order to the corresponding layer of the transmission mechanism 22 of the flow shelf 2, where the cargo entrance and exit of the cargo lifting assembly 3 is connected to one end of the transmission mechanism docking; or, based on the transmission line assembly 4 and the cargo lifting assembly 3, transport the goods corresponding to each of the cargo transportation orders to the corresponding layer of the transmission mechanism 22 of the flow shelf 2, where the transmission line assembly 4 and the cargo lifting assembly 3 The end away from the cargo entrance and exit is docked.

The cargo transportation method provided by the embodiment of the present disclosure adaptively determines the transportation width of each layer of the transmission mechanism 22 of the fluent shelf 2 based on the size information of each cargo in the cargo transportation order, so that the cargo transportation order can be processed simultaneously based on each layer of the transmission mechanism 22 The transportation of various goods with matching medium width enables the fluent shelf 2 to have the ability to transport goods of different sizes at the same time, improving the efficiency of goods transportation and order processing.

Figure 35 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure. This embodiment is based on the embodiment shown in Figure 34, further refines steps S501 and S502, and adds transmission after step S502. The steps for adjusting the transportation width of each layer of the mechanism are as shown in Figure 35. The cargo transportation method provided by this embodiment includes Includes the following steps:

Step S601: Obtain each first goods order.

The first goods order is an order corresponding to one or more users, which may be multiple orders sent by one user at different times, or may be multiple orders sent by multiple users within a period of time. Each first goods order may be an order for the same type of goods or an order for different types of goods.

Specifically, each order currently received by the warehousing system that needs to be processed can be obtained as each first goods order.

Optionally, obtaining each first goods order includes: obtaining each first goods order corresponding to the preset time interval according to a preset time interval. The preset time interval can be 1 hour, 6 hours, 12 hours, 24 hours or other time intervals. The preset time interval can be determined based on the historical daily order volume of the warehousing system.

Specifically, each order that has not yet been processed by the warehousing system can be obtained every preset time interval as each first goods order.

Step S602: Determine each of the goods transportation orders based on the quantity of the first goods order and the quantity of goods corresponding to each of the first goods orders.

Wherein, the goods transportation order includes one or more first goods orders.

Specifically, the first quantity of first goods orders may be combined into one goods transportation order by default. Or each goods transportation order may be determined based on the quantity of goods in each first goods order and the quantity of the first goods order.

Further, each cargo transportation order can be determined based on the upper limit of goods that can be transported simultaneously on the fluent shelf 2 of the warehousing system, the quantity of the first goods order, and the quantity of goods corresponding to each first goods order, so that the fluent shelf 2. Transport as much cargo as possible within the upper limit of the cargo it can transport to improve the efficiency of cargo transportation.

For example, the warehousing system currently has 3 orders that have not yet been processed, namely order A, order B and order C. Among them, the quantity of goods in order A is 12, the quantity of goods in order B is 20, and the quantity of goods in order C is 20. The quantity is 45. The total number of goods that can be transported in parallel on the fluent shelf 2 of the warehousing system is 36, then order A and order B can be combined into one goods transportation order, and order C can be used as another goods transportation order.

When there are multiple cargo transportation orders, the transportation order of each cargo transportation order can be determined based on the transportation priority of the cargo transportation order, so that the goods in each cargo transportation order can be transported sequentially based on the transportation order.

Step S603: Determine each size level based on the size information of each cargo in the cargo transportation order.

Among them, the size grade is a parameter describing the size of the goods. The higher the size grade, the larger the size of the corresponding goods.

Specifically, for each cargo transportation order, one or more size classes are determined based on the size information of each cargo in the cargo transportation order.

Specifically, for each cargo transportation order, each size level may be determined according to the width of each cargo in the cargo transportation order. For example, you can set each width threshold Value, the size information of each cargo in the cargo transportation order is divided into one or more size levels based on each width threshold.

Step S604: determine the transportation width of each layer of the conveying mechanism 22 according to each size level.

Specifically, the first corresponding relationship between each layer of the conveying mechanism and each size level can be determined first, and then the transportation width of each layer of the conveying mechanism 22 is determined based on the first corresponding relationship.

For example, the layer with a higher height of the conveying mechanism corresponds to a smaller size class. That is, the size levels from high to low correspond to the lowest level to the highest level of the conveying mechanism 22 in order.

Optionally, when the number of the size classes is less than the number of layers of the conveying mechanism 22, determine the transportation width of each layer of the conveying mechanism 22 according to each size class, including: obtaining the number of goods corresponding to each size class; The corresponding quantity of goods, the number of size classes, the total quantity of goods in the goods transportation order and the number of layers of the conveying mechanism 22 determine the transportation width of each layer of the conveying mechanism 22 .

Specifically, when the number of size levels is less than the number of layers of the conveying mechanism 22 , that is, if each layer of the conveying mechanism 22 corresponds to a size level, one or more layers of the conveying mechanism 22 will be in an idle state, resulting in poor utilization of each layer of the conveying mechanism. Therefore, one or more size classes with a larger quantity of goods need to be split so that the goods of this size class can be transported by two or more layers of the conveying mechanism 22 .

