WO2020093744A1 - 货物拣选系统及方法 - Google Patents

货物拣选系统及方法 Download PDF

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Publication number
WO2020093744A1
WO2020093744A1 PCT/CN2019/099079 CN2019099079W WO2020093744A1 WO 2020093744 A1 WO2020093744 A1 WO 2020093744A1 CN 2019099079 W CN2019099079 W CN 2019099079W WO 2020093744 A1 WO2020093744 A1 WO 2020093744A1
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WO
WIPO (PCT)
Prior art keywords
picking
shelf
cargo
goods
vehicle
Prior art date
Application number
PCT/CN2019/099079
Other languages
English (en)
French (fr)
Inventor
汪钊
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 (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 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 filed Critical 北京京东尚科信息技术有限公司
Priority to JP2021520954A priority Critical patent/JP7419361B2/ja
Priority to EP19883263.6A priority patent/EP3854726A4/en
Publication of WO2020093744A1 publication Critical patent/WO2020093744A1/zh

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    • 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
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • 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
    • 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

Definitions

  • the present disclosure relates to the field of logistics and warehousing, and in particular to a goods picking system and method.
  • the "Goods to people” picking system During the picking operation of the logistics center, the automated logistics system will move the goods to a fixed station for picking, that is, the goods are moving.
  • the "goods to people” picking system greatly reduces the running distance of the picking personnel, not only achieves a picking efficiency that is several times higher than the "people to goods” mode, greatly reduces labor intensity, but also saves density and saves manpower. It has outstanding advantages. Therefore, the "goods to people” picking system has become a very important picking method for logistics distribution centers.
  • the problem of the "goods to people" picking system is that it contains a large number of conveyor lines and the cost is relatively high. Once the shelves and conveyor lines are installed, it is difficult to expand again. In addition, it adopts the mode that the shuttle car runs on the shelf, and the flexibility is low.
  • a goods picking system includes: a rack including at least one layer of racks, each of the racks including at least one cargo space for storing goods; and a picking truck, configured In order to operate on the shelf, and operate away from the shelf, for loading and unloading and transportation of goods.
  • the picking vehicle is configured to run from the shelf to an area off the shelf; and / or, the picking vehicle is configured to run from the area off the shelf to the shelf on.
  • the goods picking system further includes a climbing mechanism for moving the picking cart up and down on the rack to load and unload the goods.
  • the cargo picking system includes at least two shelves, and at least one group of adjacent two shelves forms an aisle for the picking vehicle to operate.
  • the goods picking system includes: a first climbing mechanism provided between one end of the picking vehicle and a shelf on one side of the lane; and a second climbing mechanism provided on the picking vehicle Between the other end and the shelf on the other side of the tunnel.
  • the cargo space includes at least one set of oppositely arranged L-shaped plates, and the oppositely arranged L-shaped plates are used to jointly carry cargo.
  • the picking cart includes a pallet; the pallet can perform a telescopic action relative to the shelf to load and unload goods.
  • the picking vehicle includes a stopper, which can be set up and down on the pallet; the stopper is in a state of being raised relative to the pallet, and is used to support the pallet. On the cargo limit.
  • the picking car includes a car body, and running wheels and universal wheels provided on the car body, for enabling the picking car to run off the shelf.
  • the climbing mechanism includes a linear motor, and the stator or rotor of the linear motor is provided on the shelf, and correspondingly, the rotor or stator of the linear motor is provided on the picking vehicle.
  • the rotor or stator provided on the sorting car can extend relative to the sorting car and can be retracted into the sorting car.
  • the climbing mechanism includes a guide wheel that is provided on the picking vehicle and used to guide the picking vehicle when it runs on the shelf.
  • the guide wheel is configured to be extendable relative to the picking vehicle and retractable into the picking vehicle.
  • the climbing mechanism includes guide wheels that are provided on both sides of a rotor or a stator provided on the picking vehicle.
  • the cargo picking system includes a picking station for picking the goods transported by the picking vehicle.
  • the picking station includes: a picking position for picking the goods transported there by the picking vehicle; an uphill ramp that connects the picking position for running the picking vehicle up to the picking position The picking station; and a downhill ramp, connected to the picking station, for moving the picking vehicle down the picking station.
  • the goods picking system further includes a first conveying line and a second conveying line, the first conveying line is used to convey empty order boxes, and the second conveying line is used to order the completed order boxes Transported to downstream compound packing station.
  • the goods picking system includes a second conveyor line for conveying order boxes containing goods, and a second conveyor line for emptying the unloaded goods Order boxes are transported downstream.
  • a cargo picking method based on the above cargo picking system includes: a picking vehicle runs from an area off the shelf to a shelf; the picking vehicle runs on the shelf to a target cargo position, loads and unloads goods; The car runs from the shelf to the area off the shelf.
  • the picking vehicle runs from the area away from the shelf to the shelf, including: the picking vehicle runs below the target cargo location; the picking vehicle runs on the shelf to the target cargo location, including: the picking vehicle moves along the shelf Go up to the target cargo position; the picking car runs from the shelf to the area away from the shelf, including: the picking car runs down the shelf to the bottom of the shelf, and then off the shelf.
  • the shelf of the cargo picking system uses a three-dimensional shelf, which can improve space utilization, and the picking cart of the cargo picking system can run on the shelf and can run off the shelf for cargo loading and unloading and Transportation;
  • the picking truck can run, climb, load and unload goods, and can realize the picking method of goods to people;
  • the number of picking trucks can be increased according to needs, which solves the problem of low flexibility of related shuttle vehicles, and does not require the related technology. Conveyor lines, hoists and other equipment between shelves and picking stations reduce costs.
  • FIG. 1 is a schematic perspective view showing a cargo picking system according to some embodiments of the present disclosure
  • FIG. 2 is a schematic top view showing a cargo picking system according to some embodiments of the present disclosure
  • FIG. 3 is a partial schematic view showing a shelf according to some embodiments of the present disclosure.
  • FIG. 4 is a schematic diagram illustrating a first state of a picking vehicle according to some embodiments of the present disclosure
  • FIG. 5 is a schematic diagram illustrating a second state of a picking vehicle according to some embodiments of the present disclosure
  • FIG. 6 is a schematic diagram illustrating a picking vehicle moving up and down a shelf according to some embodiments of the present disclosure
  • FIG. 7 is a partial schematic diagram illustrating a picking vehicle moving up and down a shelf according to some embodiments of the present disclosure
  • FIG. 8 is a schematic diagram illustrating the cooperation between a picking vehicle and a climbing mechanism according to some embodiments of the present disclosure
  • FIG. 9 is a partially enlarged schematic diagram illustrating the cooperation of a picking vehicle and a climbing mechanism according to some embodiments of the present disclosure.
