WO2018210088A1

WO2018210088A1 - Warehouse-out and warehouse-in device

Info

Publication number: WO2018210088A1
Application number: PCT/CN2018/083374
Authority: WO
Inventors: 王显旺
Original assignee: 北京京东尚科信息技术有限公司; 北京京东世纪贸易有限公司
Priority date: 2017-05-18
Filing date: 2018-04-17
Publication date: 2018-11-22
Also published as: CN107032035A; CN107032035B

Abstract

A warehouse-out and warehouse-in device, comprising a temporary shelf storage device (1) and a continuous circulation elevator (2). The temporary shelf storage device (1) comprises a plurality of layers of temporary storage positions, and a movable tray (11) is provided on each temporary storage position and moves relative to the temporary storage position; a closed rail (21) and horizontal trays (22) are provided on the continuous circulation elevator (2), the horizontal trays (22) continuously and circularly moving along the closed rail; a plurality of strip-shaped teeth (111, 221) in a cantilever state are provided on the movable trays (11) and the horizontal trays (22); and when the horizontal trays and the movable trays in the extending state are located on the same horizontal plane, at least a part of the strip-shaped teeth of the horizontal trays are located among the strip-shaped teeth of the movable trays so as to transfer cargo. According to the warehouse-out and warehouse-in device, the movable trays and the horizontal trays cooperate with each other, which shortens the average cargo transferring time, and thus improves the overall operation efficiency of the warehouse-out and warehouse-in device.

Description

Storage device

Cross-reference to related applications

This patent application claims to be filed on May 18, 2017, with the application number being 201710351176.5, the applicant being Beijing Jingdong Century Trading Co., Ltd. and Beijing Jingdong Shangke Information Technology Co., Ltd., and the invention patented as “inbound and outbound device”. Priority is hereby incorporated by reference in its entirety in its entirety.

Technical field

The present application relates to the field of warehousing and logistics technology, and particularly relates to the warehousing technology, and particularly relates to an warehousing device.

Background technique

At present, the existing automated three-dimensional warehouse mostly uses a reciprocating lifting hoist to carry out the goods into and out of the warehouse. The main process is: the lifting frame of the hoist carries the transfer tray for reciprocating lifting movement; which shelf has the goods in the buffer position, the lifting frame holds the transfer tray on which floor; after the goods are taken, it returns to the external conveying line. The location, the goods are sent to the external conveyor line; then the hoist then transports the transfer tray to the next target cache. So do the reciprocating movements.

However, in this type of warehousing, the running distance of the crane of the reciprocating elevator is increased as the number of shelves increases. This will result in an increase in the average outbound and inbound time of the goods, which will affect the operational efficiency of the entire automated warehouse.

Summary of the invention

In view of the above-discussed deficiencies in the prior art, the present application provides an improved warehousing device to solve the technical problems mentioned in the background section above.

In order to achieve the above object, an embodiment of the present application provides an inbound and outbound device. The inbound and outbound device comprises: a shelf buffer device and a continuous loop elevator; the shelf buffer device comprises a plurality of cache bits, and each cache bit is provided with a moving tray relative to the movement of the cache bit; the continuous cycle elevator is provided with a closed track and along the edge a horizontal tray in which the track continuously moves; a plurality of strip-shaped teeth in a cantilever state are disposed on the moving tray and the horizontal tray, and at least a portion of the strip of the horizontal tray when the horizontal tray and the moving tray in the extended state are at the same horizontal plane The teeth are located between the strip teeth of the moving tray to effect the transfer of the goods.

In some embodiments, the continuous cycle elevator is provided with at least two horizontal trays, and at least two horizontal trays are equally spaced.

In some embodiments, the strip teeth of the horizontal tray and the strip teeth of the moving tray are equally spaced, and when the horizontal tray and the moving tray in the extended state are at the same horizontal plane, the strip teeth of the horizontal tray and the strip of the moving tray The teeth are alternately arranged.

In some embodiments, at least two of the strip teeth of the moving tray are provided with threaded holes for mounting a stop for securing the cargo.

