WO2016065523A1 - 自动密集仓库装置 - Google Patents

自动密集仓库装置 Download PDF

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Publication number
WO2016065523A1
WO2016065523A1 PCT/CN2014/089609 CN2014089609W WO2016065523A1 WO 2016065523 A1 WO2016065523 A1 WO 2016065523A1 CN 2014089609 W CN2014089609 W CN 2014089609W WO 2016065523 A1 WO2016065523 A1 WO 2016065523A1
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WO
WIPO (PCT)
Prior art keywords
bin
path
bins
automatic
dense warehouse
Prior art date
Application number
PCT/CN2014/089609
Other languages
English (en)
French (fr)
Inventor
李林子
Original Assignee
深圳市派友世纪电子商务有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市派友世纪电子商务有限公司 filed Critical 深圳市派友世纪电子商务有限公司
Priority to SG11201703433QA priority Critical patent/SG11201703433QA/en
Priority to EP14905141.9A priority patent/EP3214022A4/en
Priority to KR1020177013406A priority patent/KR20170069284A/ko
Priority to PCT/CN2014/089609 priority patent/WO2016065523A1/zh
Priority to JP2017541148A priority patent/JP6573406B2/ja
Publication of WO2016065523A1 publication Critical patent/WO2016065523A1/zh
Priority to US15/499,107 priority patent/US20170225890A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
    • B65G1/133—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like the circuit being confined in a horizontal plane
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/023—Arrangements of article supporting rollers on racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the invention relates to an automatic dense warehouse device, in particular to an automatic warehouse with simple structure and high density.
  • the warehouse management method commonly used in the field of warehousing and logistics is to adopt a three-dimensional warehouse, that is, to set up a number of shelves, and to pick up and release goods by hand or by a stacker that shuttles through the roadway.
  • the efficiency of this warehouse management method needs to be improved and it is inconvenient to use.
  • a mobile rack automatic warehouse system which uses a robot to carry a rack to a fixed working port for cargo loading and unloading, and then is transported back by the robot.
  • the shortcoming of this management method is that the hardware requirements are too high, and the robot must be equipped with optical sensors, infrared sensors and other equipment. It can avoid obstacles and find a path to give a specific destination, in order to achieve the shelf and cargo under system control. The purpose of transporting to a designated location.
  • This method is not easy to implement in practice and requires a large amount of hardware acquisition cost.
  • the robot activities and the moving space of the bin need to be reserved in the shelf, which reduces the density of the bin arrangement.
  • this paper proposes an automatic dense warehouse device, which reduces the warehouse structure and management costs and simplifies the control system.
  • the present invention provides an automated dense warehouse apparatus comprising a shelf and a plurality of bins supported on the shelf.
  • the shelf defines at least one fixed picking location, each of the bins being movably supported on the shelf relative to the shelf, the picking location being disposed on a moving path of the bin.
  • the moving path of the bin is a circulation path along which all bins move on the shelf.
  • the circulation path is a rectangular path.
  • the rectangular path includes a long side path and a short side path
  • the automatic dense warehouse apparatus includes a longitudinal drive that drives a bin on the long side path.
  • the longitudinal drive is disposed at an end of the long side path.
  • the longitudinal drive comprises a push rod driven by a cylinder.
  • two adjacent bins are located on the long side path, and movement of the preceding one of the bins is achieved by pushing of a subsequent bin.
  • the automated dense warehouse apparatus includes a lateral drive that drives a bin located on the short side path.
  • the lateral drive is located below the bin.
  • the automatic dense warehouse apparatus includes a carriage that is slid along the short side path by the lateral drive, the bracket for carrying the bin.
  • the rectangular path includes a long side path and a short side path, the short side path having a length of two bin positions, wherein one bin position is the picking position.
  • a roller that is in contact with the bottom and/or sides of the bin is disposed on the moving path.
  • the bin includes at least two layers of bins distributed in a vertical direction, each bin moving independently along a respective circulation path.
  • the shelf is provided with a slide rail along the moving path such that the magazine is movable along the slide rail.
  • the present invention also provides an automated dense warehouse apparatus comprising a plurality of bins and a controller.
  • the plurality of bins are movable along a circulation path. After the bin containing the order goods is determined, the controller controls the plurality of bins to move along the circulation path to move the determined bin to a picking location.
  • the bins are sequentially twisted together, and the movement of the preceding bins is effected by the pushing of an adjacent one of the rear fabric boxes.
  • the circulation path is a rectangular path.