  • FIG. 10 is a partially enlarged schematic diagram illustrating the cooperation of a picking vehicle and a climbing mechanism according to other embodiments of the present disclosure.
  • 3- climbing mechanism 31- linear motor; 311- stator; 312- rotor; 32- guide wheel; 33- brake;
  • FIGS. 1 and 2 it is a schematic diagram of a cargo picking system provided by some embodiments of the present disclosure.
  • the goods picking system includes a shelf 1, the shelf 1 includes at least one layer of racks, and each layer of racks includes at least one cargo space for storing goods.
  • the various cargo spaces on each shelf are arranged in a row.
  • the shelf 1 includes a plurality of uprights 11 for support, and cross braces and diagonal braces for reinforcement.
  • each cargo space includes a set of oppositely arranged L-shaped plates 12, and the oppositely arranged L-shaped plates 12 are used to jointly carry goods.
  • the oppositely arranged L-shaped plates 12 are respectively installed on at least one upright column 11 oppositely arranged, and the two L-shaped plates 12 between the oppositely arranged column 11 form a cargo space for storing the totes 7.
  • the goods on the shelf 1 in the present disclosure may be placed directly in the cargo space, or the goods on the shelf 1 may be placed in the cargo space by being placed in a tote 7.
  • the loading and unloading of goods by the shuttle car 2 includes placing an empty tote 7 on the shelf 1 or the tote with goods on the shelf 1; Remove and transport away.
  • the cargo picking system includes a picking cart 2 that is configured to operate on the shelf 1 and can be operated off the shelf 1 for cargo handling and transportation.
  • the sorting cart 2 is configured to be able to operate on the shelf 1 and in an area away from the shelf 1, and has good flexibility and expandability.
  • the shelf 1 can be set according to the height of the warehouse, making full use of the space in the warehouse, and the space utilization rate is high.
  • the picking truck 2 picks the goods from the shelf 1, or sends the picked goods to the shelf of the shelf 1, with clear objectives and high cost performance.
  • the goods picking system includes at least one picking cart 2.
  • the number of picking cars 2 can be increased as needed.
  • the picking truck 2 can run, climb, load and unload goods, and can realize the picking method of goods to people.
  • the shelf 1 adopts a three-dimensional shelf, which can improve the space utilization rate.
  • the picking cart 2 can run, climb, load and unload, and the number of picking carts 2 can be increased as needed, which solves the problem of low flexibility of the shuttle car, and does not require a conveyor line between the three-dimensional shelf and the picking station And other equipment, reducing costs.
  • Picking car 2 can run, climb, load and unload goods: integrate the functional structure that can freely shuttle on the shelf, crawl up and down, or run on the ground, and then combined into a multi-function that can walk, climb, and take boxes Picking car 2.
  • the sorting cart 2 is configured to travel from the shelf 1 to the area away from the shelf 1.
  • the picking cart 2 picks the goods from the shelf position of the shelf 1, the carried goods run from the shelf 1 to the area away from the shelf 1.
  • the picking cart 2 places the goods it picks in the cargo space on the rack 1, the empty cart runs from the rack 1 to the area away from the rack 1.
  • the picking cart 2 is configured to run onto the shelf 1 from an area that is off the shelf 1.
  • the empty car of the picking cart 2 runs from the area deviating from the rack 1 to the rack 1, and runs on the rack 1 to the target cargo position, and picks the goods in the cargo position into the picking cart 2.
  • the picking truck 2 carries the goods from the area deviating from the rack 1 to the rack 1, and after the rack 1 reaches the target cargo position, the cargo on the pick is placed in the cargo position.
  • the shelf 1 includes a corbel-type shelf.
  • the goods picking system includes a climbing mechanism 3 for moving the picking cart 2 up and down on the shelf 1 to load and unload the goods.
  • the picking vehicle 2 runs upward on the rack 1 through the climbing mechanism 3 to reach the target cargo position, picks the goods in the cargo position into the picking vehicle 2, or places the goods it carries into the target cargo position.
  • the goods picking system includes at least two racks 1, and at least one group of two adjacent racks 1 forms a lane 13 for the picking cart 2 to run.
  • the two shelves 1 are arranged face-to-face at a certain interval, so that a group of three-dimensional shelves is formed, and the interval between the two shelves 1 is a roadway 13 for the picking cart 2 to run.
  • the climbing mechanism 3 includes a first climbing mechanism, and the first climbing mechanism is provided between one end of the sorting cart 2 and the shelf 1 on one side of the lane 13.
  • the climbing mechanism 3 includes a second climbing mechanism, which is provided between the other end of the sorting cart 2 and the rack 1 on the other side of the lane 13.
  • the two ends of the picking car 2 are respectively connected to a shelf 1 through the climbing mechanism 3, and the two ends of the picking car 2 are balanced and operated smoothly.
  • the picking cart 2 includes a car body 21.
  • the picking cart 2 includes a pallet 22; the pallet 22 can perform a telescopic action relative to the shelf 1 to load and unload goods.
  • the pallet 22 is provided on the vehicle body 21.
  • the pallet 22 may extend relative to the vehicle body 21 to support the goods on the shelf 1 or to send the goods on the vehicle body 21 to the shelf 1.
  • the pallet 22 can be retracted relative to the car body 21 to pick the goods on the shelf 1 to the car body 21, or, the pallet 22 can be retracted to leave the goods on the shelf 1.
  • the sorting cart 2 includes a guide rail, and the pallet 22 runs along the guide rail, extending and retracting relative to the car body 21.
  • the sorting cart 2 includes a limiter 23, and the limiter 23 is provided on the pallet 22 so as to move up and down.
  • the limiter 23 is in a raised state, and the limiter 23 is higher than the plane where the pallet 22 is located.
  • the limiting member 23 is in a state of being raised relative to the pallet 22 and is used to limit the cargo on the pallet 22.
  • the stopper 23 is in a lowered state, not higher than the plane where the pallet 22 is located.
  • the limiting member 23 includes a fork or a vertical plate.
  • the stopper 23 is in a lowered state, not higher than the plane where the pallet 22 is located.
  • the stopper 23 is in a raised state, which is higher than the plane where the pallet 22 is located and extends to The bottom of the cargo (revolving box 7) is used to limit the cargo on the shelf 1 to the pallet 22, and in the process of retracting the pallet 22, the cargo on the pallet 22 is limited to prevent it from being removed from the pallet 22 When it comes off, the tote 7 on the shelf 1 is brought back to the vehicle body 21.