In some embodiments, the cache bit is further provided with a frame, a first driving device and a first sensor; the frame is for supporting the moving tray, and the moving tray is moved relative to the frame by the first driving device; the first sensor is for Detect the status of the goods on the moving pallet.

In some embodiments, the frame includes a first side and a second side, the first side and the second side being parallel to each other; the moving tray is under the action of the first driving device, along the first side and the second side Do reciprocating telescopic movement.

In some embodiments, the frame includes a rotating shaft that is reciprocally horizontally rotated about the rotating shaft by the first driving device.

In some embodiments, the continuous cycle hoist is further provided with a frame, a second driving device and a second sensor; the track is disposed on the frame, and the horizontal tray moves uniformly along the track under the action of the second driving device; the second sensor Set on the rack to detect the position of the horizontal tray.

In some embodiments, the inbound and outbound device further includes an external buffer device, the external buffer device includes a roller conveying line, the roller on the roller conveying line is in a cantilever state; and the horizontal tray and the roller conveying line are in the same horizontal plane, the horizontal tray The strip teeth are located between the rollers of the roller conveyor line to effect the transfer of the goods.

In some embodiments, the external buffer device is further provided with a mount, a positioning plate and a third sensor; the mount is for supporting the roller conveying line; the positioning plate is disposed at the end of the roller conveying line for blocking the cargo; The three sensors are disposed on the positioning plate for detecting the state of the goods on the roller conveyor line.

The inbound and outbound device provided by the embodiment of the present application is provided with a horizontal tray moving along a closed track and a moving tray moving relative to the buffer position, and the horizontal tray and the moving tray are provided with a plurality of strip-shaped teeth in a cantilever state. Thus, when the horizontal tray and the moving tray in the extended state carry out the goods transfer, at least part of the strip-shaped teeth of the horizontal tray can be located between the strip-shaped teeth of the moving tray, that is, the horizontal tray can pass through the moving tray. In this way, the horizontal pallet can complete the goods transfer without stopping the movement along the track, and the average transfer rate of the goods can be improved, thereby reducing the average transfer time of the goods, thereby improving the overall operation efficiency of the warehousing device.

DRAWINGS

Other features, objects, and advantages of the present application will become more apparent from the detailed description of the accompanying drawings.

1a is a schematic structural view of an embodiment of an inbound and outbound device provided by the present application;

Figure 1b is a top plan view of the structure of the inbound and outbound device shown in Figure 1a;

2 is a schematic view showing the position of the horizontal tray and the moving tray at the same horizontal plane;

3 is a schematic structural diagram of an embodiment of a cache bit in a shelf cache device provided by the present application;

4 is a schematic structural diagram of still another embodiment of a cache bit in the shelf cache device provided by the present application;

5 is a schematic structural view of an embodiment of a continuous circulation hoist provided by the present application;

6 is a schematic structural diagram of an embodiment of an external cache device provided by the present application;

Fig. 7 is a schematic view showing the positional structure of the horizontal tray and the roller of the roller conveying line at the same horizontal plane.

detailed description

The principles and features of the present application are further described in detail below with reference to the drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention, rather than the invention. It should also be noted that, for the convenience of description, only parts related to the invention are shown in the drawings.

It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings.

Referring to FIG. 1a, a schematic structural diagram of an embodiment of an inbound and outbound device provided by the present application is shown.

In the present embodiment, the inbound and outbound devices may include a shelf buffer device 1 and a continuous cycle elevator 2. As shown in FIG. 1a, the shelf buffer device 1 may include a plurality of cache bits, and each cache bit is provided with a mobile tray 11 that is movable relative to the cache bit. The movement here may be the movement of the moving tray from the home position to the extended position on the buffer position, or the movement of the moving tray from the extended position to the home position on the buffer position. Wherein, the home position may be the side of the buffer position away from the continuous circulation elevator, that is, the moving pallet in the home position does not transfer goods with the continuous circulation elevator. The extended position may be on the side of the buffer position adjacent to the continuous cycle hoist, ie the moving pallet in the extended position and the continuous circulation hoist for cargo transfer. At the same time, the continuous circulation hoist 2 is provided with a closed rail 21 and a horizontal tray 22 which continuously circulates along the rail 21. It can be understood that, in order to realize that the horizontal tray 22 can carry goods, the horizontal tray 22 does not tilt or flip itself when moving along the track 21 clockwise or counterclockwise, that is, the upper surface of the horizontal tray 22 (ie, with the goods) The orientation of the contact surface is unchanged.

