TWM630963U - Warehousing system - Google Patents

Abstract

The utility model provides a warehousing system. The warehousing system includes a shelf, a track assembly and a loading robot, where there are multiple shelves, and the multiple shelves are arranged in a warehousing area at intervals, an aisle is formed between adjacent shelves; the track assembly includes a first one-way track, the first one-way track is located at the top of the shelf, and the first one-way track forms a closed shape surrounding the warehousing area, the loading robot can move on the track assembly, and the loading robot is unidirectionally moving on the first one-way track along a preset direction, which can improve the overall logistics efficiency of the warehousing system.

Description

Warehousing system

The utility model relates to the technical field of warehousing and logistics, in particular to a warehousing system.

As a commonly used storage equipment, with the development of automation technology, the three-dimensional warehouse is constantly improving in the direction of high efficiency, high precision and unmanned operation, and the requirements for space utilization and cargo storage efficiency are also getting higher and higher.

In the prior art, a three-dimensional warehouse usually includes multi-layer shelves, a stacking device and a goods transfer device. The multi-layer shelves generally have a high height to ensure the space utilization rate of the longitudinal space. The stacking device can store the goods to different heights of the shelves. The goods transfer device can transfer external goods to the stacking device, or accept the goods removed from the rack by the stacking device.

However, the logistics efficiency of the warehousing system of the existing three-dimensional warehouse is low.

The utility model provides a storage system, which can improve the logistics efficiency of the storage system of a three-dimensional warehouse.

The present application provides a storage system, the storage system includes a rack, a track assembly and a cargo robot, the rack is used for storing goods, the track assembly is arranged opposite the rack, and the cargo robot is used for picking, placing and transporting the cargo.

Among them, there are multiple shelves, and the multiple shelves are arranged in the storage area at intervals, and a roadway is formed between adjacent shelves. The track assembly includes a first one-way track. The track encloses a closed shape surrounding the storage area, the load-carrying robot can move on the track assembly, and the load-carrying robot moves unidirectionally in a preset direction on the first one-way track.

In the storage system provided by this application, the track assembly provides an additional moving space and path for the load-carrying robot, preventing the load-carrying robot from reciprocating to and from the storage location and the bottom surface along the same path, so that a load-carrying robot enters the shelf storage area to pick up and place goods It will not affect the work of other subsequent load-carrying robots, thereby improving the overall logistics efficiency of the storage system.

In the storage system provided by this application, the load-carrying robot can complete the work of transporting goods and picking and placing goods at the same time. After picking and placing the goods, it can be moved by the track assembly. After picking and placing the goods from the ground to the designated storage location, the track assembly can move away from the shelf.

As an optional implementation manner, the track assembly further includes a linear track, the linear track is arranged on the top of the roadway, and two ends of the linear track are respectively butted with opposite sides of the first one-way track, so that the load-carrying robot can move along the linear track to the first one-way track.

As an optional embodiment, the shelf is provided with a vertical rail extending along the height direction of the shelf, and the top of the vertical rail is butted with the linear rail, so that the loading robot can move along the vertical rail to reach the storage positions of different heights of the shelf , and after finishing picking and placing goods, it can move up to the linear track at the top of the shelf.

As an optional embodiment, the first one-way track has an exit, the exit is provided with a slide rail, and the slide rail extends from the top of the shelf to the bottom of the shelf, so that the load-carrying robot can move one-way along the first one-way track to the exit and from The exit leaves the shelf and will not interfere with the cargo robot that enters the shelf area subsequently, which improves the efficiency of cargo delivery.

As an optional embodiment, the load-carrying robot includes a main body and two first docking structures respectively disposed on opposite sides of the main body, and the first docking structures are butted with the vertical rail, so that the load-carrying robot can move along the height direction of the shelf. climb.

As an optional embodiment, the first docking structure includes a first engaging portion, the vertical rail includes a second engaging portion extending along the height direction of the shelf, the first engaging portion engages with the second engaging portion, and the first engaging portion can be It moves along the length direction of the second engaging part, so as to improve the reliability of the docking of the load-carrying robot with the vertical track.