  • the stopper 23 When the pallet 22 is extended relative to the vehicle body 21 and the goods on the vehicle body 21 are sent to the shelf 1, the stopper 23 is in a raised state, which is higher than the plane where the pallet 22 is located, for The cargo on the pallet 22 is limited to prevent it from falling off the pallet 22.
  • the stopper 23 is in a lowered state, not higher than the plane where the pallet 22 is located.
  • the sorting vehicle 2 includes a vehicle body 21 and running wheels 24 and universal wheels 25 provided on the vehicle body 21.
  • the running wheel 24 and the universal wheel 25 are used to realize the movement of the picking vehicle 2 off the shelf 1.
  • the running wheel 24, the universal wheel 25, and the corresponding driving mechanism can perform actions such as ground running and steering of the picking vehicle 2.
  • the picking cart 2 includes an automated guided picking cart (AGV).
  • AGV automated guided picking cart
  • the climbing mechanism 3 includes a linear motor 31.
  • the stator 311 or rotor 312 of the linear motor 31 is provided on the shelf 1.
  • the rotor 312 or stator 311 of the linear motor 31 is provided on the picker. Car 2.
  • stator 311 or the rotor 312 of the linear motor 31 is provided on the column 11 of the shelf 1.
  • Linear motor 31 A transmission device that directly converts electrical energy into linear motion mechanical energy without requiring any intermediate conversion mechanism. It can be seen as a rotary electric machine split in a radial direction and spread out into a plane.
  • the side evolved from the stator is called the primary, and the side evolved from the rotor is called the secondary.
  • the primary and secondary can be manufactured to different lengths to ensure that the coupling between the primary and secondary remains unchanged within the required travel range.
  • Linear motors can be short primary, long secondary, or long primary or short secondary.
  • linear motor 31 may adopt a primary motion, secondary fixed arrangement, or a secondary motion, primary fixed arrangement.
  • the rotor 312 provided on the picking vehicle 2 and the stator 311 fixed on the column 11 form a set of linear motors 31 to provide the power for the picking vehicle 2 to climb vertically upward.
  • the linear motor 31 is applied to the climbing mechanism 3 of the picking car 2.
  • the primary and secondary are installed on the shelf 1 and the picking car 2, respectively.
  • the primary and secondary can be disengaged and can be freely combined, so that the picking car 2 is on the shelf 1. Any position of can form a group of linear motors 31.
  • the linear motor 31 may be a flat type.
  • the side of the stator 311 opposite to the rotor 312 is a plane, and a guide wheel 32 is provided on each side of the rotor 312.
  • the two guide wheels 32 are guided in cooperation with the inclined surfaces on both sides of the stator 311, and the plane of the stator 311 is opposite to the plane of the rotor 312 with an air gap a between them.
  • the linear motor 31 may be a U-groove type.
  • the stator 311 is arranged in a U shape, the rotor 312 extends into the U-shaped slot, and there are an air gap b and an air gap c between the two sides of the rotor 312 and the stator 311 on the corresponding side.
  • a guide wheel 32 is provided on each side of the rotor 312, and the two guide wheels 32 abut against both sides of the U-shaped slot opening of the stator 311, respectively.
  • the climbing mechanism 3 of the sorting cart 2 uses a linear motor 31 + guide wheel 32 to drive and guide.
  • the linear motor 31 is not limited to the form shown in FIGS. 9 and 10.
  • the climbing mechanism provided by the embodiment of the present disclosure has a simple structure and stable movement, and there is no mechanical contact except for the guide wheel 32 during the movement, thereby greatly reducing the wear and noise of parts.
  • the rotor 312 or stator 311 provided on the picking cart 2 can extend relative to the picking cart 2 (as shown in FIG. 5) to cooperate with the stator 311 or rotor 312 provided on the rack 1 on the rack 1 run.
  • the rotor 312 or the stator 311 provided on the picking car 2 can be retracted into the picking car 2 relative to the picking car 2 (as shown in FIG. 4), which facilitates the picking car 2 to move away from the shelf 1.
  • the linear motor 31 is in an operating state, and the rotor 312 or the stator 311 provided on the sorting vehicle 2 can extend relative to the sorting vehicle 2.
  • the linear motor 31 is in a non-operating state, the rotor 312 or the stator 311 provided on the sorting vehicle 2 can be retracted into the sorting vehicle 2 relative to the sorting vehicle 2.
  • the climbing mechanism 3 includes a guide wheel 32 that is provided on the picking vehicle 2 and is used to guide the picking vehicle 2 up and down relative to the shelf 1.
  • the guide wheel 32 is configured to extend relative to the picking cart 2 (as shown in FIG. 5), and the guide wheel 32 is configured to retract into the picking cart 2 (as shown in FIG. 4).
  • the linear motor 31 is in an operating state, and the guide wheels 32 provided on the picking vehicle 2 can be extended relative to the picking vehicle 2 to guide the operation of the picking vehicle 2.
  • the linear motor 31 is in a non-working state, and the guide wheels 32 provided on the picking vehicle 2 can be retracted into the picking vehicle 2 relative to the picking vehicle 2.
  • guide wheels 32 are provided on both sides of the rotor 312 or stator 311 provided on the sorting cart 2.
  • the two guide wheels 32 and the two inclined surfaces of the stator 311 form a set of linear guide mechanisms to provide a guide for the vertical climb of the picker 2.
  • the climbing mechanism 3 includes a brake 33 that is telescopically disposed on the vehicle body 21.
  • the brake 33 extends out of the vehicle body 21 (as shown in FIG. 4) during operation, and is used to hold the column 11 and the like to generate a braking force, which is convenient for picking the truck 2 to pick the goods on the shelf 1, or placing the goods on the shelf 1 on.
  • the brake 33 is not operated, it is retracted into the vehicle body 21 (as shown in FIG. 5).
  • the climbing mechanism 3 may also use a gear / rack structure, a sprocket / chain structure, or a synchronous belt wheel / synchronous belt structure that are provided on the rack 1 and the sorting cart 2 to cooperate with each other.
  • the climbing mechanism 3 may also include other hoisting methods such as a hoisting / wire rope structure provided on the shelf 1.
  • the goods picking system includes a picking station 4, and the picking station 4 is used to pick the goods transported by the picking truck 2.
  • the picking station 4 includes a picking position 41, and the picking position 41 is used to pick the goods transported by the picking cart 2.