Specifically, the difference between the number of layers of the conveying mechanism 22 and the number of size classes is calculated, based on the difference, the total quantity of goods in the goods transportation order, and each size. The quantity of goods corresponding to the grade is determined to determine one or more target size grades that need to be split, and the one or more target size grades are split to obtain each split size grade, in which each split size grade is different from the unfinished The sum of the number of divided size classes is equal to the number of layers of the conveying mechanism 22 . The transport width of each layer of the conveyor mechanism 22 is determined based on each split size level and each size level without splitting.

For example, the size levels corresponding to the cargo transportation order are 4 levels, the quantities of goods corresponding to size level 1 to size level 4 are: 10, 10, 25 and 55, and the conveying mechanism 22 has 6 layers. Since the quantity of goods corresponding to size class 4 is greater than the average number of goods in the four size classes, size class 4 is determined as the target size class and split into 3 parts, that is, 3 split size classes are obtained, including For 15, 20 and 20 goods, the transport width of each layer of the conveyor mechanism 22 is determined based on 3 split size classes and each unsplit size class, that is, size class 1 to size class 3, a total of 6 size classes.

Step S605, determine the limiting parameters of the limiting assembly according to the transportation width of each layer of the conveying mechanism 22, so as to adjust the transportation width of each layer of the conveying mechanism 22 based on the limiting parameters and perform width matching based on the adjusted layers of the conveying mechanism 22. Transportation of goods.

Among them, the limiting component is provided on the flow shelf 2 and is used to adjust the width of each layer of the transmission mechanism 22 of the flow shelf 2 . The limiting parameters may include the movement distance of the limiting component.

Specifically, each layer of the conveying mechanism 22 is provided with one or more limiting components to adjust the width of each layer to the determined transportation width.

Specifically, after determining the transportation width of each layer of the conveying mechanism 22, for each layer of the conveying mechanism, the limiting parameter of the limiting component can be determined based on the difference between the determined transportation width of the layer and the current width of the layer, Therefore, the limiting component is controlled based on the limiting parameter to adjust the width of the layer of the conveying mechanism 22 to the determined transportation width, so that goods matching the width of the layer can be transported based on the layer.

Optionally, each layer of the conveying mechanism 22 is provided with at least one limiting component. Each limiting component includes two limiting members 24. The two limiting members 24 are respectively located on both sides of the corresponding layer of the conveying mechanism 22. Determining the limiting parameters of the limiting components according to the transportation width of each layer of the conveying mechanism 22 includes: determining the two limiting components of at least one limiting component corresponding to each layer based on the transportation width of each layer of the conveying mechanism 22 spacing.

Optionally, after adjusting the transportation width of each layer of the transmission mechanism based on the limit parameter, the method further includes: based on the scan, collecting the second size information of each cargo in the cargo transportation order; for each cargo, According to the second size information of the goods, the target layer of the conveying mechanism 22 corresponding to the goods is determined, so as to transport the goods based on the target layer of the conveying mechanism.

The scanned part may be the above-mentioned first scanned part 43 or the second scanned part. The second size information is the size information of each cargo collected based on the scan after each cargo in the cargo transportation order is transported to the scan range of the scan.

Specifically, before the goods are transported, the transport mechanism 22 determines and adjusts the transport width based on the second size information of each cargo in the cargo transport order, so that each layer of the adjusted transport mechanism 22 is used to transport its corresponding Each item things. When the goods are transported, the scanned parts can scan the preset position of the goods, thereby determining the second size information of each goods based on the scanning results. The second size information is the same as the size information, and then based on the collected second size information, the second size information of each goods is determined based on the collected second size information. The size of the goods matches the target layer of the conveying mechanism 22, so that the goods are placed on the target layer for transportation of the goods through the target layer of the conveying mechanism 22.

Furthermore, for each cargo, the cargo identification code of the cargo can also be obtained based on the scan, and the cargo identification code is used to replace the second size information to determine the target layer for cargo matching.

In this embodiment, based on the quantity of each first goods order received by the warehousing system and the quantity of goods in each first goods order, each goods transportation order processed by the smooth shelf is determined; and then for each goods transportation order , based on the corresponding size information of each cargo, determine one or more size levels, determine the transportation width of each layer of the conveyor mechanism based on each size level, and then determine the limit parameters of the limit components corresponding to each layer of the conveyor mechanism based on each transportation width. , thereby adjusting the width of each layer of the transmission mechanism to the transportation width to transport goods of different sizes in each cargo transportation order, realizing the simultaneous transportation of goods of different sizes in the order based on one transmission mechanism, and improving the efficiency of cargo transportation.

Figure 36 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure. In view of the situation where the number of size classes is greater than the number of layers of the transmission mechanism, this embodiment is based on the embodiment shown in Figure 35. Further refinement of S604, as shown in Figure 36, the cargo transportation method provided by this embodiment includes the following steps:

Step S701: Obtain each first goods order.

Step S702: Determine each of the goods transportation orders based on the quantity of the first goods order and the quantity of goods corresponding to each of the first goods orders.

Step S703: Determine each size level based on the size information of each cargo in the cargo transportation order.

Step S704: When the number of the size levels is greater than the number of layers of the conveying mechanism 22, at least one combined size level is determined based on the number of goods corresponding to each size level.

Wherein, the combined size level consists of at least two of the size levels, and the combined size level corresponds to the first preset layer of the conveying mechanism.