  • the moving manner of the bin is a step type, and the moving stride of each step is a bin position.
  • the present invention provides an automatic dense warehouse apparatus that moves a target bin to a fixed picking position by circulating the bins along a circulation path.
  • This approach simplifies the way the tank is driven and controlled, significantly reducing manufacturing and warehouse operating costs.
  • it is not necessary to provide a space in which the supply tank is moved as in the prior art, so that the arrangement density of the magazine is greatly improved.
  • FIG. 1 is a perspective schematic view of one embodiment of an automated dense warehouse unit.
  • FIG. 2 is a top plan view of one embodiment of an automated dense warehouse facility.
  • FIG. 3 is a side elevational view of one embodiment of an automated dense warehouse facility.
  • the automated intensive warehouse apparatus includes a shelf 10 and a plurality of bins 12 supported on the shelf.
  • Shelf 10 defines at least one fixed picking location at which the operator is located in this fixed picking order.
  • These bins 12 are movably supported on the shelf 10 with respect to the shelf 10, and the picking position is disposed at a certain position on the moving path of the bin 12.
  • the picking position 13 is provided at the end of the shelf 10.
  • the shelf 10 is provided with slide rails along the path of movement to move the bin 12 along the slide rails.
  • the moving path of the magazine 12 is a circulation path, and all the bins 12 are moved on the shelf along the circulation path.
  • Figure 2 is a top view of an automated dense warehouse unit.
  • the bins 12 are arranged in two rows, each bin 12 being sequentially twisted together and circulated along a rectangular path 14.
  • the rectangular path 14 has a long side path 16 and a short side path 18.
  • the movement of the magazine 12 is driven by a longitudinal drive unit 20 disposed on the shelf 10.
  • Each material wants 12 movements to be stepped, and the moving step of each step is a bin position.
  • the longitudinal drive unit 20 is disposed at the end of the long side path 16.
  • the longitudinal drive 20 includes a push rod 20 that is driven by a cylinder.
  • the push rods 20 are disposed at two diagonal positions of the rectangular path 14, such that each push rod 20 is responsible for pushing one of the rows of bins.
  • the pusher 20 actually pushes only one bin 12 of the rectangular path 16 closest to the pusher 20, while for the remaining bins 12 on the long side path 16, the front of the bin 12 Movement is achieved by the push of a subsequent bin 12.
  • pushing the bin 12 with the pusher 20 is only one embodiment and the bin 12 can be driven in other suitable manners.
  • a drive mechanism can be used to simultaneously push multiple or all of the bins 12 on the long side path 16; alternatively, each bin 12 is provided with its own separate drive mechanism.
  • the movement of the magazine 12 is driven by a transverse drive 22 disposed on the shelf 10.
  • the lateral drive 22 is located below the bin 12.
  • the shelf 10 is provided with a bracket 24 that is movable back and forth along the short side path 18 for carrying the bin 12.
  • the shelf 10 is provided along the short side path 18 with a track 26 that slides back and forth along the track 26.
  • the bottom of the bracket 24 is provided with a drive to drive the carriage 24 to slide back and forth.
  • the lateral drive 22 can employ other suitable configurations and modes of drive.
  • the length of the short side path 18 is the length of two bin positions, one of which is the picking position, such as the picking position 13 shown in FIG.
  • the shelf 10 is provided with a bin tray 28.
  • the bin 12 containing the ordered goods is moved to the picking position 13
  • the bin 12 is pushed by the drive mechanism onto the bin tray 28 or manually pulled by the operator onto the bin tray 28 for picking operations.
  • the bin 12 returns to the picking position 13 to participate in the cyclic movement.
  • a roller that is in contact with the magazine 12 is provided on the moving path of the magazine 12.
  • a roller 30 is shown that is in contact with the sides of the bin 12; as shown in Figure 3, which is a side view of the automated intensive warehouse device 10, depicting a roller 32 in contact with the bottom of the bin 12.
  • These rollers 30, 32 may be disposed on the shelf 10 or may be disposed on the magazine 10.
  • the automatic dense warehouse apparatus is provided with two layers of bins 12 in the vertical direction, and each of the bins 12 independently moves along respective circulation paths.
  • two longitudinal drives 20 and two transverse drives 22 are provided at the end of the automated dense warehouse unit.
  • the automatic intensive warehouse unit may also be provided with a layer of bins 12 or two more layers of bins 12, the number of layers of which are designed according to actual needs.