  • the picking station 4 includes an upslope 42 that is connected to the picking station for moving the picking vehicle 2 up to the picking station 41.
  • the picking station 4 includes a down ramp 43, which is connected to the picking station for the pick truck 2 to travel down the pick station 41.
  • the picking station 4 is a manual picking station. After the picking cart 2 removes the tote 7 on the shelf 1, it is transported to the picking position 41 of the picking station 4 for the operator to pick the goods.
  • the goods picking system includes a first conveyor line 5 for conveying empty order boxes and order boxes that have completed loading.
  • the goods picking system includes a second conveyor line 6, which is used to transport the order boxes that have completed the loading to the downstream composite packing station.
  • the empty order box 8 is transferred from the upstream via the second conveyor line 6 and enters the first conveyor line 5 and stops in place.
  • the operator puts the picked goods into the order box 8 of the first conveyor line 5.
  • the box is full, it is transferred back to the second conveyor line 6 and continues to be transferred downstream to the review and packaging station.
  • the first conveying line 5 is used to convey the order boxes 8 containing goods
  • the second conveying line 6 is used to convey the empty order boxes 8 that have finished unloading to the downstream.
  • the order box 8 containing the goods is transferred from the upstream through the second conveyor line 6 and enters the first conveyor line 5 and stops in place.
  • the operator picks the goods in the order box 8 on the first conveyor line 5 onto the sorting cart 2, and the empty boxes are transferred back to the second conveyor line 6 and sent downstream.
  • the goods picking system includes a charging station 9, and the non-task picking vehicle 2 enters the charging station 9 to charge and wait for a new task.
  • Some embodiments provide a cargo picking method based on the above cargo picking system, which includes:
  • Picking car 2 runs from the area deviating from shelf 1 to shelf 1;
  • the picking truck 2 runs on the shelf 1 to the target cargo position and loads and unloads the goods;
  • the picking truck 2 runs from the shelf to the area off the shelf.
  • the picking cart 2 travels from the area deviating from the shelf 1 to the rack 1, including: the picking cart 2 travels below the target cargo location.
  • the picking cart 2 runs on the shelf 1 to the target cargo location, including: the picking cart 2 travels up the shelf 1 to the target cargo location.
  • the picking cart 2 runs from the shelf to the area away from the rack, including: the picking cart 2 runs down the rack 1 to the bottom of the rack 1 and then detaches from the rack 1.
  • the cargo picking method of the cargo picking system includes:
  • Picking car 2 runs to the shelf 1 where the target goods are located;
  • the picking vehicle 2 is lowered to the ground through the climbing mechanism 3;
  • Picking car 2 transports the picked goods.
  • WCS Warehouse Control System Software
  • Picking car 2 automatically plans the path and enters the lane 13 where the target container is located according to the path.