Specifically, at least two size classes with the smallest number of goods corresponding to the size classes can be combined into at least one combined size class.

For example, when the number of size levels is 3, respectively L1, L2 and L3, the number of goods corresponding to L1 is 18, the number of goods corresponding to L2 is 80, and the number of goods corresponding to L3 is 42, the conveyor mechanism 22 is 2 layers, then L1 and L3 with a small number of goods can be combined into a combined size level, so that one layer of the conveyor mechanism 22 transports 80 goods corresponding to L2, while the other layer of the conveyor mechanism 22 transports L1 and L2 corresponding of 60 goods.

Specifically, at least one combined size level may be determined based on the quantity of goods corresponding to each size level and the quantity threshold.

The quantity threshold may be a customized value, or may be a value determined based on the upper limit of the transportation quantity corresponding to each layer of the conveying mechanism 22 .

Specifically, the quantity of goods corresponding to each combination size level is the same as the quantity threshold. The difference in values should be as close to 0 as possible to improve the efficiency of cargo transportation in cargo transportation orders.

Specifically, at least one combined size level can be determined based on the difference between the number of size levels and the number of layers of the conveying mechanism 22 and the number of goods corresponding to each size level.

Further, the number of combined size levels may be determined based on the difference between the number of size levels and the number of layers of the conveying mechanism 22 , and each size level corresponding to each combined size level may be determined based on the number of goods corresponding to each size level.

Optionally, Figure 37 is a flow chart of step S704 in the embodiment shown in Figure 36 of the present disclosure. As shown in Figure 37, step S704 includes the following steps:

Step S7041: Classify each size level into a first size level and a second size level based on the first ratio between the quantity of goods corresponding to each size level and the preset quantity.

Wherein, the preset quantity is the ratio of the total quantity of goods in the goods transportation order to the number of layers of the conveying mechanism 22 , the ratio corresponding to the first size level is greater than or equal to 1, and the ratio corresponding to the second size level The ratio is less than 1.

Specifically, the first ratio is the average number of goods transported by the conveying mechanism 22 on each layer, the first size class is the size class in which the number of goods is greater than or equal to the average number of goods transported on each layer, and the second size class is the number of goods. A size class that is less than the average for each layer shipped.

For example, assuming that the conveyor mechanism has 5 layers and the total number of tires in the cargo transportation order is 100, the average number of tires transported on each layer is 20, the number of 17-inch tires is 10, and the number of 19-inch tires is 30, then 17 inches is the above-mentioned number There are two size classes, and 19 inches is the first size class mentioned above.

Step S7042: Determine the second quantity based on the first difference between the number of layers of the transport mechanism 22 and the first quantity.

Wherein, the first number is the number of the first size level, and the first difference is at least 1.

Specifically, when each first size level corresponds to one layer of the conveying mechanism 22, the second number is the number of layers remaining after the conveying mechanism 22 removes each layer corresponding to the first size level.

Step S7043: Determine at least one combined size level based on the second number and the number of the second size levels.

Wherein, the combined size class consists of at least two of the second size classes.

For example, assuming that the second quantity is 2 and the number of second size classes is 3, the two second size classes with smaller numbers among the three size classes can be determined as a combined size class, and the remaining 1th size class can be determined as a combined size class. There is no need to combine the second size class.

Step S705: For each combined size level, determine at least two transportation widths of the first preset layer corresponding to the combined size level of the conveying mechanism according to each size level corresponding to the combined size level.

Wherein, the goods whose width matches the first preset layer are goods corresponding to the corresponding combined size level.

Specifically, since the combined size level includes at least two size levels, the conveying mechanism 22 and the layer corresponding to the combined size level need to transport at least two sizes, etc. Goods, the transport width of which is at least two.

Furthermore, in order to reduce the number of width adjustments of the conveying mechanism 22, for each combined size level, the goods of each size level corresponding to the combined size level can be transported in sequence according to the set transportation sequence. That is, after combining the goods of the previous size class for transportation, the goods of the next size class can be transported. Specifically, larger size classes may be shipped first.

Step S706: For each size level except the combined size level, determine at least one second preset layer of the transmission mechanism corresponding to the size level.

Step S707: For each size level except the combined size level, determine the transportation width of at least one second preset layer according to the size level.

Step S708: Carry out transportation of goods with matching width through each layer of the conveying mechanism.

In this embodiment, for the situation when the size level is more than the number of layers of the conveying mechanism 22, based on factors such as the number of goods corresponding to each size level, the difference between the number of layers of the conveying mechanism 22 and the number of size levels, each item is comprehensively determined. The size classes are combined to combine the size classes with a smaller quantity of goods, so that each layer of the conveying mechanism 22 can transport an even quantity of goods, further improving the transportation efficiency of the goods transportation order.

Figure 38 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure. The cargo transportation method provided by this embodiment can be executed by the fluent shelf 2, as shown in Figure As shown in Figure 38, the cargo transportation method includes the following steps:

Step S901: Transport the goods along the conveying direction based on the flow shelf 2.

The conveying direction may be a first direction or a second direction, where the first direction and the second direction are two opposite directions. The first direction is the corresponding direction when loading the transport robot 1, and the second direction is is the corresponding direction when unloading the transport robot 1.