  • the automated intensive warehouse facility also includes a controller to control movement of the bin 12. After the bin 12 containing the order goods is determined, the controller controls the bins of this layer to move along the circulation path 14 to move the determined bin 12 to the picking location 13.
  • the movement of the bin is described below by the movement of a layer of bins 12.
  • one of the bins 12 is located on the tray 28 for the operator to pick.
  • the bin 12 can be driven back to the picking position 13 by the drive mechanism or manually pushed back to the picking position 13 by the operator.
  • the controller can then control the lateral drive mechanism 22 to drive the bin 12 at the picking location 13 to another bin position of the short side path 18, at which time the bin 12 is aligned with the other bin.
  • the controller then controls the longitudinal drive mechanism 20 to push the bin 12 into the long side path 16 with the result that one bin 12 at the other end of the long side path 16
  • the short side path 18 is pushed into the other end of the shelf 10.
  • the bin 12 aligned with the picking position 13 is also pushed towards the picking position 13 by the longitudinal drive mechanism 20 at the other end of the shelf 10, with the result that a new bin 12 enters the picking position 13. If the new bin 12 is not the target bin, i.e., the bin 12 containing the ordered merchandise, the bin 12 is moved to the next bin position of the short side path 18. If the bin 12 is a target bin, the bin 12 is moved to the tray 28 for picking operations.
  • the magazines 12 are circulated together, and it is not necessary to leave the tank moving space in the rack 10 as in the prior art, so that the bins 12 can be arranged in a high density.
  • the length of the short side path 18 is the length of the two bin positions, and the two rows of bins 12 are disposed next to each other.
  • the magazine 12 is moved along a rectangular circulation path and two rows of bins are provided. This results in a high density bin arrangement.
  • the bins 12 can be arranged along a circular path of any shape as long as the cyclic movement of the bin 12 can be achieved.
  • a picking location can be placed at each end of the shelf.