As an optional embodiment, the first meshing part is a gear, the second meshing part is a rack, the first docking structure further includes a driving unit, and the output end of the driving unit is connected with the gear, so as to drive the loading robot along the height of the shelf direction move.

As an optional embodiment, a rail switching mechanism is provided at the docking position of the rail assembly and the vertical rail, and the rail switching mechanism is used to switch the moving rail of the cargo robot from the vertical rail to the rail assembly.

As an optional embodiment, the cargo robot further includes a second docking structure, the second docking structure is disposed on the top of the body, and the second docking structure is used for docking with the track assembly, so that the cargo robot moves along the track assembly.

As an optional embodiment, the rail assembly is provided with a sliding mechanism that moves along the extension direction of the rail assembly, and the second docking structure includes an openable and closable clamping piece, and the clamping piece can be butted and fixed with the sliding mechanism, so as to ensure Reliability and stability of the movement of the cargo robot along the track assembly.

As an optional implementation manner, the track assembly further includes a cross-lane rail, the cross-lane rail is located at the top of the rack, and the cross-lane rail is perpendicular to the length direction of the rack, so that the load-carrying robot can move between different lanes.

As an optional implementation manner, the track assembly further includes at least one second one-way track, and the second one-way track is located in the middle of the rack and surrounds the storage area, so that the loading robot can move around the rack.

As an optional embodiment, there are multiple second one-way rails, and the plurality of second one-way rails include: horizontal annular rails arranged at intervals along the height direction of the shelves; and or, perpendicular to the plane where the first one-way rails are located Vertical circular track. In this way, a criss-cross track can be formed around the entire shelf, which enriches the moving path of the load-carrying robot and further improves the logistics efficiency.

As an optional implementation manner, there may be multiple load-carrying robots, and the multiple load-carrying robots are arranged in relative order in the storage area, so that goods can be transported in the form of a fleet, and the logistics efficiency can be improved.

The storage system provided by this application includes racks, track assemblies and load-carrying machines People, wherein, there are multiple shelves, and the multiple shelves are arranged in the storage area at intervals, and a roadway is formed between adjacent shelves, and the track assembly includes a first one-way track, the first one-way track is located on the top of the shelf, and the first one-way track is located at the top of the shelf, and the first The one-way track encloses a closed shape surrounding the storage area, the load-carrying robot can move on the track assembly, and the load-carrying robot moves one-way along the preset direction on the first one-way track, so that one load-carrying robot enters the shelf storage When picking and placing goods in the area, it will not affect the work of other subsequent load-carrying robots, thereby improving the overall logistics efficiency of the storage system.

In addition to the technical problems solved by the embodiments of the present application described above, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the storage system provided by the present application, Other technical features included in the technical solution and the beneficial effects brought about by these technical features will be described in further detail in the specific embodiments.

10: Shelves

101: Laneway

11: Vertical track

20: Track Components

201: Export

21: The first one-way track

22: Linear track

23: Second one-way track

24: Cross Lane Track

30: Cargo Robot

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are of the present application. For some embodiments of the present invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a storage system provided by an embodiment of the present application.

FIG. 2 is a side view of the storage system provided by the embodiment of the present application.

FIG. 3 is a front view of the storage system provided by the embodiment of the present application.

FIG. 4 is a schematic diagram of the movement of a load-carrying robot in a storage system provided by an embodiment of the present application.

FIG. 5 is another schematic structural diagram of the storage system provided by the embodiment of the present application.

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

First of all, those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application. Those skilled in the art can adjust it as needed to adapt to specific applications.

Secondly, it should be noted that, in the description of this application, the terms of the direction or positional relationship indicated by the terms "inside", "outside", etc. are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description, It is not intended to indicate or imply that a device or component must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application.

In addition, it should be noted that in the description of this application, unless otherwise Clearly stipulated and defined, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be is the connection between the two components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

In the description of this specification, references to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc., are intended to incorporate the embodiments A particular feature, structure, material, or characteristic described by an example or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The three-dimensional warehouse plays an important role in the field of warehousing and logistics. Now the three-dimensional warehouse is improving in the direction of less people or unmanned, and the requirements for space utilization and cargo storage efficiency are getting higher and higher. A high-efficiency three-dimensional warehouse can improve the transshipment efficiency of logistics, and in the industrial field, it can improve the product production efficiency of the factory, and a high-precision three-dimensional warehouse storage system can ensure the accuracy of product entry and exit statistics.