As can be seen from Figures 8 and 9, the flow shelf 2 includes a bracket 21, a transmission mechanism 22 provided on the bracket 21, and a correction device 27. The positions and connection relationships of each component are detailed in the description of the corresponding embodiments in Figures 8 and 9. , which will not be described in detail here.

Specifically, transporting goods along the conveying direction based on the fluent shelf 2 includes: transporting each goods along the first direction or the second direction based on the conveying mechanism 22 of the fluent shelf 2 .

Furthermore, the conveying mechanism 22 of the fluent shelf 2 can be multi-layered, and the conveying direction of each layer can be different. Each layer can transport multiple goods, and a preset safety distance is maintained between adjacent goods. Correspondingly, transporting goods along the conveying direction based on the fluent shelf 2 includes: based on each layer of the conveying mechanism 22 of the fluent shelf 2, transporting the respective goods corresponding to each layer along the corresponding conveying direction of each layer.

Optionally, the transfer mechanism 22 includes a rolling transfer member 23, which has an outer contour surface that is in rolling contact with the goods. Correspondingly, transporting goods along the conveying direction based on the fluent shelf 2 includes: transporting the goods along the conveying direction based on the rotation of the rolling conveyor 23 around its own rotation axis.

Step S902: When the goods on the conveyor mechanism 22 of the flow shelf 2 are transported to the preset area, the position of the goods is corrected based on the correction device 27.

The preset area may be a working area corresponding to the correction device. Position correction can be to adjust the cargo to a centered state, or to adjust the orientation or posture of the cargo to the default orientation or posture.

Specifically, the correction device 27 can also move within the preset area to perform position correction on the goods within the preset area. There may be a plurality of correction devices 27 , which are evenly spaced in the conveying direction of the conveying mechanism 22 .

Specifically, a cargo detection sensor is provided in the preset area to detect whether there is cargo in the preset area. When there is a cargo, the position of the cargo is corrected based on the correction device 27 .

Optionally, as can be seen from FIG. 8 and FIG. 9 , the correction device 27 includes two clamping structures 271 located on both sides of the conveying direction and arranged oppositely. Correspondingly, correcting the position of the goods includes: clamping the goods according to a preset pattern based on the two clamping structures 271 so that the goods are centered perpendicular to the conveying direction.

Optionally, the clamping structure 271 is an arc structure or a straight structure.

Further, when the number of goods being transported on a certain layer of the conveying mechanism 22 exceeds a preset value, the conveying mechanism 22 is controlled to stop the conveying of this layer, and further, based on the correction device 27, the position of each goods on this layer is corrected. After completion, the layer controlling the conveying mechanism 22 continues to transport its corresponding respective goods along its corresponding conveying direction.

Optionally, performing position correction on the goods includes: obtaining position information of the goods; performing position correction on the goods according to the position information.

Specifically, the location information of the preset point of the goods can be obtained based on the image sensor. The preset point may be the center point of the cargo, the center point of the upper surface, the four corresponding vertices of the upper surface, etc. The image sensor may be a camera, a 2D camera, a 3D camera or other image sensors.

Specifically, the real-time position information of the goods is collected, and then it is determined whether the goods are in an offset state based on the position information. If so, the position of the goods is corrected based on the correction device 27 .

By detecting the real-time position of goods, correction of goods that have not shifted has been avoided and correction costs have been reduced.

The cargo transportation method provided by the embodiment of the present disclosure is aimed at the situation of cargo transportation based on the fluent shelf. When the goods on the transmission mechanism of the fluent shelf are transported to the preset area, the position of the goods is corrected through the correction device provided on the fluent shelf. The position correction of goods during transportation is realized and the safety of goods transportation is improved.

Figure 39 is a flow chart of a cargo transportation method provided by another embodiment of the present disclosure. This embodiment further refines step S902 based on the embodiment shown in Figure 38, and adds a control transmission mechanism before step S902. 22. Stop the transmission step. As shown in Figure 39, the cargo transportation method provided by this embodiment includes the following steps:

Step S1001: Transport the goods along the conveying direction based on the flow shelf 22.

Step S1002, determine the number of goods being transported on each floor of the conveyor mechanism 2 quantity.

Specifically, the quantity of goods being transported on each layer can be recorded at both ends of the transport mechanism 2 along the transport direction.

Step S1003, for each layer of the transmission mechanism 22, if the number of goods in the current layer in the preset area is greater than 1, control the rolling transmission member 23 corresponding to the current layer to stop rotating.

Specifically, when the rolling conveyor 23 stops rotating, each cargo on the current layer stops being transported.

Step S1004, for each cargo of each current layer, control the two clamping structures 271 to perform relative movement from their respective default positions until the cargo is clamped, so that the cargo is centered perpendicular to the conveying direction. .

Step S1005: After clamping the goods for a preset time, control the two clamping structures to move to a default position.

In this embodiment, when the number of goods transported by the current layer of the transmission mechanism 22 is multiple, the rolling transmission member 23 corresponding to the current layer is controlled to stop rotating, so as to suspend the transportation of the goods of the current layer, and control the two clamping The structure 271 clamps and corrects each cargo on the current layer, thereby realizing the centering correction of each cargo on the current layer. After the correction is completed, the current layer continues to transport cargo. When there are multiple cargos transported on a certain layer, the cargo transport is suspended. Calibrating individual cargoes improves the safety of the calibration process and the accuracy of the calibration.