  • the picking position of each layer bin can be set at different positions of the shelf, for example, the picking position of the partial ladle is set at one end of the shelf, and the other portion is The picking position of the box is set at the other end of the shelf.
  • the bin 12 in the foregoing embodiment is moved step by step, and the step size of each step of movement is one bin length.
  • the bins 12 may also be continuously movable, for example, the bins 12 may be arranged in a ring shape to move along an endless path of travel.
  • the picking position is also defined at a certain position in the circular moving path.
  • the present invention provides an automatic dense warehouse apparatus for high-density bins that moves the target bin to a fixed picking position by circulating the bins along the circulation path.
  • This approach simplifies the way the tank is driven and controlled, significantly reducing manufacturing and warehouse operating costs.
  • it is not necessary to provide a space in which the supply tank is moved as in the prior art, so that the arrangement density of the magazine is greatly improved.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

一种自动密集仓库装置，包括货架（10）以及支撑在所述货架（10）上的若干料箱（12）。所述货架定义至少一个固定的拣货位（13），每个所述的料箱相对于所述货架可移动地支撑在所述货架上，所述拣货位设置在所述料箱的移动路径上。

Description

自动密集仓库装置 技术领域
本发明涉及一种自动密集仓库装置，特别是涉及一种结构简单，高密度的自动仓库。
背景技术
目前，在仓储和物流领域中常用的仓库管理方式是采用立体仓库，即设置若干货架，用人工或者穿梭于巷道的堆垛机来取放货物。这种仓库管理方式效率有待提高，使用较为不便。
在现有技术中提供一种移动式货架自动仓库系统，其利用机器人搬运货架至固定工作口进行货物装卸，然后再由机器人运回。该管理方式的缺陷在于对硬件的要求过高，要求机器人必须配备有光学传感器、红外传感器等设备，能自己避开障碍和寻找路径去给定目的点，才能达到在系统控制下将货架和货物搬运至指定的位置的目的。该方式在实践中不便于实施，需要花费大量的硬件购置成本。而且，货架中需预留机器人活动和料箱挪动空间，降低了料箱排列密度。
因此，有必要提供一种成本低廉，便于管理的自动密集仓库装置。
 技术问题
有鉴于此，本文提出一种自动密集仓库装置，其降低了仓库结构和管理成本，简化了控制系统。
技术解决方案
本发明提供一种自动密集仓库装置，包括货架以及支撑在所述货架上的若干料箱。所述货架定义至少一个固定的拣货位，每个所述的料箱相对于所述货架可移动地支撑在所述货架上，所述拣货位设置在所述料箱的移动路径上。
在一实施例中，所述料箱的移动路径为一个循环路径，所有料箱沿该循环路径在所述货架上移动。
在一实施例中，所述循环路径为一个长方形路径。
在一实施例中，所述长方形路径包括长边路径和短边路径，所述自动密集仓库装置包括驱动所述长边路径上的料箱的纵向驱动装置。
在一实施例中，所述纵向驱动装置设置在所述长边路径的端部。
在一实施例中，所述纵向驱动装置包括由气缸驱动的推杆。
在一实施例中，位于所述长边路径上两个相邻的料箱，前面一个料箱的移动是依靠后面一个料箱的推动来实现的。
在一实施例中，所述自动密集仓库装置包括驱动位于所述短边路径上的料箱的横向驱动装置。
在一实施例中，所述横向驱动装置位于所述料箱的下方。
在一实施例中，所述自动密集仓库装置包括被所述横向驱动装置驱动沿所述短边路径滑动的托架，所述托架用于承载所述料箱。
在一实施例中，所述长方形路径包括长边路径和短边路径，所述短边路径的长度为两个料箱位的长度，其中一个料箱位为所述拣货位。
在一实施例中，在所述移动路径上设置有与所述料箱底部和/或侧部接触的滚轮。
在一实施例中，所述料箱包括在竖直方向上分布的至少两层料箱，每层料箱独立地沿各自循环路径移动。