  • the picking truck 2 enters the lane 13 and runs to the climbing position below the shelf column where the target container is located.
  • the picking cart 2 fine-adjusts the position so that the climbing mechanism 3 is aligned with the upright 11.
  • the two guide wheels 32 of the climbing mechanism 3 extend into place, and at this time, the guide wheel set (two guide wheels 32) bears against the inclined surfaces of the stator 311 on the column 11 to form a set of linear guide mechanisms.
  • the rotor 312 of the climbing mechanism 3 extends into place, and at this time, it forms a set of linear motors 31 with the stator 311 on the upright 11.
  • the brake 33 is activated, the linear motor 31 is powered off, and the picking vehicle 2 is stopped at the current position.
  • the pallet 22 moves, extending along the guide rail to the bottom of the tote box 7 on the cargo position. After the position is reached, the limiter 23 is raised, and then the pallet 22 continues to move back into the car body. The tote 7 is brought back to the car body.
  • the electromagnetic thrust of the linear motor 31 is adjusted, the brake 33 releases the brake, and the picker 2 starts to descend until the ground stops.
  • the picking car 2 automatically plans the path, drives out of the lane 13 according to the path, and enters the picking station 4.
  • the operator picks the goods from the tote 7 on the picking truck 2 according to the information on the display screen, and puts the goods into the order box 8 on the first conveyor line 5 beside him.
  • the picking vehicle 2 drives away from the picking station 4 along the downhill 43.
  • the picking vehicle 2 After the picking vehicle 2 descends to the ground, it continues to accept new tasks, if there is no task, it enters the charging station 9 and waits.
  • the first conveyor line 5 acts and sends it to the second conveyor line 6.
  • the second conveyor line 6 continues to transport it downstream to the review and packaging station.

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Abstract

一种货物拣选系统及方法，其中，货物拣选系统包括：货架(1)，包括至少一层载物架，每层载物架包括至少一个用于存放货物的货位；以及拣选车(2)，被配置为在货架(1)上运行，并脱离货架(1)运行，以用于货物的装卸和运送。货架(1)采用立体货架，能够提高空间利用率；拣选车(2)可在货架(1)上运行，并能够脱离货架(1)运行，用于货物的装卸和运送；拣选车(2)可运行、可攀爬、可装卸货物，能够实现货到人的拣选方式；拣选车(2)的数量可以根据需要增加，解决了相关穿梭车柔性低的问题，降低了成本。

Description

货物拣选系统及方法
相关申请的交叉引用
本申请是以CN申请号为201811309741.2，申请日为2018年11月6日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及物流仓储领域，尤其涉及一种货物拣选系统及方法。
背景技术
随着电子商务的迅猛发展，以及消费习惯和消费模式的改变，电商仓储行业拆零拣选的作业量越来越大，要求也越来越高。拣货作业的速度与准确性往往决定着订单履行效率与客户服务质量，因此如何加快拣货速度越来越受到电商仓储物流企业的关注。
为了应对多品种、小批量、多批次的海量订单拣选挑战，以及越来越明显的人力成本压力，采用自动化物流系统成为大势所趋。现阶段，具有较高的拣选效率和存储效率，同时又能大幅减少人工、降低劳动强度的“货到人”拣选系统正成为物流行业主流，越来越多地应用于以拆零拣选作业为主的电商、医药、服装、日化等行业。
“货到人”拣选系统：在物流中心的拣选作业过程中，由自动化物流系统将货物搬运至固定站点以供拣选，即：货动人不动。“货到人”拣选系统大幅度减少了拣选作业人员的运行距离，不仅实现了高于“人到货”模式数倍的拣选效率，大幅度降低了劳动强度，同时在存储密度、节省人力等方面拥有突出优势。因此，“货到人”拣选系统已经成为物流配送中心非常重要的拣选方式。
目前“货到人”拣选系统存在的问题为包含大量输送线，成本较高，货架、输送线一但安装完毕，再次扩展困难。且其采用穿梭车在货架上运行的方式，柔性低。
公开内容
依据本公开的一些实施例的一个方面，货物拣选系统包括：货架，包括至少一层载物架，每层所述载物架包括至少一个用于存放货物的货位；以及拣选车，被配置为在所述货架上运行，并脱离所述货架运行，以用于货物的装卸和运送。
在一些实施例中，所述拣选车被配置为从所述货架上运行至脱离所述货架的区域；和/或，所述拣选车被配置为从脱离所述货架的区域运行至所述货架上。
在一些实施例中，货物拣选系统还包括攀爬机构，用于使所述拣选车在所述货架上向上及向下运行，以装卸货物。
在一些实施例中，货物拣选系统包括至少两个货架，至少一组相邻的两个货架之间形成供所述拣选车运行的巷道。
在一些实施例中，货物拣选系统包括：第一攀爬机构，设于所述拣选车的一端与所述巷道的一侧的货架之间；以及第二攀爬机构，设于所述拣选车的另一端与所述巷道的另一侧的货架之间。
在一些实施例中，所述货位包括至少一组相对设置的L型板，所述相对设置的L型板用于共同承载货物。
在一些实施例中，所述拣选车包括托板；所述托板可相对于所述货架执行伸缩动作，以装卸货物。