Figure 40 is a schematic structural diagram of a cargo transportation device provided by an embodiment of the present disclosure. As shown in Figure 40, the cargo transportation device includes: a first size acquisition module 1110, The first level determines the module 1120 and the first cargo transportation module 1130 .

Among them, the first size acquisition module 1110 is used to obtain the size information of the goods; the first level determination module 1120 is used to determine the target layer of the transmission mechanism corresponding to the goods based on the size information; the first goods transportation Module 1130 for transporting the goods through the target layer of the conveyor mechanism.

Optionally, the transfer device further includes a cargo lifting assembly, the cargo inlet and outlet of the cargo lifting assembly is docked with one end of the transfer mechanism, and the device further includes: a target layer handling module, configured to carry out cargo transportation according to the After determining the target layer of the conveying mechanism corresponding to the goods based on the size information, the goods are transported to the target layer of the conveying mechanism based on the goods lifting assembly.

Optionally, the first size acquisition module 1110 is specifically configured to acquire the size information of the cargo based on the first scan provided on the cargo lifting assembly.

Optionally, the transfer device further includes a transmission line assembly, which is docked with an end of the cargo lifting assembly away from the cargo entrance and exit to transport the cargo to the cargo lifting assembly, and the first The size acquisition module 1110 is specifically used to acquire the size information of the goods based on the first scan set on the transmission line assembly.

Optionally, the size information is obtained based on the second scanned piece provided on the handling robot.

Optionally, the first cargo transport module 1130 includes: a direction determination unit, used to determine the transport direction of the cargo; and an adjustment unit, used to adjust the transport mechanism or the transport mechanism based on the transport direction. Target layer; first transport unit, For transporting the goods through the target layer of the conveyor mechanism.

Optionally, the transfer mechanism includes an adjustment mechanism, an adjustment unit specifically configured to: based on the transfer direction, determine the inclination angle of each layer of the transfer mechanism through the adjustment mechanism, so that the The goods on the target layer generate a force component along the conveying direction.

Correspondingly, the first cargo transport module 1130 is specifically used to transport the cargo through the inclined target layer of the transmission mechanism.

Optionally, the transfer mechanism includes a first transfer part and a second transfer part, and an adjustment unit is specifically configured to: adjust the second transfer part of the transfer mechanism based on the transfer direction, so that the second transfer part The height of the first transmission part is greater than the height of the first transmission part, and the second transmission part forms an inclined slope.

Correspondingly, the first cargo transport module 1130 is specifically configured to transport the cargo through the inclined slope formed by the second conveying part corresponding to the target layer and the horizontal plane formed by the first conveying part.

Optionally, the transfer mechanism includes a rolling transfer member and an adjustment unit specifically configured to: based on the transfer direction, determine the rotation mode of the rolling transfer member or the target layer corresponding to the rolling transfer member, so that the rolling transfer member The transfer member or the rolling transfer member corresponding to the target layer rotates around its own rotation axis in the rotation mode.

The cargo transportation device provided by this embodiment can execute the cargo transportation method provided by any embodiment corresponding to Figures 31 to 33 of the present disclosure, and has functional modules and beneficial effects corresponding to the execution method.

Figure 41 is a cargo transport device provided by another embodiment of the present disclosure. As shown in 41, the cargo transportation device includes: an order acquisition module 1210 and a transportation width determination module 1220.

Among them, the order acquisition module 1210 is used to obtain the cargo transportation order; the transportation width determination module 1220 is used to determine the transportation width of each layer of the conveyor mechanism of the fluent shelf based on the size information of each cargo in the cargo transportation order, so as to pass Each layer of the conveyor mechanism transports individual goods with matching widths.

Optionally, the transportation width determination module 1220 includes: a size level determination unit, used to determine each size level based on the size information of each cargo in the cargo transportation order; a transportation width determination unit, used to determine each size level based on each size level, Determine the transport width of each layer of the conveyor mechanism.

Optionally, when the number of the size classes is less than the number of layers of the conveying mechanism, the transportation width determination unit is specifically used to: obtain the quantity of goods corresponding to each size class; according to the number of goods corresponding to each size class, The number of size classes, the total quantity of goods in the goods transport order and the number of layers of the conveyor mechanism determine the transport width of each layer of the conveyor mechanism.

Optionally, when the number of the size levels is greater than the number of layers of the conveying mechanism, the transportation width determination unit includes: a combination level determination subunit, used to determine at least one combination according to the number of goods corresponding to each size level. Size level, wherein the combined size level is composed of at least two of the size levels, and the combined size level corresponds to the first preset layer of the conveying mechanism; the combination width determination subunit is used for each combination size Level, according to each size level corresponding to the combined size level, determine the first preset corresponding to the combined size level of the transmission mechanism At least two transport widths of the layer, wherein the goods matching the first preset layer width are goods corresponding to the corresponding combined size level.

Optionally, when the quantity of goods corresponding to the size class is greater than a preset value, the device further includes: a second preset layer determination module for each of the goods except the combined size class. The size level determines at least one second preset layer of the conveying mechanism corresponding to the size level.

Correspondingly, the transportation width determining unit is further configured to: for the size class other than the combined size class, determine the transportation width of at least one second preset layer according to the size class.