在一实施例中，其特征在于，所述货架沿所述移动路径设有滑轨，使得所述料箱可沿所述滑轨移动。
本发明还提供一种自动密集仓库装置，包括若干料箱和控制器。所述若干料箱可沿一循环路径移动。当容纳订单货物的料箱被确定后，所述控制器控制所述若干料箱一起沿所述循环路径移动以将所述确定的料箱移动至一拣货位。
在一实施例中，至少对于部分料箱而言，料箱依次挨在一起，前面一个料箱的移动是靠相邻的一个后面料箱的推动而实现的。
在一实施例中，所述循环路径为一个长方形路径。
在一实施例中，所述料箱的移动方式为步进式，每一步的移动步幅为一个料箱位。
 有益效果
综上所述，本发明提供了一种自动密集仓库装置，通过料箱一起沿着循环路径循环移动的方式使目标料箱移动至固定的拣货位。这种方式使得料箱驱动和控制方式得以简化，大幅降低制造和仓库运营成本。而且，货架中不需要如现有技术那样设置供料箱挪动的空间，因此极大地提高了料箱的排列密度。
 附图说明
图1是自动密集仓库装置的一个实施例的立体示意图。
图2是自动密集仓库装置的一个实施例的俯视图。
图3是自动密集仓库装置的一个实施例的侧视图。
 本发明的实施方式
在详细描述实施例之前，应该理解的是，本发明不限于本申请中下文或附图中所描述的详细结构或元件排布。本发明可为其它方式实现的实施例。而且，应当理解，本文所使用的措辞及术语 仅仅用作描述用途，不应作限定性解释。本文所使用的“包括”、“包含”、“具有”等类似措辞意为包含其后所列出之事项、其等同物及其它附加事项。特别是，当描述“一个某元件”时，本发明并不限定该元件的数量为一个，也可以包括多个。
图1是自动密集仓库装置的一个实施例的立体示意图。自动密集仓库装置包括货架10以及支撑在所述货架上的若干料箱12。货架10定义至少一个固定的拣货位，操作者位于这个固定的拣货位拣选订单货物。这些料箱12相对于货架10可移动地支撑在货架10上，而拣选位就设置在料箱12的移动路径上的某个位置。在图1所示的实施例中，拣选位13设置在货架10的端部。在所述的实施例中，货架10沿着移动路径设有滑轨，使料箱12沿滑轨移动。
在本实施例中，料箱12的移动路径为一个循环路径，且所有料箱12沿该循环路径在所述货架上移动。如图2，为自动密集仓库装置的俯视图。料箱12排列成两列，每一列料箱12依次挨在一起，并沿一个长方形路径14循环移动。长方形路径14具有长边路径16和短边路径18。
在长方形路径14的长边路径16上，料箱12的移动是靠一个设置在货架10上的纵向驱动装置20驱动的。每个料想12的移动是步进式的，每一步的移动步幅为一个料箱位。该纵向驱动装置20设置在长边路径16的端部。在所示的实施例中，该纵向驱动装置20包括由气缸驱动的推杆20。该推杆20设置在长方形路径14的两个对角位置，这样每个推杆20负责推动其中一列料箱。在所示的实施例中，该推杆20实际上只推动长方形路径16最靠近推杆20的一个料箱12，而对于位于长边路径16上其余的料箱12，前面一个料箱12的移动是依靠后面一个料箱12的推动来实现的。应当指出，利用推杆20推动料箱12只是一种实施方式，料箱12也可以其它合适的方式驱动。例如，可以使用一个驱动机构同时推长边路径16上的多个或所有料箱12；或者，每个料箱12都配有自己单独的驱动机构。
在长方形路径14的短边路径18上，料箱12的移动是靠一个设置在货架10上的横向驱动装置22驱动的。在所示的实施例中，该横向驱动装置22位于料箱12的下方。具体而言，货架10设有可沿短边路径18来回移动的托架24，该托架24用于承载料箱12。货架10沿着短边路径18设有轨道26，该托架24沿着轨道26来回滑动。托架24的底部设有驱动装置以驱动托架24来回滑动。在其它实施例中，横向驱动装置22可以采用其他合适的结构和驱动方式。
在所示的实施例中，短边路径18的长度为两个料箱位的长度，其中一个料箱位为所述拣货位，例如图2所示的拣货位13。临近拣货位13，货架10设置一个料箱托盘28。当装有订单货物的料箱12移动至拣货位13后，料箱12被驱动机构推至料箱托盘28上或由操作员手动拉到料箱托盘28上进行拣货操作。当拣货操作完毕，料箱12再回到拣货位13，参与循环移动。
为了使料箱12移动滑动顺畅，在料箱12的移动路径上设有与料箱12接触的滚轮。例如，如图1和图2，其描绘了与料箱12侧部接触的滚轮30；如图3，为自动密集仓库装置10的侧视图，描绘了与料箱12底部接触的滚轮32。这些滚轮30，32可以是设置在货架10上，也可以是设置在料箱10上。
在本实施例中，自动密集仓库装置在竖直方向上设有两层料箱12，每层料箱12独立地沿各自循环路径移动。因此，在自动密集仓库装置的端部，设有两个纵向驱动装置20和两个横向驱动装置22。同时，在自动密集仓库装置的端部设有两个拣货位。应当理解的是，自动密集仓库装置也可以设有一层料箱12或多余两层的料箱12，料箱12的层数根据实际需要而设计。
自动密集仓库装置还包括有控制器以控制料箱12的移动。当容纳订单货物的料箱12被确定后，该控制器控制这一层的料箱一起沿循环路径14移动以将所述确定的料箱12移动至拣货位13。
下面以一层料箱12的移动来介绍料箱移动过程。
如图2所示的状态，其中一个料箱12位于托盘28供操作员拣货。拣货完毕后，料箱12可被驱动机构驱动回拣货位13或被操作员手动推回拣货位13。然后，控制器可控制横向驱动机构22将位于拣货位13的料箱12驱动至短边路径18的另一个料箱位，此时料箱12与另一列料箱对齐。控制器然后控制纵向驱动机构20将该料箱12推入长边路径16中，结果就是长边路径16另一端的一个料箱12