In the prior art, the three-dimensional warehouse is usually composed of multi-layer shelves, stacking devices and cargo transfer devices. Since the roof of the indoor warehouse is generally high, the multi-layer shelves also generally have a high height to ensure the space utilization rate of the vertical space, and the stack The stacking device can store the goods in different locations at different heights of the shelves, and the goods are transferred The device can transfer external goods to the stacker, or accept the goods removed from the rack by the stacker. Specifically, the stacking device generally has a relatively definite positional relationship with the shelf, and can be lifted or moved along the shelf, while the automated cargo transfer device commonly includes logistics lines such as conveyor belts, and tracked or trackless trolleys.

However, the logistics efficiency of the storage system of the existing three-dimensional warehouse is low, and the stacking device needs to be connected with the cargo transfer device. It has a large travel and can only pick and place a single cargo at a time. Different cargoes need to be stored in sequence, and the goods on different storage locations need to go back and forth for many times. In addition, the docking of the stacking device and the cargo transfer device The method will also lead to a lower overall degree of freedom of the warehousing logistics system and increase the design cost.

In view of the above problems, the embodiments of the present invention provide a storage system, which can improve the logistics efficiency of the storage system of the three-dimensional warehouse.

1 is a schematic structural diagram of a storage system provided by an embodiment of the application, FIG. 2 is a side view of the storage system provided by an embodiment of the application, and FIG. 3 is a front view of the storage system provided by the embodiment of the application, as shown in FIGS. As shown in FIG. 3 , an embodiment of the present application provides a storage system, and the storage system includes a rack 10 , a track assembly 20 and a loading robot 30 . The racks 10 are used to store goods, and there are multiple racks 10. The multiple racks 10 are arranged in the storage area at intervals, and an aisle 101 is formed between adjacent racks 10. The ground may have a certain height, the loading robot 30 is used for picking, placing and transporting goods, and the loading robot 30 may move on the track assembly 20 .

The track assembly 20 includes a first one-way track 21, the first one-way track 21 is located at the top of the shelf 10, and the first one-way track 21 encloses a closed shape surrounding the storage area, and the loading robot 30 is on the first one-way track. 21 moves unidirectionally along a preset direction. In the entire storage system, there can be multiple load-carrying robots 30, and multiple load-carrying robots 30 can each have different cargo picking and placing tasks, and can plan their own according to their respective tasks. The movement path, after the loading robot 30 enters the first one-way track 21, it will move in one direction around the storage area along its extending direction, so as not to interfere with each other, which not only reduces the scheduling of the loading robot 30 and the The difficulty of path planning, while ensuring the work efficiency of the load-carrying robot 30.

It should be noted that, in the storage system provided by the present application, the load-carrying robot 30 can complete the work of transporting goods and picking and placing goods at the same time. The component 20 moves up, and after the loading robot 30 completes picking and placing the goods, it can move by the track component 20. The track component 20 provides an additional moving space and path for the loading robot 30 to prevent the loading robot 30 from reciprocating along the same path. At the storage location and the bottom surface, after the load-carrying robot 30 picks and places goods from the ground to the designated storage position, the track assembly 20 can move away from the shelf 10 without affecting the work of other subsequent load-carrying robots 30, thereby improving the storage system. overall logistics efficiency.

In addition, when the load-carrying robot 30 moves around the storage area or in the ground environment such as the aisle 101, it can be in either a tracked form or a trackless form, and when the load-carrying robot 30 moves between storage locations on the rack 10 and on the track assembly When moving on the 20, it will be carried out in the form of a rail, and the specific structure of the rail assembly 20 and the carrier The up-and-down movement of the robot 30 relative to the shelf 10 determines the moving path of the load-carrying robot 30 when picking and placing goods, which will be described in detail below.