In the present embodiment, a plurality of strip-shaped teeth (such as strip teeth 111 and strip teeth 221) in a cantilever state may be disposed on both the moving tray 11 and the horizontal tray 22. Among them, the cantilever state generally means that one end of the object is fixed by being fixed, and the other end is free. That is, only one end of each strip tooth is fixed to the moving tray 11 or the horizontal tray 22. When the horizontal tray 22 and the moving tray 11 in the extended state (ie, the extended position) are at the same horizontal plane, at least a portion of the strip-shaped teeth 221 of the horizontal tray 22 may be located between the strip-shaped teeth 111 of the moving tray 11 to realize the goods. Transfer. That is to say, the horizontal tray 22 and the moving tray 11 can pass each other through each other, so that the horizontal tray 22 can complete the transfer of goods without stopping the movement along the track 21, and can improve the average transfer rate of the goods, thereby reducing the goods. The average transfer time, in turn, improves the overall operational efficiency of the warehousing device. In addition, the use of strip-shaped teeth instead of the conventional roller can reduce the production cost and avoid the transportation time of the goods on the roller, which can further reduce the average transfer time of the goods.

It can be understood that the upper surfaces of the strip teeth may be at the same horizontal plane or may not be in the same horizontal plane (for example, the height difference between the upper surfaces of the strip teeth is adjusted according to the shape of the cargo). Moreover, the material of the strip teeth can be metal or non-metal. Under the premise of meeting the bearing requirements, strip teeth can be made of lighter materials. In addition, the spacing between the strip teeth and the shape of the strip teeth are not limited in the present application, and may be designed according to actual needs. For example, in order to ensure the load-bearing stability of the moving tray 11 and the horizontal tray 22, the sides of the strip-shaped teeth may be wedge-shaped, that is, the side width of the fixed end of the strip-shaped teeth is larger than the side width of the free end.

In addition, in order to improve the stability of the cargo during transportation, the upper surface of at least a portion of the strip teeth may be treated to increase the roughness of the contact surface with the cargo, thereby increasing the friction with the cargo. For example, spraying, sticking or fixing other substances on the upper surface of the strip teeth or roughening the upper surface of the strip teeth.

It should be noted that, in order to carry out the goods entering and leaving the warehouse together with the loading and unloading device, the picking robot (but not limited) can carry the goods between the shelf and the shelf buffer device to place the goods on the cache position (ie, out of the warehouse). Or take away the goods on the cache (ie, inbound). In addition, it is also possible to use the picking robot (but not limited) to carry goods between the continuous cycle hoist and other equipment, thereby placing the goods on the horizontal pallet (ie entering the warehouse) or removing the goods from the horizontal pallet (ie out Library).

In some alternative implementations of this embodiment, in order to further increase the operational efficiency of the inbound and outbound device, at least two horizontal trays 22 may be disposed on the continuous cycle elevator 2. As shown in Fig. 1a, three horizontal trays 22 are provided on the continuous circulation hoist 2. And to facilitate the design of the control program, these horizontal trays 22 can be arranged at equal intervals. Further, the strip teeth 221 of the horizontal tray 22 and the strip teeth 111 of the moving tray 11 can also be disposed at equal intervals. As shown in FIG. 2, when the horizontal tray 22 and the moving tray 11 in the extended state are located at the same horizontal plane, the strip teeth 221 of the horizontal tray 22 and the strip teeth 111 of the moving tray 11 may be alternately arranged.

It should be noted that the positional relationship between the strip-shaped teeth 221 of the horizontal tray 22 and the strip-shaped teeth 111 of the moving tray 11 shown in FIG. 2 is merely illustrative. For example, two strip-shaped teeth 221 may be arranged between two adjacent strip-shaped teeth 111, or two strip-shaped teeth 111 may be arranged between adjacent two strip-shaped teeth 221.