Optionally, the size level determination unit is specifically configured to: divide each size level into a first size level and a second size level according to a first ratio between the quantity of goods corresponding to each size level and the preset quantity, wherein , the preset quantity is the ratio of the total quantity of goods in the goods transportation order to the number of layers of the transmission mechanism, the ratio corresponding to the first size level is greater than or equal to 1, and the ratio corresponding to the second size level The ratio is less than 1; the second quantity is determined according to the first difference between the number of layers of the transmission mechanism and the first quantity, wherein the first quantity is the number of the first size level, and the first difference At least 1; according to the second number and the number of the second size classes, at least one combined size class is determined, wherein the combined size class consists of at least two second size classes.

Optionally, the fluent shelf further includes a limiting component, and the device further includes: a transmission mechanism adjustment module for determining the transportation width of each layer of the transmission mechanism according to the transportation width of each layer of the transmission mechanism. Describe the limit parameters of the limit component, The transportation width of each layer of the transmission mechanism is adjusted based on the limit parameter.

Optionally, each layer of the conveying mechanism is provided with at least one limiting assembly, and each limiting assembly includes two limiting pieces, and the two limiting pieces are respectively located on the sides of the conveying mechanism. On both sides of the corresponding layer, the transmission mechanism adjustment module is specifically used: after determining the transportation width of each layer of the transmission mechanism, according to the transportation width of each layer of the transmission mechanism, determine two of the at least one limiting component corresponding to each layer. The spacing between the limiting members is used to adjust the transportation width of each layer of the conveying mechanism based on the spacing between the two limiting members.

Optionally, obtaining the goods transportation order includes: obtaining each first goods order; and determining each of the goods transportation orders according to the quantity of the first goods order and the quantity of goods corresponding to each first goods order, wherein , the goods transportation order includes one or more first goods orders.

Optionally, the order acquisition module 1210 is specifically configured to acquire each first goods order corresponding to the preset time interval according to the preset time interval.

Optionally, the device further includes: a second cargo transport module, configured to transport the goods corresponding to each of the cargo transport orders to the said cargo transport order based on the handling robot after determining the transport width of each layer of the conveyor mechanism of the fluent shelf. The corresponding layer of the transmission mechanism of the fluent shelf; or, based on the cargo lifting assembly, transport the goods corresponding to each of the cargo transportation orders to the corresponding layer of the transmission mechanism of the fluent shelf, wherein the goods of the cargo lifting assembly The entrance and exit are connected to one end of the conveyor mechanism; or, based on the conveyor line assembly and the cargo lifting assembly, each cargo transportation order is correspondingly The goods are transported to the corresponding layer of the conveying mechanism of the fluent shelf, wherein the conveying line assembly is docked with an end of the cargo lifting assembly away from the cargo entrance and exit.

Optionally, the device further includes: a target layer determination module, configured to collect the second layer of each cargo in the cargo transportation order based on the scanned data after adjusting the transportation width of each layer of the transmission mechanism based on the limit parameter. Size information; for each cargo, determine the target layer of the transmission mechanism corresponding to the cargo according to the second size information of the cargo, so as to transport the cargo based on the target layer of the transmission mechanism.

The cargo transportation device provided by this embodiment can execute the cargo transportation method provided by any embodiment corresponding to Figures 34 to 37 of this disclosure, and has functional modules and beneficial effects corresponding to the execution method.

Figure 42 is a schematic structural diagram of a cargo transport device provided by another embodiment of the present disclosure. As shown in Figure 42, the cargo transport device includes: a cargo transport module 1310 and a cargo correction module 1320.

Among them, the cargo transportation module 1310 is used to transport goods along the transmission direction based on the fluent shelf; the cargo correction module 1320 is used to correct the cargo when the goods on the transmission mechanism of the fluent shelf are transported to the preset area. Cargo position correction.

Optionally, the correction device includes two clamping structures located on both sides of the conveying direction and arranged oppositely. The cargo correction module 1320 is specifically used to: based on the two clamping structures, according to a preset mode The goods are clamped so that the goods are centered perpendicular to the conveying direction.

Optionally, the clamping structure is an arc structure or a straight structure.

Optionally, the transfer mechanism includes a rolling transfer member, and the rolling transfer member Having an outer contour surface that is in rolling contact with the goods, the goods transport module 1310 is specifically used to transport the goods along the transmission direction based on the rotation of the rolling transmission member around its own rotation axis.

Optionally, the conveying mechanism is multi-layered, and the device further includes: a conveying pause module for determining the quantity of goods being transported on each layer of the conveying mechanism before position correction is performed on the goods; for conveying For each layer of the mechanism, if the number of goods in the preset area on the current layer is greater than 1, the rolling transmission member corresponding to the current layer is controlled to stop rotating to perform position correction for each of the goods on the current layer.

Optionally, the cargo correction module 1320 is specifically used to: control the relative movement of the two clamping structures from their respective default positions until the cargo is clamped; after the cargo is clamped for a preset time, control The two clamping structures are moved to the default position.

Optionally, the cargo correction module 1320 is specifically configured to: obtain the position information of the cargo; and perform position correction on the cargo according to the position information.