As an optional embodiment, the track assembly 20 may further include a linear track 22, which is arranged on the top of the roadway 101, that is, the extension direction of the linear track 22 is the same as the extension direction of the roadway 101, and the two ends of the linear track 22 are respectively The two opposite sides of the first one-way rail 21 are butted, so that the load-carrying robot 30 can move to the first one-way rail 21 along the linear rail 22 .

Specifically, the first one-way track 21 is an annular track surrounding the storage area, the linear track 22 extends from one end of the aisle 101 to the other end at the top of the shelf 10 , and the two ends of the straight track 22 are respectively connected with the first one-way track 21 . The docking of different track segments, when the load-carrying robot 30 performs the task of picking and placing goods, is located in the roadway 101. After completing the task of picking and placing goods, it can first move upward from the corresponding storage location to the linear track 22, and then follow the linear track 22. Move to the first one-way track 21 .

Optionally, there may be multiple linear rails 22, and the linear rails 22 are in one-to-one correspondence with the lanes 101. Since the multiple shelves 10 are arranged to form a plurality of spaced lanes 101, the load-carrying robots 30 working in different lanes 101 It can be moved to the linear track 22 corresponding to the respective lane 101, and moved to the unified first one-way track 21 along the linear track 22, because the loading robot 30 on the first one-way track 21 is one-way along the preset path. Therefore, the loading robot 30 entering the first one-way track 21 with different linear tracks 22 will not cause path interference.

For the way that the loading robot 30 is in the aisle 101 so that the bottom of the shelf 10 climbs to the designated location, or climbs to the top of the shelf 10, it can be on the shelf 10 A vertical rail 11 extending along the height direction of the rack 10 is provided, and the top of the vertical rail 11 is butted with the linear rail 22, so that the loading robot 30 can move along the vertical rail 11 to reach the storage positions of the rack 10 at different heights, and in After picking and placing the goods, the linear track 22 at the top of the rack 10 can be moved up.

It should be noted that the shelf 10 may have multiple layers, and each layer of the shelf 10 may have multiple storage positions arranged horizontally, that is, the storage positions of the shelf 10 are arranged in a grid shape, and the storage positions of different columns are correspondingly provided with The vertical rails 11, and the vertical rails 11 on the racks 10 on both sides of the roadway 101 correspond to each other, and the width of the load-carrying robot 30 matches the width of the roadway 101. When the load-carrying robot 30 moves up and down along the height direction of the shelves 10 , the two sides of the load-carrying robot 30 will abut and cooperate with the vertical rails 11 of the shelves 10 on both sides of the roadway 101 at the same time, so that the lifting process of the load-carrying robot 30 is more stable.

As an optional embodiment, the first one-way track 21 may be provided with an exit 201, the exit 201 may be provided with a sliding rail, and the sliding rail extends from the top of the shelf 10 to the bottom of the shelf 10, so that the load-carrying robot 30 can move along the first single-direction One-way movement to track 21 to exit 201 and out of rack 10 from exit 201 .

Specifically, the exit 201 is located at the edge of the storage area, and the slide rail can be close to the public area outside the storage area, so that the load-carrying robot 30 can perform the next work task after leaving the shelf 10, and the load-carrying robot 30 leaving the exit 201 The cargo robot 30 will not interfere with the cargo robot 30 that subsequently enters the area of the shelf 10, thereby improving the efficiency of cargo transfer.

Optionally, the sliding rail may be a vertical structure extending along the height direction of the rack 10, or may have a certain inclination relative to the vertical direction, and the load-carrying robot The moving method of 30 along the slide rail can be realized by relying on the drive mechanism of the load carrier robot 30 or by its own gravity, or by setting up a lifting mechanism on the slide rail. The specific manner in which the object robot 30 leaves the shelf 10 is not limited.

Since the loading robot 30 needs to rely on its cooperation with the corresponding vertical rails 11 on the shelves 10 on both sides of the aisle 101 in the process of picking up and placing goods and moving to the linear rails 22 at the top of the racks 10 , the following will be described in detail.