Optionally, in order to realize the movement of the mobile tray 11 relative to the cache position, each cache position in the shelf buffer device 1 may further be provided with a frame, a first driving device and a first sensor. Here, the frame can be used to support the moving tray 11. And the moving tray 11 can be moved relative to the frame by the first driving device. The first sensor can be used to detect the status of the cargo on the moving pallet. Wherein, the status of the cargo may include whether the current pallet is currently carried on the moving pallet and the current location of the cargo carried on the moving pallet (eg, in-situ or extended position).

As an example, the structure of the cache bits can be as shown in FIG. In FIG. 3, the frame may include a first side 12 and a second side 13. The first side 12 and the second side 13 may be parallel to each other. Thus, the moving tray 11 can perform a reciprocating telescopic movement along the first side 12 and the second side 13 under the action of the first driving device 14. The first driving device 14 can be composed of components commonly used in the prior art, such as a linear motor. At this time, the frame not only plays a supporting role, but also acts as a guide rail. In addition, in order to ensure that the moving tray 11 can perform both telescopic movement and cargo transfer, the length of the first side 12 is smaller than the length of the second side 13. At the same time, a first sensor 15 can be respectively disposed at a position corresponding to the moving tray 11 in the retracted state (in the home position) and in the extended state (in the extended position). It can be understood that the installation position of the first sensor 15 in FIG. 3 is merely illustrative.

Further, in order to ensure the stability of the goods carried on the moving tray 11 during the movement, the at least two strip teeth 111 of the moving tray 11 may be provided with threaded holes 16. As shown in Figure 3, the threaded bore 16 can be used to mount the stop 17. Among them, the stopper 17 can be used to fix the goods on the moving tray 11. In order to facilitate the adjustment of the position of the stopper 17 in accordance with the size of the cargo, a plurality of pairs of threaded holes 16 may be provided in each of the strip teeth 111. The stopper 17 is fixed to the strip teeth by two screws and a pair of threaded holes 16. However, the mounting direction of the stopper 17 is not limited in the present application. Also, at least two strip teeth 221 of the horizontal tray 22 may be provided with threaded holes for mounting the stoppers.

Alternatively, the structure of the cache bit can also be as shown in FIG. In Figure 4, the frame may contain a shaft A. The moving tray 11 is reciprocally horizontally rotatable about the axis of rotation A by the action of the first driving means. When the moving tray 11 needs to be transferred with the horizontal tray 22, the moving tray 11 can be rotated from the home position (the position shown by the broken line in Fig. 4) to the extended position (the position shown by the solid line in Fig. 4).

In some alternative implementations of this embodiment, the continuous cycle elevator 2 may also be provided with a frame 23, a second drive unit 24 and a second sensor 25. As shown in FIG. 5, the rail 21 is disposed on the frame 23. The horizontal tray 22 can be moved at a constant speed along the track 21 by the second driving device 24. At the same time, the second sensor 25 is disposed on the frame 23, and thus can be used to detect the position of the horizontal tray 22. It can be understood that the specific mounting position of the second sensor 25 on the frame 23 is not limited in the present application. Further, a rail 21 may be provided on one side of the frame 23. It is also possible to provide rails 21 on both sides of the frame 23 so that the goods can be transferred simultaneously on both sides, thereby further improving the operating efficiency. The shape of the track 21 may be a ring shape as shown in FIG. 5, or may be other closed shapes such as a rectangle.

In addition, as can be seen from FIG. 1a, in order to further improve the overall operational efficiency of the inbound and outbound device, the inbound and outbound device may further include an external cache device 3. For details, refer to FIG. 6, which shows a schematic structural diagram of an embodiment of an external cache device. As shown in FIG. 6, the external buffer device may include a roller transport line 31. Among them, the roller 311 on the roller conveying line 31 can also be in a cantilever state. When the horizontal tray 22 and the roller conveying line 31 are located at the same horizontal plane, the strip teeth 221 of the horizontal tray 22 may be located between the rollers 311 of the roller conveying line 31 (as shown in FIG. 7) to realize the transfer of the goods. . That is to say, the horizontal tray 22 can also pass through the roller conveying line 31, so that the horizontal tray 22 can complete the transfer of goods without stopping the movement along the track 21, and can further reduce the average transfer time of the goods, thereby improving the access. The overall operational efficiency of the library device.