在一些实施例中，所述拣选车包括限位件，可上下升降地设于所述托板；所述限位件处于相对于所述托板升起的状态，用于对所述托板上的货物限位。
在一些实施例中，所述拣选车包括车体以及设于所述车体的运行轮和万向轮，用于实现拣选车脱离所述货架运行。
在一些实施例中，所述攀爬机构包括直线电机，所述直线电机的定子或转子设于所述货架，对应的，所述直线电机的转子或定子设于所述拣选车。
在一些实施例中，所述拣选车上设置的转子或定子可相对所述拣选车伸出，且可缩回至所述拣选车内。
在一些实施例中，所述攀爬机构包括导向轮，所述导向轮设于所述拣选车，用于对所述拣选车在所述货架上运行时导向。
在一些实施例中，所述导向轮被配置为可相对于所述拣选车伸出，且可缩回至所述拣选车内。
在一些实施例中，所述攀爬机构包括导向轮，所述导向轮设于所述拣选车上设置的转子或定子的两侧。
在一些实施例中，货物拣选系统包括拣选站，用于对所述拣选车运来的货物进行拣选。
在一些实施例中，所述拣选站包括:拣选位，用于拣取拣选车运输至此的货物；上 坡道，连接所述拣货位，用于使所述拣选车沿其向上运行至所述拣选位；以及下坡道，连接所述拣货位，用于使所述拣选车沿其向下运行离开所述拣选位。
在一些实施例中，货物拣选系统还包括第一输送线和第二输送线，所述第一输送线用于输送空的订单箱，所述第二输送线用于将完成装货的订单箱输送至下游复合打包工位。
在一些实施例中，货物拣选系统包括第二输送线和第二输送线，所述第一输送线用于输送装有货物的订单箱，所述第二输送线用于将完成卸货的空的订单箱输送至下游。
依据本公开的一些实施例的一个方面，基于上述货物拣选系统的货物拣选方法，其包括：拣选车从脱离货架的区域运行至货架；拣选车在货架上运行至目标货位，装卸货物；拣选车从货架上运行至脱离货架的区域。
在一些实施例中，所述拣选车从脱离货架的区域运行至货架，包括：拣选车运行至目标货位的下方；所述拣选车在货架上运行至目标货位，包括：拣选车沿货架向上运行至目标货位；所述拣选车从货架上运行至脱离货架的区域，包括：拣选车沿货架向下运行至货架的底部，进而脱离货架。
依据本公开的一些实施例的一个方面，货物拣选系统的货架采用立体货架，能够提高空间利用率，货物拣选系统的拣选车可在货架上运行，并能够脱离货架运行，用于货物的装卸和运送；拣选车可运行、可攀爬、可装卸货物，能够实现货到人的拣选方式；拣选车的数量可以根据需要增加，解决了相关穿梭车柔性低的问题，而且不需要相关技术中立体货架与拣选站之间的输送线、提升机等设备，降低了成本。
附图说明
图1是示出根据本公开一些实施例的货物拣选系统的立体示意图；
图2是示出根据本公开一些实施例的货物拣选系统的俯视示意图；
图3是示出根据本公开一些实施例的货架的局部结构示意图；
图4是示出根据本公开一些实施例的拣选车的第一状态示意图；
图5是示出根据本公开一些实施例的拣选车的第二状态示意图；
图6是示出根据本公开一些实施例的拣选车沿货架升降的示意图；
图7是示出根据本公开一些实施例的拣选车沿货架升降的局部示意图；
图8是示出根据本公开一些实施例的拣选车与攀爬机构的配合示意图；
图9是示出根据本公开一些实施例的拣选车与攀爬机构配合的局部放大示意图；
图10是示出根据本公开另一些实施例的拣选车与攀爬机构配合的局部放大示意图。
附图中标号：
1-货架；11-立柱；12-L型板；13-巷道；
2-拣选车；21-车体；22-托板；23-限位件；24-运行轮；25-万向轮；
3-攀爬机构；31-直线电机；311-定子；312-转子；32-导向轮；33-制动器；
4-拣选站；41-拣选位；42-上坡道；43-下坡道；
5-第一输送线；
6-第二输送线；
7-周转箱；
8-订单箱；
9-充电位；
a，b，c-气隙。
具体实施方式
下面将结合本公开实施例中的附图，对实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本公开的一部分实施例，而不是全部的实施例。基于本公开的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
在本公开的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制。
如图1、图2所示，为本公开一些实施例提供的货物拣选系统的示意图。
在一些实施例中，货物拣选系统包括货架1，货架1包括至少一层载物架，每层载物架包括至少一个用于存放货物的货位。
可选地，每层载物架上的各个货位成一排排列。
在一些实施例中，如图3所示，货架1包括多个用于支撑的立柱11，以及用于加 固的横撑和斜撑等。
在一些实施例中，如图3所示，每个货位包括一组相对设置的L型板12，相对设置的L型板12用于共同承载货物。
可选地，相对设置的L型板12分别安装在相对设置的至少一根立柱11上，相对设置的立柱11之间的两个L型板12形成一个用于存放周转箱7的货位。
本公开中的货架1上的货物可以直接放置于货位，或者货架1上的货物通过放置在周转箱7的形式，放置在货位。穿梭车2装卸货物包括向货架1上放置空的周转箱7或者向货架1上放置带有货物的周转箱；穿梭车2装卸货物还包括将货架1上的货物或者装有货物的周转箱7取下运走。
在一些实施例中，货物拣选系统包括拣选车2，拣选车2被配置为在货架1上运行，并能够脱离货架1运行，以用于货物的装卸和运送。拣选车2被配置为可在货架1上运行以及在脱离货架1的区域运行，柔性和扩展性好。货架1可根据仓库的高度进行设置，充分利用仓库内的空间，空间利用率高。且拣选车2从货架1上拣选货物，或者将拣选的货物送至货架1的货位，目标明确，性价比高。
进一步地，货物拣选系统包括至少一个拣选车2。拣选车2的数量可以根据需要增加。
拣选车2可运行、可攀爬、可装卸货物，能够实现货到人的拣选方式。
货架1采用立体货架，能够提高空间利用率。
拣选车2可运行、可攀爬、可装卸货物，且拣选车2的数量可以根据需要增加，解决了穿梭车柔性低的问题，而且不需要立体货架与拣选站之间的输送线、提升机等设备，降低了成本。
拣选车2可运行、可攀爬、可装卸货物：集成了可在货架上自由穿梭、上下爬行、亦可在地面运行的功能结构，进而组合成一台可走、可爬、可取箱的多功能拣选车2。
在一些实施例中，拣选车2被配置为从货架1上运行至脱离货架1的区域。
可选地，拣选车2从货架1的货位上拣选货物后，携带货物从货架1上运行至脱离货架1的区域。或者，拣选车2将其拣选的货物放置于货架1上的货位后，空车从货架1上运行至脱离货架1的区域。
在一些实施例中，拣选车2被配置为从脱离货架1的区域运行至货架1上。
可选地，拣选车2空车从脱离货架1的区域运行至货架1，并在货架1上运行至目标货位，将货位内的货物拣选至拣选车2内。或者，拣选车2携带货物从脱离货架 1的区域运行至货架1，并在货架1上运行至目标货位后，将其上的货物拣选放置于货位。
在一些实施例中，货架1包括牛腿式货架。
在一些实施例中，货物拣选系统包括攀爬机构3，攀爬机构3用于使拣选车2在货架1上向上及向下运行，以装卸货物。
可选地，拣选车2通过攀爬机构3在货架1上向上运行达到目标货位，将货位内的货物拣选至拣选车2内，或者，将其携带的货物放置到目标货位内。
在一些实施例中，如图2所示，货物拣选系统包括至少两个货架1，至少一组相邻的两个货架1之间形成供拣选车2运行的巷道13。
两个货架1按一定间隔面对面布置，这样就形成了一组立体货架，两个货架1中间的间隔为巷道13，可供拣选车2运行。
在一些实施例中，如图6、图7所示，攀爬机构3包括第一攀爬机构，第一攀爬机构设于拣选车2的一端与巷道13的一侧的货架1之间。
攀爬机构3包括第二攀爬机构，第二攀爬机构设于拣选车2的另一端与巷道13的另一侧的货架1之间。
拣选车2在货架1上运行的过程中，拣选车2的两端均分别对应与一货架1通过攀爬机构3连接，拣选车2的两端受力平衡，运行平稳。
