WO2022041682A1 - Système de transport et procédé appliqué au système de transport - Google Patents

Système de transport et procédé appliqué au système de transport Download PDF

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Publication number
WO2022041682A1
WO2022041682A1 PCT/CN2021/080198 CN2021080198W WO2022041682A1 WO 2022041682 A1 WO2022041682 A1 WO 2022041682A1 CN 2021080198 W CN2021080198 W CN 2021080198W WO 2022041682 A1 WO2022041682 A1 WO 2022041682A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
carrying device
carrying
transport
frame
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Application number
PCT/CN2021/080198
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English (en)
Chinese (zh)
Inventor
魏旭光
Original Assignee
北京京东乾石科技有限公司
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Publication date
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Publication of WO2022041682A1 publication Critical patent/WO2022041682A1/fr

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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

Definitions

  • the present disclosure relates to the field of warehousing and logistics, and more particularly, to a transportation system and a method applied to the transportation system.
  • the three-dimensional library includes multiple storage areas, each storage area has multiple sub-areas in the vertical direction, the storage area can be an aisle, and the multiple sub-areas of each lane can be a multi-layer storage rack of shelves.
  • articles are generally transported between multiple sub-regions in the vertical direction through the mutual cooperation of a lifting structure and a transport vehicle.
  • the lifting structure can be a hoist
  • the transport vehicle can be a shuttle.
  • the transport vehicle of the related art can transport goods in a plurality of sub-areas of a storage area under the driving of the lifting structure.
  • the transport vehicle of the related art cannot cross the storage area, which makes it difficult for the storage function of the warehousing system to meet the business requirements, thus making the transporting efficiency of items low.
  • the present disclosure provides an optimized transportation system and method applied to the transportation system.
  • a transportation system including: a transportation vehicle and at least one vehicle carrying device.
  • the transport vehicle is used to transport items.
  • Each of the at least one vehicle-carrying device includes a vehicle-carrying frame for carrying the transport vehicle and a rotating structure, and the rotating structure is connected to the vehicle-carrying frame.
  • the at least one vehicle-carrying device includes a first vehicle-carrying device and a second vehicle-carrying device; for the first vehicle-carrying device, the transport vehicle on the vehicle-carrying frame moves along a first horizontal direction into the first storage area for transporting the item.
  • the rotating structure is used to drive the vehicle-carrying frame to rotate, so that the transport vehicle on the rotated vehicle-carrying frame moves along the second horizontal direction to the first two vehicle-carrying devices; and for the second vehicle-carrying device, causing the transport vehicle on the vehicle-carrying frame to move along the first horizontal direction into a second storage area for transporting items.
  • the above-mentioned vehicle carrier includes: a movable guide rail structure, and the transport vehicle on the vehicle carrier moves along the movable guide rail structure.
  • the transportation system further includes a lateral rail structure located between every two adjacent ones of the at least one vehicle carrier. Wherein, after the rotating structure drives the vehicle carrier to rotate, the movable guide rail structure and the lateral guide rail structure are butted against each other, so that the transport vehicle on the vehicle carrier passes through the lateral guide rail structure to and from the first vehicle carrier and the second vehicle carrier.
  • both the above-mentioned first storage area and the second storage area include a horizontal guide rail structure.
  • the movable guide rail structure and the horizontal guide rail structure are butted against each other, so that the transport vehicle on the vehicle carrier moves into the horizontal guide rail structure via the movable guide rail structure to enter the first guide rail structure. Items are transported in a storage area or the second storage area.
  • the above-mentioned transportation system further includes: a driver.
  • the vehicle-carrying equipment further includes: a fixed frame structure.
  • the rotating structure includes: a first gear and a second gear.
  • the first gear is connected with the driver and the fixed frame structure, and the first gear is configured to rotate under the driving of the driver.
  • a second gear is connected to the fixed frame structure, the first gear and the vehicle carrier, and the second gear is configured to drive the vehicle carrier to rotate under the force of the first gear.
  • the aforementioned vehicle carrier includes: a support frame, a vehicle carrier, and a telescopic device.
  • the support frame is connected with the rotating structure.
  • the carriage is connected with the support frame.
  • a telescopic device is connected with the support frame and the vehicle platform, and the telescopic device makes the vehicle platform move relative to the support frame through telescopic motion.
  • the above-mentioned vehicle carrier includes: a sliding structure.
  • the support frame includes: a support rail structure. Wherein, the carriage moves relative to the support rail structure through the sliding structure.
  • the above-mentioned first storage area includes a plurality of first sub-areas
  • the second storage area includes a plurality of second sub-areas
  • the plurality of first sub-areas and the plurality of second sub-areas Each is distributed along the vertical direction.
  • the transportation system further includes: a lifting structure, the lifting structure is connected with the vehicle carrying equipment.
  • the lifting structure is used to drive the vehicle-carrying device to move along the vertical direction, so that all the vehicle-carrying devices on the vehicle-carrying device are moved along the vertical direction.
  • the transport vehicle moves to at least one first sub-area of the plurality of first sub-areas or at least one second sub-area of the plurality of second sub-areas.
  • the above-mentioned lifting structure includes: a vertical frame structure and a transmission structure.
  • the vertical frame structure is connected with the driver.
  • the transmission structure is connected with the vehicle-carrying equipment and the driver. Wherein, under the driving of the driver, the transmission structure drives the vehicle-carrying equipment to move along the vertical direction.