As an optional embodiment, the cargo robot 30 may include a body and two first docking structures respectively disposed on opposite sides of the body, and the first docking structures may be docked with the vertical rail 11, so that the cargo robot 30 can move along the The height direction of the shelf 10 is climbed.

Specifically, the first docking structure may include a first engagement portion, the vertical rail 11 includes a second engagement portion extending along the height direction of the shelf 10, the first engagement portion engages with the second engagement portion, and the first engagement portion may be along the first engagement portion. The two engaging parts move in the longitudinal direction, so as to improve the reliability of the docking of the load-carrying robot 30 with the vertical rail 11 .

Exemplarily, the first meshing part may be a gear, the second meshing part may be a rack, the first docking structure may further include a driving unit, and the driving unit may be a motor, and the load-carrying robot 30 can use its own driving force to move vertically. The straight track 11 moves up and down, and the output end of the driving unit is connected with the gear, so as to drive the loading robot 30 to move along the height direction of the rack 10 .

Optionally, the first docking structure can be extended and retracted relative to the body of the load-carrying robot 30. When the load-carrying robot 30 enters the roadway 101 from the outside of the storage area, the first A docking structure can be in a retracted state. When the load-carrying robot 30 moves along the length of the roadway 101 on the ground, it will not interfere with the shelves 10 on both sides. When the load-carrying robot 30 reaches the designated storage position, the first A pair of abutting structures can be in an extended state, and at the same time abut with the vertical rails 11 of the racks 10, so as to perform upward climbing.

Exemplarily, a moving platform driven by a motor may be mounted on the body of the load-carrying robot 30, the first docking structure is mounted on the moving platform, and is driven by the moving platform to realize telescopic movement, and the moving platform may have With the self-locking mechanism, when the first docking structure extends and contacts the vertical rail 11 , the mobile platform can be locked, thereby ensuring the reliability of the docking of the first docking structure and the vertical rail 11 .

In the embodiment of the present application, since the load robot 30 moves from the vertical track 11 to the linear track 22 at the top of the shelf 10, it involves the transformation of the load robot 30 from the vertically moving track to the horizontally moving track, thus realizing the load-carrying robot 30. The structure for the robot 30 to achieve steering between the tracks is very important, which will be described in detail below with reference to several specific optional embodiments.

As a first optional specific implementation manner, a rail change mechanism is provided at the docking position of the rail assembly 20 and the vertical rail 11, and the rail change mechanism is used to switch the moving track of the cargo robot 30 from the vertical rail 11 to the rail assembly. 20.

Specifically, the rail change mechanism can be installed on the top of the shelf 10, and the track segment at the end of the vertical rail 11 can be connected with the rail change mechanism. Driven by the reversing mechanism, the track segment at the end of the vertical rail 11 can be deflected , so as to realize the reversal of the loading robot 30 and turn from the vertical track 11 to the linear track 22 of the track assembly 20 .

As a second optional specific embodiment, the cargo robot 30 may be provided with a second docking structure, the second docking structure is disposed on the top of the main body of the cargo robot 30, and the second docking structure is used for docking with the rail assembly 20, in order to move the carrier robot 30 along the track assembly 20 .

Specifically, the rail assembly 20 may be provided with a sliding mechanism that moves along the extending direction of the rail assembly 20, and the second docking structure includes an openable and closable clamping piece, and the clamping piece can be butted and fixed with the sliding mechanism, so as to ensure the load reliability and stability of the movement of the object robot 30 along the track assembly 20 .

Optionally, the gripper can be driven by a motor, and when the loading robot 30 moves to the top of the vertical rail 11, the gripper can be folded under the drive of the motor, so as to be clamped on opposite sides of the sliding mechanism, and the sliding The shifting mechanism can move along the extending direction of the rail assembly 20. After the second docking structure is docked with the sliding mechanism, the first docking structure can be released from the docking with the vertical rail 11, so that the load-carrying robot 30 can be in the sliding mechanism. is driven to move along the track assembly 20.