As can be seen from FIG. 6, the external buffer device can also be provided with a mount 32, a positioning plate 33 and a third sensor 34. The mount 32 is used to support the roller transport line 31. At the same time, in order to avoid interference with the horizontal tray 22, the mount 32 is provided with the mount legs 321 only at three corners. Thus, the horizontal tray 22 can pass through the roller conveying line 31 from the upper surface (the surface on which the goods are transported) or the lower surface (the surface opposite to the upper surface) of the roller conveying line 31. The positioning plate 33 is provided at the end of the roller conveying line 31 for blocking the cargo and preventing the cargo from coming off the roller conveying line 31. The third sensor 34 may be disposed on the positioning plate 33 for detecting the state of the goods on the roller conveying line 31. The status here can include whether there is cargo on the roller conveyor line and the current position of the cargo. Meanwhile, in the roller conveying line 31, the other end (the B end shown in Fig. 6) opposite to the end where the positioning plate 33 is located may be butted against the external conveying line. This allows for the transfer of goods between the external cache device and the external conveyor line.

The positional relationship between the shelf buffer device 1, the continuous cycle elevator 2 and the external buffer device 3 can be seen in Fig. 1b, which is a top view of the structure of the inbound and outbound device shown in Fig. 1a. At this time, if the goods are to be transported from the external conveyor line to a specified shelf, that is, the goods are put into storage, the main operation process of the inbound and outbound device is as follows:

First, the control system can determine the time interval at which the other horizontal trays 22 pass through the external buffer device 3 based on the current position of a certain horizontal tray 22. Specifically, when the horizontal tray 22 passes the second sensor 25, the control system can position it according to the received signal sent by the second sensor 25, and according to the spacing between the horizontal trays 22, the remaining levels can be calculated. The position of the tray 22 is such that the time interval at which the other horizontal trays 22 reach the external buffer device 3 can be determined.

Then, the outer conveying line and the roller conveying line 31 are controlled by the time interval to carry the goods to a predetermined position on the external buffer device 3. When the horizontal tray 22 passes the roller 311, the cargo can be carried away and transported along the rail 21 to the shelf buffer device 1.

At the same time, the control system determines the cache bit in the shelf buffer device 1 corresponding to the warehousing information of the goods based on the warehousing information of the goods, and controls the moving tray 11 of the cache position before the horizontal tray 22 holding the goods arrives Extending state. Wherein, the warehousing information may include location information of the shelf to be stored in the goods. Each cache bit can correspond to a shelf.

Finally, when the horizontal tray 22 passes the buffer position, the goods thereon will remain on the moving tray 11. The horizontal tray 22, on the other hand, continues to move along the track 21 and performs the next cycle (cargo transfer) at the external buffer device 3. At the same time, after the horizontal tray 22 passes, the moving tray 11 will return the original position of the buffer with the goods, waiting for the RGV (Rail Guided Vehicle) to carry the goods to the corresponding shelves. This completes the warehousing process of the goods.

At this time, if the goods are to be transported from the shelf to the external conveyor line, that is, the goods are discharged from the warehouse, then the main operation process of the inbound and outbound equipment is as follows:

First, the control system determines the cache bit of the goods in the shelf buffer device 1 based on the outbound information of the goods. And also based on the current position of a certain horizontal tray 22, the time interval at which the other horizontal trays 22 pass the cache position can be determined. The outbound information may include location information of the shelf in which the goods are stored.

Then, with this time interval, the moving tray 11 holding the goods on the buffer position is controlled to be in an extended state before the horizontal tray 22 arrives. Among them, the goods can be transported from the shelf by the RGV to the cache.

Then, when the horizontal tray 22 passes the moving tray 11, the goods can be carried away and transported along the rail 21 to the external buffer device 3. At the same time, after the horizontal tray 22 passes, the moving tray 11 will return to the original position of the buffer position by itself.