在一些实施例中，如图4、图5所示，拣选车2包括车体21。
在一些实施例中，拣选车2包括托板22；托板22可相对于货架1执行伸缩动作，以装卸货物。
进一步地，托板22设于车体21。
托板22可相对于车体21伸出，以托住货架1上的货物，或者，将车体21上的货物送至货架1。
托板22可相对于车体21缩回，以将货架1上的货物拣选到车体21，或者，将托板22收回，将货物留在货架1。
可选地，拣选车2包括导轨，托板22沿导轨运行，相对于车体21伸出及缩回。
在一些实施例中，拣选车2包括限位件23，限位件23可上下升降地设于托板22。
限位件23处于升起的状态，限位件23高出托板22所在的平面。限位件23处于相对于托板22升起的状态，用于对托板22上的货物限位。
限位件23处于降下的状态，不高于托板22所在的平面。
可选地，限位件23包括拨叉或立板。
在托板22相对于车体21伸出，以托住货架1上的货物的过程中，限位件23处于降下的状态，不高于托板22所在的平面。
在托板22相对于车体21缩回，以将货架1上的货物带回车体21的过程中，限位件23处于升起的状态，高于托板22所在的平面，伸出到货物(周转箱7)底部，以用于将货架1上的货物限位于托板22，且在托板22缩回的过程中，对托板22上的货物限位，防止其从托板22上脱落，将货架1上的周转箱7带回到车体21。
在托板22相对于车体21伸出，将车体21上的货物送至货架1的过程中，限位件23处于升起的状态，高于托板22所在的平面，以用于对托板22上的货物限位，防止其从托板22上脱落。
在托板22相对于车体21缩回，将托板22收回，将货物留在货架1的过程中，限位件23处于降下的状态，不高于托板22所在的平面。
在一些实施例中，拣选车2包括车体21以及设于车体21的运行轮24和万向轮25。运行轮24和万向轮25用于实现拣选车2脱离货架1运行。运行轮24、万向轮25以及相应的驱动机构，可执行拣选车2的地面运行、转向等动作。
在一些实施例中，拣选车2包括自动导引拣选车(AGV)。
在一些实施例中，如图8所示，攀爬机构3包括直线电机31，直线电机31的定子311或转子312设于货架1，对应的，直线电机31的转子312或定子311设于拣选车2。
可选地，直线电机31的定子311或转子312设于货架1的立柱11上。
直线电机31：一种将电能直接转换成直线运动机械能，而不需要任何中间转换机构的传动装置。它可以看成是一台旋转电机按径向剖开，并展成平面而成。由定子演变而来的一侧称为初级，由转子演变而来的一侧称为次级。
在实际应用时，可将初级和次级制造成不同的长度，以保证在所需行程范围内初级与次级之间的耦合保持不变。直线电机可以是短初级、长次级，也可以是长初级、短次级。
进一步地，直线电机31可以采用初级运动，次级固定的的布置方式，或者次级运动，初级固定的布置方式。
在一些实施例中，设于拣选车2上的转子312与固定于立柱11上的定子311形成一组直线电机31，以提供拣选车2竖直向上攀爬的动力。
将直线电机31应用在拣选车2的攀爬机构3上，初级和次级分别安装在货架1和拣选车2上，初级和次级可脱开，可自由组合，这样拣选车2在货架1的任意位置都能组成一组直线电机31。
如图9所示，直线电机31可以是平板式。定子311与转子312相对的一侧为平面，转子312两侧各设有一导向轮32。两个导向轮32与定子311两侧的斜面配合导向，定子311的平面与转子312的平面相对设置，之间具有气隙a。
如图10所示，直线电机31也可以是U型槽式。定子311设置成U型，转子312伸至U型槽内，转子312的两侧与其对应侧的定子311之间均有气隙b和气隙c。转子312两侧各设置有一导向轮32，两个导向轮32对应抵靠在定子311的U型槽开口处的两侧。
本公开中，拣选车2的攀爬机构3使用的是直线电机31+导向轮32驱动导向的形式。直线电机31不限于图9、图10所示的形式。
本公开实施例提供的攀爬机构的结构简单，运动平稳，运动时除导向轮32无机械接触，从而大大降低了零部件的磨损和噪音。
在一些实施例中，拣选车2上设置的转子312或定子311可相对拣选车2伸出(如图5所示)，以与货架1上设置的定子311或转子312配合，在货架1上运行。拣选车2上设置的转子312或定子311可相对拣选车2缩回至拣选车2内(如图4所示)，利于拣选车2脱离货架1运行。
即直线电机31在工作状态，拣选车2上设置的转子312或定子311可相对拣选车2伸出。直线电机31在非工作状态，拣选车2上设置的转子312或定子311可相对拣选车2缩回至拣选车2内。
在一些实施例中，攀爬机构3包括导向轮32，导向轮32设于拣选车2，用于对拣选车2相对于货架1上下升降时导向。
在一些实施例中，导向轮32被配置为相对于拣选车2伸出(如图5所示)，且导向轮32被配置为缩回至拣选车2内(如图4所示)。
即直线电机31在工作状态，拣选车2上设置的导向轮32可相对拣选车2伸出，对拣选车2的运行进行导向。直线电机31在非工作状态，拣选车2上设置的导向轮32可相对拣选车2缩回至拣选车2内。
在一些实施例中，拣选车2上设置的转子312或定子311的两侧均设有导向轮32。
两个导向轮32与定子311的两斜面形成一组直线导向机构，提供拣选车2竖直 攀爬的导向。
在一些实施例中，攀爬机构3包括制动器33，制动器33可伸缩的设于车体21。制动器33工作时伸出车体21外(如图4所示)，用于抱住立柱11等产生制动力，利于拣货车2拣选货架1上的货物，或者将其上的货物放置于货架1上。制动器33不工作时缩回车体21内(如图5所示)。
在一些实施例中，攀爬机构3除了直线电机31，还可以使用设于货架1和拣选车2上相互配合的齿轮/齿条结构、链轮/链条结构或同步带轮/同步带结构。或者，攀爬机构3还可以包括设于货架1的卷扬/钢丝绳结构等其他提升方式。
在一些实施例中，如图1、图2所示，货物拣选系统包括拣选站4，拣选站4用于对拣选车2运来的货物进行拣选。
在一些实施例中，如图1所示，拣选站4包括拣选位41，拣选位41用于拣取拣选车2运输至此的货物。
在一些实施例中，拣选站4包括上坡道42，上坡道42连接拣货位，用于使拣选车2沿其向上运行至拣选位41。
在一些实施例中，拣选站4包括下坡道43，下坡道43连接拣货位，用于使拣选车2沿其向下运行离开拣选位41。
拣选站4为人工拣选站，拣选车2将货架1上的周转箱7取下后，运送到拣选站4的拣选位41供操作人员拣选货品。
在一些实施例中，货物拣选系统包括第一输送线5，第一输送线5用于输送空的订单箱以及完成装货的订单箱。
在一些实施例中，货物拣选系统包括第二输送线6，第二输送线6用于将完成装货的订单箱输送至下游复合打包工位。
空的订单箱8从上游经第二输送线6传送下来，进入第一输送线5后停到位。操作人员将拣选的货物放入第一输送线5的订单箱8，当箱子装满后传送回第二输送线6，继续往下游传送到复核打包工位。
在一些实施例中，第一输送线5用于输送装有货物的订单箱8，第二输送线6用于将完成卸货的空的订单箱8输送至下游。
装有货物的订单箱8从上游经第二输送线6传送下来，进入第一输送线5后停到位。操作人员将第一输送线5上的订单箱8内的货物拣选到拣选车2上，空的箱子传送回第二输送线6，送往下游。
在一些实施例中，货物拣选系统包括充电位9，无任务的拣选车2驶入充电位9进行充电并等待新的任务。
一些实施例提供了一种基于上述货物拣选系统的货物拣选方法，其包括：
拣选车2从脱离货架1的区域运行至货架1；
拣选车2在货架1上运行至目标货位，装卸货物；
拣选车2从货架上运行至脱离货架的区域。
在一些实施例中，拣选车2从脱离货架1的区域运行至货架1，包括：拣选车2运行至目标货位的下方。
在一些实施例中，拣选车2在货架1上运行至目标货位，包括：拣选车2沿货架1向上运行至目标货位。
在一些实施例中，拣选车2从货架上运行至脱离货架的区域，包括：拣选车2沿货架1向下运行至货架1的底部，进而脱离货架1。