It should be noted that the above two examples of switching the load robot 30 from the vertical track 11 to the vertical track 11 of the track assembly 20 are for the purpose of turning the load robot 30 while the load robot 30 is on a different track The movement of the robot 30 may be driven by its own driving force, or may be driven by an external driving force on part of the rails. This embodiment does not specifically limit the movement modes of the load-carrying robot 30 on different rails.

FIG. 4 is a schematic diagram of the movement of a load-carrying robot in a storage system provided by an embodiment of the present application. As shown in FIG. 4 , as an optional implementation manner, the track assembly 20 A cross-lane track 24 may also be included, the cross-lane rail 24 is located at the top of the rack 10 , and the cross-lane rail 24 is perpendicular to the length direction of the rack 10 , so that the load-carrying robot 30 can move between different lanes 101 .

Specifically, since the lanes 101 between adjacent racks 10 are relatively independent, and the extension directions of different lanes 101 are parallel to each other, the load-carrying robot 30 cannot directly move from one lane 101 to another lane 101 . The top and the linear track 22 are perpendicular to each other. After the load-carrying robot 30 moves to the top of the rack 10, it can move to other aisles 101 through the cross-lane track 24, without returning to the ground and detouring from the outside of the storage area to other aisles 101, Thus, the efficiency of the cargo delivery robot 30 in transferring cargo between multiple warehouse locations is improved.

Optionally, there may be a plurality of cross-lane rails 24, and the plurality of cross-lane rails 24 may be arranged in parallel and spaced apart from each other, so that the plurality of cross-lane rails 24 and the linear rails 22 can be criss-crossed on the top of the rack 10 to form a rail network, which is a good way to carry the load. The scheduling of the cargo robot 30 provides more possibilities, so that the entire storage system can be adapted to more complex cargo delivery tasks.

FIG. 5 is another schematic structural diagram of the storage system provided by the embodiment of the present application. As shown in FIG. 5 , as an optional implementation manner, the track assembly 20 may further include at least one second one-way track 23 . The track 23 is located in the middle of the rack 10 and surrounds the storage area, so that the loading robot 30 can move around the outer side of the rack 10 .

Specifically, the second one-way track 23 can be connected with the middle of the vertical track 11 by the track, so that the loading robot 30 moves to the middle height of the rack 10 . When set, it can also move laterally, so that it can move to the second one-way rail 23 .

Optionally, the number of second one-way rails 23 may be multiple, and the plurality of second one-way rails 23 may include horizontal annular rails arranged at intervals along the height direction of the rack 10, so as to provide more running paths for the trolleys. possibility, so that the entire storage system can simultaneously accommodate more cargo robots 30 to carry out the task of conveying and picking up goods, thereby improving the logistics efficiency of the storage system. In addition, the second one-way rail 23 may also include a vertical annular rail perpendicular to the plane where the first one-way rail 21 is located.

It should be noted that the manner in which the load-carrying robot 30 moves from the vertical rail 11 to the second one-way rail 23 or moves between the second one-way rails 23 may be the same as the aforementioned vertical rail 11 and the linear rail 22 . The commutation method is the same, and will not be repeated here. The second one-way track 23 can also include a horizontal annular track and a vertical annular track at the same time, so that a criss-cross track can be formed around the entire shelf 10, and a satellite radial track shell can be formed outside the three-dimensional warehouse of the overall shelf 10. The moving path of the load-carrying robot 30 is enriched, and the logistics efficiency is further improved.

As an optional embodiment, there may be multiple load-carrying robots 30 , and the multiple load-carrying robots 30 are arranged in relative order in the storage area, so that goods can be transported in the form of fleets, and the logistics efficiency can be improved.

Specifically, the fleet formed by the load-carrying robots 30 moves synchronously between the roadways 101 or on the racks 10, thereby reducing the difficulty of scheduling the load-carrying robots 30, and when the load-carrying robots 30 return to the ground, they can be divided into zeros. Deliver the goods to different designated locations. The load-carrying robots 30 arranged in front and back can be connected by a physical structure, so as to ensure the consistency of movement in the platoon, or, it can also be A distance sensor is provided on the load-carrying robot 30 to ensure that the adjacent load-carrying robots 30 always maintain a fixed distance when traveling. The specific arrangement of the load-carrying robots 30 is not specifically limited in this embodiment.