The cargo transportation device provided by this embodiment can execute the cargo transportation method provided by any embodiment corresponding to Figures 9 to 10 of the present disclosure, and has functional modules and beneficial effects corresponding to the execution method.

Figure 43 is a schematic structural diagram of a fluent shelf provided by another embodiment of the present disclosure. As shown in Figure 43, the fluent shelf 2 includes a transmission mechanism 22 and a second main control unit 1410.

Among them, the second main control unit 1410 is used for the cargo transportation method provided by the embodiment corresponding to FIGS. 34 to 37 of this disclosure.

Figure 44 is a schematic structural diagram of a fluent shelf provided by another embodiment of the present disclosure. As shown in Figure 44, the fluent shelf 2 includes a transmission mechanism 22 and a third main control unit 1510.

Among them, the third main control unit 1510 is used for the cargo transportation method provided by the embodiment corresponding to FIGS. 38 to 39 of this disclosure.

Figure 45 is a schematic structural diagram of a transfer device provided by an embodiment of the present disclosure. The transfer device transfers and transports goods when loading or unloading materials in the warehousing system. As shown in Figure 45, the transfer device 100 includes a fluent Shelf 2 and the first main control unit 1610.

Among them, the first main control unit 1610 is used to generate a control signal to implement the cargo transportation method provided by the embodiment corresponding to FIGS. 31 to 33 of the present disclosure based on the control signal and the flow shelf 2 .

An embodiment of the present disclosure also provides a transfer device. The cargo lifting assembly 3 and the transfer device include the fluent shelf provided by the embodiment shown in Figure 43 or Figure 44 of the present disclosure.

An embodiment of the present disclosure also provides a storage system, which includes storage shelves and the transfer device 100 provided by any embodiment of the present disclosure or the flow shelf 2 provided by any embodiment.

Figure 46 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure. As shown in Figure 46, the storage system includes a fluent shelf 2 and at least one processor 1710. The fluent shelf 2 includes a multi-layer transmission mechanism 22; the at least one The processor 1710 is configured to execute the cargo transportation method provided by any embodiment corresponding to FIG. 34 to FIG. 37 of this disclosure.

One embodiment of the present disclosure provides a computer-readable storage medium with a computer program stored thereon. The computer program is executed by a processor to implement the cargo transportation method provided in any one of the embodiments corresponding to Figures 31 to 39 of the present disclosure. .

Among them, the computer-readable storage media can be (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), (Compact Disc-Read-Only Memory, referred to as CD-ROM), magnetic tape, Floppy disks and optical data storage devices, etc.

The present disclosure also provides a program product, the program product includes executable instructions, and the executable instructions are stored in a readable storage medium. At least one processor of the warehousing system, the flow shelf or the transfer device can read the execution instruction from the readable storage medium, and the at least one processor executes the execution instruction so that the cargo transportation device implements the implementation corresponding to Figures 31 to 39 of the present disclosure. The cargo transportation method provided by any of the examples.

In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules may be combined or Integration into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or modules, which may be electrical, mechanical or other forms.

The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physically unitary. unit, which can be located in one place, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional module in various embodiments of the present disclosure can be integrated into a processing unit, or each module can exist physically alone, or two or more modules can be integrated into one unit. The units composed of the above modules can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-mentioned integrated modules implemented in the form of software function modules can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium and includes a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute various implementations of the present disclosure. Some steps of the method described in the example.

It should be understood that the above-mentioned processor may be a central processing unit (Central Processing Unit, referred to as CPU), or other general-purpose processor, digital signal processor (Digital Signal Processor, referred to as DSP), or application specific integrated circuit (Application Specific Integrated Circuit). Circuit, referred to as ASIC), etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the invention can be directly implemented by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

The storage may include high-speed RAM storage, or may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a pen drive, a removable hard disk, a read-only memory, Disk or CD, etc.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of presentation, the busbars in the drawings of this disclosure are not limited to only one busbar or one type of busbar.

The above storage media can be implemented by any type of volatile or non-volatile storage device or their combination, such as Static Random-Access Memory (SRAM), electrically erasable programmable read-only memory Electronically-Erasable Programmable Read-Only Memory (EEPROM for short), Erasable Programmable Read-Only Memory (EPROM for short), Programmable Read-Only Memory (EPROM for short) PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. Storage media can be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and storage media may be located in Application Specific Integrated Circuits (ASICs). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a host control device.

Persons of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed through program instructions and related hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps including the above-mentioned method embodiments are executed; and the aforementioned storage media includes: ROM, RAM, magnetic disks, optical disks and other media that can store program codes.

Each embodiment or implementation mode in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between various embodiments can be referred to each other.

In the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like is intended to be in conjunction with the description of the embodiments. or examples describe specific features, structures, materials, or characteristics that are 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 specific 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 to illustrate the technical solution of the present disclosure, but not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present disclosure. Scope.

S201: Get the size information of the goods

S202: Determine the target layer of the conveying mechanism 22 corresponding to the goods according to the size information.