Finally, when the horizontal tray 22 passes the roller transport line 31, the cargo remains on the roller 311. The horizontal tray 22, on the other hand, continues to move along the track 21 and performs the next cycle (cargo transfer) at the shelf buffer device 1. At the same time, after the horizontal tray 22 passes, the goods on the roller conveying line 31 are transported to the external conveying line. It can be understood that before the horizontal tray 22 passes the external buffer device 3, the control system can control the external conveying line and the roller conveying line 31 to clear the goods at the predetermined position in the external buffer device 3 so as to be received on the horizontal tray 22. Goods. This completes the outbound process of the goods.

When the continuous circulation hoist 2 is equipped with a plurality of horizontal trays 22, the above-described warehousing or delivery process can be continuously performed cyclically. Therefore, even if the number of shelves is large, that is, the number of corresponding cache bits is large, the operation efficiency of the entire automated warehouse is not affected.

The above description is only a preferred embodiment of the present application and a description of the principles of the applied technology. It should be understood by those skilled in the art that the scope of the invention referred to in the present application is not limited to the specific combination of the above technical features, and should also be covered by the above technical features without departing from the inventive concept. Other technical solutions formed by any combination of their equivalent features. For example, the above features are combined with the technical features disclosed in the present application, but are not limited to the technical features having similar functions.

Claims

An inbound and outbound device, characterized in that: the inbound and outbound device comprises: a shelf buffer device and a continuous circulation elevator;

The shelf buffer device includes a plurality of cache bits, and each of the cache bits is provided with a mobile tray that moves relative to the cache bit;

The continuous circulation hoist is provided with a closed track and a horizontal tray continuously moving along the track;

The moving tray and the horizontal tray are each provided with a plurality of strip-shaped teeth in a cantilever state, and when the horizontal tray and the moving tray in the extended state are in the same horizontal plane, at least part of the strip of the horizontal tray The teeth are located between the strip teeth of the moving tray to effect the transfer of the goods.
The warehousing device according to claim 1, wherein the continuous circulation hoist is provided with at least two horizontal trays, and the at least two horizontal trays are equally spaced.
The access device according to claim 1, wherein the strip-shaped teeth of the horizontal tray and the strip-shaped teeth of the moving tray are equally spaced, and the horizontal tray and the moving tray in the extended state are located When the same horizontal plane, the strip teeth of the horizontal tray are alternately arranged with the strip teeth of the moving tray.
The access device according to claim 1, wherein at least two of the strip teeth of the moving tray are provided with threaded holes for mounting a stopper for fixing the cargo.
The access device according to claim 1, wherein the cache bit is further provided with a frame, a first driving device and a first sensor;

The frame is configured to support the moving tray, and the moving tray moves relative to the frame under the action of the first driving device;

The first sensor is for detecting a state of the goods on the moving tray.
The access device according to claim 5, wherein the frame comprises a first side and a second side, the first side and the second side being parallel to each other;

The moving tray performs a reciprocating telescopic movement along the first side and the second side under the action of the first driving device.
The access device according to claim 5, wherein the frame comprises a rotating shaft, and the moving tray is reciprocally horizontally rotated about the rotating shaft by the first driving device.
The warehousing device according to claim 1, wherein the continuous circulation hoist is further provided with a frame, a second driving device and a second sensor;

The rail is disposed on the frame, and the horizontal tray moves uniformly along the track under the action of the second driving device;

The second sensor is disposed on the frame for detecting a position of the horizontal tray.
The warehousing device according to any one of claims 1-8, wherein the warehousing device further comprises an external Cache device, the external Cache device comprising a roller conveying line, and a roller on the roller conveying line The canister is in a cantilever state;

When the horizontal tray and the roller conveying line are located at the same horizontal plane, the strip teeth of the horizontal tray are located between the rollers of the roller conveying line to realize the transfer of the goods.
The access device according to claim 9, wherein the external buffer device is further provided with a mount, a positioning plate and a third sensor;

The mount is configured to support the roller conveying line;

The positioning plate is disposed at an end of the roller conveying line for blocking goods;

The third sensor is disposed on the positioning plate for detecting a state of the cargo on the roller conveying line.