在一些实施例中，货物拣选系统的货物拣选方法包括：
拣选车2运行至目标货物所在的货架1；
通过攀爬机构3将拣选车2升至目标货物所在的载物层；
拣选车2拣选目标货物；
通过该攀爬机构3将拣选车2降至地面；
拣选车2将拣选的货物运走。
如图1、图2所示，下面列举货物拣选系统的一具体实施例的工作过程：
WCS(仓储控制系统软件)下发订单任务，将任务派发给离目标货箱较近的无任务的拣选车2。
拣选车2自动规划路径，按路径进入目标货箱所在巷道13。
拣选车2进入巷道13，运行至目标货箱所在货架列下方的攀爬位。
拣选车2微调位置使攀爬机构3对准立柱11。
攀爬机构3的两个导向轮32伸出到位，此时导向轮组(两个导向轮32)顶住立柱11上的定子311两侧斜面形成一组直线导向机构。
攀爬机构3的转子312伸出到位，此时它和立柱11上的定子311形成一组直线电机31。
给直线电机31初级通电，在气隙(Gap)中会产生磁场，该磁场与次级相互作用则产生电磁推力，在电磁推力作用下，整个拣选车2开始沿导向竖直上升。
拣选车2上升到目标货位所在层后，制动器33动作，直线电机31断电，将拣选车2停止在当前位置。
托板22动作，沿导轨伸出到货位上的周转箱7底部，到位后，限位件23升起，然后托板22继续动作缩回车体，此时限位件23可将货架上的周转箱7带回到车体上。
调整直线电机31的电磁推力，制动器33解抱闸，拣选车2开始下降，直至地面停止。
拣选车2落到地面后，攀爬机构3的转子312和导向轮32缩回到车体内，断开和货架1的连接。
拣选车2自动规划路径，按路径驶出巷道13，进入拣选站4。
到达拣选站4后，沿上坡道41驶入拣选位41。
操作人员按显示屏信息从拣选车2上的周转箱7内拣选货物，将货物放入身旁第一输送线5上的订单箱8内。
拣选完成后，拣选车2沿下坡道43驶离拣选站4。
拣选车2驶离拣选站4后再次驶入巷道13，重复之前的动作，将车上的周转箱7送回到货架1上。
拣选车2下降至地面后，继续接受新的任务，如无任务则驶入充电位9等待。
订单箱8装满后，第一输送线5动作，将其送到第二输送线6上，第二输送线6将其继续往下游传送到复核打包工位。
在本公开的描述中，需要理解的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对上述零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本公开保护范围的限制。
最后应当说明的是:以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本公开的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本公开技术方案的精神，其均应涵盖在本公开请求保护的技术方案范围当中。

Claims (20)

  1. 一种货物拣选系统，包括：
    货架(1)，其包括至少一层载物架，每层所述载物架包括至少一个用于存放货物的货位；以及
    拣选车(2)，被配置为在所述货架(1)上运行，并脱离所述货架(1)运行，以用于货物的装卸和运送。
  2. 如权利要求1所述的货物拣选系统，其中，所述拣选车(2)被配置为从所述货架(1)上运行至脱离所述货架(1)的区域；和/或，所述拣选车(2)被配置为从脱离所述货架(1)的区域运行至所述货架(1)上。
  3. 如权利要求1所述的货物拣选系统，还包括攀爬机构(3)，用于使所述拣选车(2)在所述货架(1)上向上及向下运行，以装卸货物。
  4. 如权利要求1所述的货物拣选系统，包括至少两个货架(1)，至少一组相邻的两个货架(1)之间形成供所述拣选车(2)运行的巷道(13)。
  5. 如权利要求4所述的货物拣选系统，包括：
    第一攀爬机构，设于所述拣选车(2)的一端与所述巷道(13)的一侧的货架(1)之间；以及
    第二攀爬机构，设于所述拣选车(2)的另一端与所述巷道(13)的另一侧的货架(1)之间。
  6. 如权利要求1所述的货物拣选系统，其中，所述货位包括至少一组相对设置的L型板(12)，所述相对设置的L型板(12)用于共同承载货物。
  7. 如权利要求1所述的货物拣选系统，其中，所述拣选车(2)包括托板(22)；所述托板(22)可相对于所述货架(1)执行伸缩动作，以装卸货物。
  8. 如权利要求7所述的货物拣选系统，其中，所述拣选车(2)包括限位件(23)，可上下升降地设于所述托板(22)；所述限位件(23)处于相对于所述托板(22)升起的状态，用于对所述托板(22)上的货物限位。
  9. 如权利要求1所述的货物拣选系统，其中，所述拣选车(2)包括车体(21)以及设于所述车体(21)的运行轮(24)和万向轮(25)，用于实现拣选车(2)脱离所述货架(1)运行。
  10. 如权利要求1所述的货物拣选系统，其中，所述攀爬机构(3)包括直线电机 (31)，所述直线电机(31)的定子(311)或转子(312)设于所述货架(1)，对应的，所述直线电机(31)的转子(312)或定子(311)设于所述拣选车(2)。
  11. 如权利要求10所述的货物拣选系统，其中，所述拣选车(2)上设置的转子(312)或定子(311)可相对所述拣选车(2)伸出，且可缩回至所述拣选车(2)内。
  12. 如权利要求1所述的货物拣选系统，其中，所述攀爬机构(3)包括导向轮(32)，所述导向轮(32)设于所述拣选车(2)，用于对所述拣选车(2)在所述货架(1)上运行时导向。
  13. 如权利要求12所述的货物拣选系统，其中，所述导向轮(32)被配置为可相对于所述拣选车(2)伸出，且可缩回至所述拣选车(2)内。
  14. 如权利要求10所述的货物拣选系统，其中，所述攀爬机构(3)包括导向轮(32)，所述导向轮(32)设于所述拣选车(2)上设置的转子(312)或定子(311)的两侧。
  15. 如权利要求1所述的货物拣选系统，还包括拣选站(4)，用于对所述拣选车(2)运来的货物进行拣选。
  16. 如权利要求15所述的货物拣选系统，其中，所述拣选站(4)包括:
    拣选位(41)，用于拣取拣选车(2)运输至此的货物；
    上坡道(42)，连接所述拣货位(41)，用于使所述拣选车(2)沿其向上运行至所述拣选位(41)；以及
    下坡道(43)，连接所述拣货位(41)，用于使所述拣选车(2)沿其向下运行离开所述拣选位(41)。
  17. 如权利要求1所述的货物拣选系统，还包括第一输送线(5)和第二输送线(6)，所述第一输送线(5)用于输送空的订单箱(8)，所述第二输送线(6)用于将完成装货的订单箱(8)输送至下游复合打包工位。
  18. 如权利要求1所述的货物拣选系统，还包括第一输送线(5)和第二输送线(6)，所述第一输送线(5)用于输送装有货物的订单箱(8)，所述第二输送线(6)用于将完成卸货的空的订单箱(8)输送至下游。
  19. 一种如权利要求1所述的货物拣选系统的货物拣选方法，包括：
    拣选车(2)从脱离货架(1)的区域运行至货架(1)；
    拣选车(2)在货架(1)上运行至目标货位，装卸货物；
    拣选车(2)从货架上运行至脱离货架的区域。
  20. 如权利要求19所述的货物拣选系统的货物拣选方法，其中，
    所述拣选车(2)从脱离货架(1)的区域运行至货架(1)，包括：拣选车(2)运行至目标货位的下方；
    所述拣选车(2)在货架(1)上运行至目标货位，包括：拣选车(2)沿货架(1)向上运行至目标货位，完成装货或卸货；
    所述拣选车(2)从货架上运行至脱离货架的区域，包括：拣选车(2)沿货架(1)向下运行至货架(1)的底部，进而脱离货架(1)。
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