S203: Transport the goods through the target layer of the conveying mechanism 22

Claims (14)

A method of transporting goods, characterized in that the method is applied to a transfer device, the transfer device includes a fluent shelf, the fluent shelf includes a bracket and a transmission mechanism arranged on the bracket, the transmission mechanism is multi-layered , the method includes: obtaining a goods transportation order; obtaining size information of the goods; determining the target layer of the transmission mechanism corresponding to the goods according to the size information; transporting the goods through the target layer of the transmission mechanism; According to the size information of each cargo in the cargo transportation order, the size grade of each cargo is determined; according to the size grade of each cargo, the transportation width of each layer of the transmission mechanism is determined to carry out transportation through each layer of the transmission mechanism. Transportation of goods with matching widths; when the number of the size classes is less than the number of layers of the conveyor mechanism, determining the transport width of each layer of the conveyor mechanism according to the size class of each cargo includes: obtaining the transport width corresponding to each size class The quantity of goods; according to the quantity of goods corresponding to each size class, the quantity of the size class, the total quantity of goods in the goods transportation order and the number of layers of the transmission mechanism, determine the number of each layer of the transmission mechanism. Shipping width. The method according to claim 1, wherein the transfer device further includes a cargo lifting assembly, and the cargo entrance and exit of the cargo lifting assembly are in contact with the transfer mechanism. After docking at one end of the conveyor mechanism based on the size information, the method further includes: transporting the cargo to the conveyor mechanism based on the cargo lifting assembly. target layer. The method of claim 2, wherein obtaining the cargo size of the cargo includes: obtaining the size information of the cargo based on the first scan set on the cargo lifting component. The method according to claim 2, wherein the transfer device further includes a conveyor line assembly, the conveyor line assembly is docked with an end of the cargo lifting assembly away from the cargo entrance and exit, so as to transport the cargo to the destination. The cargo lifting assembly obtains the cargo size of the cargo, including: obtaining the size information of the cargo based on the first scan provided on the conveyor line assembly. The method according to claim 1, wherein the size information is obtained based on a second scan set on the handling robot. The method according to any one of claims 1-5, wherein transporting the goods through the target layer of the transport mechanism includes: determining the transport direction of the goods; adjusting the transport mechanism based on the transport direction or the target layer of the conveyor mechanism; the goods are transported through the target layer of the conveyor mechanism. The method of claim 6, wherein the transfer mechanism includes an adjustment mechanism, and adjusting the transfer mechanism or the target layer of the transfer mechanism based on the transfer direction includes: based on the transfer direction, through the The adjustment mechanism determines the inclination angle of each layer of the transmission mechanism so that the goods located on the target layer of the transmission mechanism generate a component force along the transmission direction; accordingly, the goods are transported through the target layer of the transmission mechanism. The goods include: transporting the goods through the inclined target layer of the conveyor mechanism. The method of claim 6, wherein the transfer mechanism includes a first transfer part and a second transfer part, and adjusting the transfer mechanism or the target layer of the transfer mechanism based on the transfer direction includes: based on the transfer direction. In the conveying direction, adjust the second conveying part of the conveying mechanism so that the height of the second conveying part is greater than the height of the first conveying part, and the second conveying part forms an inclined slope; correspondingly , transporting the goods through the target layer of the conveying mechanism includes: transporting the goods through an inclined slope formed by the second conveying part corresponding to the target layer and a horizontal surface formed by the first conveying part. The method of claim 6, wherein the transfer mechanism includes a rolling transfer member, and adjusting the transfer mechanism or the target layer of the transfer mechanism based on the transfer direction includes: determining the transfer mechanism based on the transfer direction. The rolling conveyor or the target layer corresponds to the rotation mode of the rolling conveyor, so that the rolling conveyor or the target layer corresponds to The rolling conveyor rotates about its own axis of rotation in said rotation mode. A cargo transportation device, characterized in that it includes: an order acquisition module, used to acquire cargo transportation orders; a first size acquisition module, used to obtain the size information of the cargo; a first level determination module, used according to the Size information is used to determine the target layer of the transmission mechanism corresponding to the goods; a first cargo transportation module is used to transport the goods through the target layer of the transmission mechanism; a size level determination unit is used to transport the goods according to the order The size information of each cargo in the cargo is used to determine the size grade of each cargo; and a transportation width determination unit is used to determine the transportation width of each layer of the conveyor mechanism according to the size grade of each cargo to pass the conveyor mechanism. Each layer transports goods with matching widths; when the number of the size classes is less than the number of layers of the conveying mechanism, the transportation width determination unit is used to: obtain the quantity of goods corresponding to each size class; according to each size The transportation width of each layer of the transmission mechanism is determined by the quantity of goods corresponding to the grade, the quantity of the size grade, the total quantity of goods in the goods transportation order, and the number of layers of the transmission mechanism. A transfer device, characterized in that it is used for the transfer and transportation of goods during loading or unloading in a warehousing system. The transfer device includes a fluent shelf and a first main control unit; wherein the fluent shelf includes a bracket and a Conveyor mounted on said support The transmission mechanism is multi-layered; the first main control unit is configured to generate a control signal to implement the cargo transportation method described in any one of claims 1-9 based on the control signal and the fluent shelf. A storage system, characterized by including storage shelves and the transfer device described in claim 11. A computer-readable storage medium, characterized in that computer-executable instructions are stored in the computer-readable storage medium. When the processor executes the computer-executable instructions, the goods described in any one of claims 1-9 are realized. Shipping method. A computer program product, characterized in that it includes a computer program that, when executed by a processor, implements the cargo transportation method described in any one of claims 1-9.

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