In addition, the storage system of this embodiment may further include a central control platform, and the central control platform may communicate with the load-carrying robot 30 by means of wireless communication, so as to schedule or assign the cargo delivery task to the load-carrying robot 30 .

The storage system provided by the embodiment of the present application includes a rack, a track assembly, and a loading robot, wherein there are multiple racks, and the multiple racks are arranged in the storage area at intervals, and an aisle is formed between adjacent racks, and the track assembly includes a first single rack. The first one-way track is located at the top of the shelf, and the first one-way track encloses a closed shape surrounding the storage area. The loading robot can move on the track assembly, and the loading robot moves along the first one-way track. The preset direction moves in one direction, so that when a load-carrying robot enters the shelf storage area to pick up and place goods, it will not affect the work of other subsequent load-carrying robots, thereby improving the overall logistics efficiency of the storage system.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention 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 thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the new embodiments. .

10: Shelves

20: Track Components

21: The first one-way track

22: Linear track

Claims (14)

A storage system includes: a plurality of racks, and the plurality of racks are arranged in a storage area at intervals, and a roadway is formed between adjacent racks; a track assembly includes a first one-way track, the a first one-way track at the top of the rack, and the first one-way track encloses a closed shape surrounding the storage area; and a cargo robot movable on the track assembly, And the load-carrying robot moves unidirectionally along the preset direction on the first unidirectional track. The storage system according to claim 1, wherein the track assembly further comprises a straight track, the straight track is arranged on the top of the roadway, and two ends of the straight track are respectively opposite to the first one-way track. Butt on both sides. The storage system according to claim 2, wherein vertical rails extending along the height direction of the racks are provided on the racks, and the tops of the vertical rails are butted with the linear rails. The storage system of claim 3, wherein the first one-way track has an outlet provided with a slide rail extending from the top of the rack to the bottom of the rack. The storage system according to claim 3 or 4, wherein the load-carrying robot comprises a body and two first docking structures respectively disposed on opposite sides of the body, the first docking structures and the vertical rails Butt joint, so that the load-carrying robot can climb along the height direction of the shelf. The storage system of claim 5, wherein the first docking structure includes a first engagement portion, the vertical rail includes a second engagement portion extending along the shelf height direction, the first engagement portion and the first engagement portion The two engaging portions are engaged, and the first engaging portion can move along the length direction of the second engaging portion. The storage system according to claim 6, wherein the first meshing part is a gear, the second meshing part is a rack, and the first docking structure further comprises a drive unit, the output end of the drive unit is connected to the The gear is connected to drive the loading robot to move along the height direction of the rack. The storage system according to claim 5, wherein a rail change mechanism is provided at the docking position of the rail assembly and the vertical rail, and the rail change mechanism is used to change the moving rail of the loading robot from the vertical rail. The straight track switches to the track assembly. The storage system according to claim 5, wherein the loading robot further comprises a second docking structure, the second docking structure is disposed on the top of the body, and the second docking structure is used for connecting with the track assembly docking to move the carrier robot along the track assembly. The storage system according to claim 9, wherein the rail assembly is provided with a sliding mechanism that moves along the extending direction of the rail assembly, and the second docking structure comprises an openable and closable clamp, the clamp It can be docked and fixed with the sliding mechanism. The storage system of any one of claims 1 to 4, wherein the track assembly further comprises a cross-lane track, the cross-lane track is located on top of the rack, and the cross-lane track and the rack are The length direction is vertical. The storage system of any one of claims 1 to 4, wherein the track assembly further comprises at least one second one-way track, the second one-way track is located in the middle of the rack and surrounds the storage area. The storage system according to claim 12, wherein there are a plurality of second one-way rails, and the plurality of second one-way rails include: horizontal annular rails arranged at intervals along the height direction of the racks; and/or, A vertical annular track perpendicular to the plane of the first one-way track. The storage system according to any one of claims 1 to 4, wherein there are a plurality of the load-carrying robots, and the plurality of the load-carrying robots are arranged in relative order in the storage area end to end.

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