被推入货架10另一端的短边路径18。同时或者之后，与拣货位13对齐的这一列料箱12也被货架10另一端的纵向驱动机构20朝向拣货位13推动，结果就是有一个新的料箱12进入拣货位13。如果这个新的料箱12不是目标料箱，即装有订单货物的料箱12，则该料箱12被移动至短边路径18的下一个料箱位。如果该料箱12是目标料箱，则该料箱12被移动至托盘28进行拣货操作。当有新的料箱位12进入了拣货位13，表示货架10另一端的短边路径18上与拣货位13对齐的料箱位是空位，则位于货架10另一端的横向驱动机构22开始操作以将一个料箱12驱动至该空位。如此实现料箱12的循环移动。
在前述实施例中，料箱12是一起循环移动，货架10中不需要如现有技术那样留出料箱挪动空间，因此料箱12可以高密集地排列。例如，短边路径18的长度就是两个料箱位的长度，这两列料箱12之间几乎挨着设置。
在前述实施例中，料箱12沿长方形的循环路径移动且设置两列料箱。这样可以带来高密度的料箱排列。理论上，料箱12可以沿任何形状的循环路径排列，只要能实现料箱12的循环移动即可。
在前述实施例中，只设置一个拣选位，但也可以设置多个拣货位，由多个操作员同时操作。例如，可以在货架的每一端设置一个拣货位。在设置多层料箱12的实施例中，每一层料箱的拣货位可以设置在货架的不同位置，例如，即部分层料箱的拣货位设置在货架的一端，而另一部分料箱的拣货位设置在货架的另一端。
由前述介绍的驱动方式可知，前述实施例中的料箱12是一步一步移动的，每一步移动的步长为一个料箱位长度。在其它实施例中，料箱12也可以是连续移动的，例如料箱12可以排列成环形从而沿环形移动路径移动。拣货位也定义在环形移动路径的某个位置。
综上所述，本发明提供了一种高密度料箱的自动密集仓库装置，通过料箱一起沿着循环路径循环移动的方式使目标料箱移动至固定的拣货位。这种方式使得料箱驱动和控制方式得以简化，大幅降低制造和仓库运营成本。而且，货架中不需要如现有技术那样设置供料箱挪动的空间，因此极大地提高了料箱的排列密度。
本文所描述的概念在不偏离其精神和特性的情况下可以实施成其它形式。所公开的具体实施例应被视为例示性而不是限制性的。因此，本发明的范围是由所附的权利要求，而不是根据之前的这些描述进行确定。在权利要求的字面意义及等同范围内的任何改变都应属于这些权利要求的范围。

Claims (18)

1. 一种自动密集仓库装置，包括货架以及支撑在所述货架上的若干料箱，其特征在于，所述货架定义至少一个固定的拣货位，每个所述的料箱相对于所述货架可移动地支撑在所述货架上，所
述拣货位设置在所述料箱的移动路径上。
2. 如权利要求1所述的自动密集仓库装置，其特征在于，所述料箱的移动路径为一个循环路径，所有料箱沿该循环路径在所述货架上移动。
3. 如权利要求2所述的自动密集仓库装置，其特征在于，所述循环路径为一个长方形路径。
4. 如权利要求3所述的自动密集仓库装置，其特征在于，所述长方形路径包括长边路径和短边路径，所述自动密集仓库装置包括驱动所述长边路径上的料箱的纵向驱动装置。
5. 如权利要求4所述的自动密集仓库装置，其特征在于，所述纵向驱动装置设置在所述长边路径的端部。
6. 如权利要求5所述的自动密集仓库装置，其特征在于，所述纵向驱动装置包括由气缸驱动的推杆。
7. 如权利要求4所述的自动密集仓库装置，其特征在于，位于所述长边路径上两个相邻的料箱，前面一个料箱的移动是依靠后面一个料箱的推动来实现的。
8. 如权利要求4所述的自动密集仓库装置，其特征在于，所述自动密集仓库装置包括驱动位于所述短边路径上的料箱的横向驱动装置。
9. 如权利要求8所述的自动密集仓库装置，其特征在于，所述横向驱动装置位于所述料箱的下方。
10. 如权利要求8所述的自动密集仓库装置，其特征在于，所述自动密集仓库装置包括被所述横向驱动装置驱动沿所述短边路径滑动的托架，所述托架用于承载所述料箱。
11. 如权利要求3所述的自动密集仓库装置，其特征在于，所述长方形路径包括长边路径和短边路径，所述短边路径的长度为两个料箱位的长度，其中一个料箱位为所述拣货位。
12. 如权利要求1所述的自动密集仓库装置，其特征在于，所述货架在所述移动路径上设置与所述料箱底部和/或侧部接触的滚轮。
13. 如权利要求1所述的自动密集仓库装置，其特征在于，所述料箱包括在竖直方向上分布的至少两层料箱，每层料箱独立地沿各自循环路径移动。
14. 如权利要求1所述的自动密集仓库装置，其特征在于，所述货架沿所述移动路径设有滑轨，使得所述料箱可沿所述滑轨移动。
15. 一种自动密集仓库装置，包括若干料箱，其特征在于，所述若干料箱可沿一循环路径滑动，所述自动密集仓库装置还包括控制器，当容纳订单货物的料箱被确定后，所述控制器控制所述
若干料箱一起沿所述循环路径移动以将所述确定的料箱移动至一拣货位。
16. 如权利要求15所述的自动密集仓库装置，其特征在于，至少对于部分料箱而言，料箱依次挨在一起，前面一个料箱的移动是靠相邻的一个后面料箱的推动而实现的。
17. 如权利要求15所述的自动密集仓库装置，其特征在于，所述循环路径为一个长方形路径。
18. 如权利要求15所述的自动密集仓库装置，其特征在于，所述料箱的移动方式为步进式，每一步的移动步幅为一个料箱位。
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