  • the fixed frame structure of the vehicle carrying device described above is movably connected to the vertical frame structure of the lift structure.
  • Another aspect of the present disclosure provides a method applied to the transportation system, comprising: receiving a rotation instruction, wherein the rotation instruction is used to instruct the rotation structure of the first vehicle carrying device to drive the first vehicle
  • the vehicle carrier of the vehicle-carrying equipment rotates, and based on the rotation command, the rotating structure is controlled to drive the vehicle carrier to rotate, and the transport vehicle on the rotated vehicle carrier is controlled to move along the second horizontal direction to the second vehicle-mounted device.
  • the use of the above-mentioned transportation system can at least partially solve the problem that the transportation vehicle in the related art cannot cross the storage area, which makes the storage function of the warehousing system difficult to meet the business requirements, thereby making the transportation of items less efficient. It can realize the technical effect of optimizing the storage function of the storage system and improving the efficiency of transporting items.
  • FIG. 3 schematically shows a structural diagram of a vehicle carrier according to an embodiment of the present disclosure
  • FIG. 8 schematically shows a structural diagram of a lifting structure according to an embodiment of the present disclosure.
  • FIG. 9 schematically shows a flowchart of a method applied to a transportation system according to an embodiment of the present disclosure.
  • At least one of the “systems” shall include, but not be limited to, systems with A alone, B alone, C alone, A and B, A and C, B and C, and/or A, B, C, etc. ).
  • Embodiments of the present disclosure provide a transportation system including: a transportation vehicle and at least one vehicle carrying device.
  • the transport vehicle is used to transport items.
  • Each of the at least one vehicle-carrying device includes a vehicle-carrying frame and a rotating structure, wherein the vehicle-carrying frame is used to carry the transport vehicle, and the rotating structure is connected with the vehicle-carrying frame.
  • at least one vehicle-carrying device includes a first vehicle-carrying device and a second vehicle-carrying device; for the first vehicle-carrying device, the transport vehicle on the vehicle-carrying frame moves to the first storage area along the first horizontal direction for transportation thing.
  • the rotating structure is used to drive the vehicle-carrying frame to rotate, so that the transport vehicle on the rotated vehicle-carrying frame moves to the second vehicle-carrying device along the second horizontal direction; and for the second vehicle-carrying device
  • the cart equipment is used to move the transport cart on the carriage along the first horizontal direction into the second storage area for transporting the items.
  • FIG. 1 schematically show structural diagrams of a transportation system according to an embodiment of the present disclosure.
  • the transportation system 10 of the embodiment of the present disclosure includes, for example, a transportation vehicle 100 and at least one vehicle carrying device 200 .
  • the transport system 10 may be used to transport items in a storage system.
  • the storage system may include a three-dimensional library, and the three-dimensional library includes multiple storage areas.
  • FIG. 1 shows a plurality of storage areas including a first storage area 30A, a second storage area 30B, and a third storage area 30C, and each storage area may be a lane.
  • each storage area has a plurality of sub-areas in the vertical direction C.
  • each level of a multi-level shelf is a sub-area.
  • the first storage area 30A includes a plurality of first sub-areas
  • the second storage area 30B includes a plurality of second sub-areas
  • the plurality of first sub-areas and the plurality of second sub-areas are each distributed along the vertical direction C.
  • FIG. 2 takes the first storage area 30A as an example.
  • the first storage area 30A includes, for example, a first sub-area 31A, a first sub-area 32A, a first sub-area 33A, a first sub-area 34A, and the like.
  • the transport vehicle 100 may be a shuttle vehicle, and more specifically, the transport vehicle 100 may be a two-way shuttle vehicle.
  • the transporter 100 may be used to transport items, eg, the transporter 100 may transport items in various sub-areas of each storage area.
  • the at least one vehicle-mounted device 200 includes, for example, a plurality of vehicle-mounted devices.
  • FIG. 1 shows, for example, a plurality of vehicle loading devices including a first vehicle loading device 200a and a second vehicle loading device 200b.
  • Each of the at least one vehicle-carrying device 200 includes a vehicle-carrying frame 210 for carrying the transport vehicle 100 and a rotating structure 220 , and the rotating structure 220 is connected with the vehicle-carrying frame 210 .
  • the vehicle carrier 210 and the rotating structure 220 can be referred to as shown in FIG. 3 .
  • the transport vehicle 100 on the vehicle-carrying frame 210 moves along the first horizontal direction A into the first storage area 30A for transporting articles
  • the rotating structure 220 is used to drive the vehicle-carrying frame 210 to rotate, so that the transport vehicle 100 on the rotated vehicle-carrying frame 210 moves to the second vehicle-carrying device along the second horizontal direction B 200b.
  • the movement direction of the transport vehicle 100 may be the first horizontal direction A.
  • the transport vehicle 100 is a two-way shuttle, and the two-way shuttle can move back and forth in one direction, that is, the transport vehicle 100 can move back and forth along the first horizontal direction A.
  • the rotating structure 220 of the first vehicle carrying device 200 a needs to drive the vehicle carrying frame 210 to rotate 90° (eg, rotate clockwise), so as to be positioned on the vehicle carrying frame 210
  • the transport vehicle 100 is rotated by 90°, so that the movement direction of the transport vehicle 100 faces the second horizontal direction B.
  • the transporter 100 moves along the second horizontal direction B to the second vehicle-carrying device 200b, the transporter 100 is positioned on the vehicle-carrying frame 210 of the second vehicle-carrying device 200b.
  • the transport vehicle 100 on the vehicle carrying frame 210 is moved along the first horizontal direction A into the second storage area 30B in order to transport the articles.
  • the transporter 100 is on the vehicle-carrying frame 210 of the second vehicle-carrying device 200b, and the movement direction of the transporter 100 at this time towards the second horizontal direction B.
  • the rotating structure 220 of the second vehicle-carrying device 200b drives the vehicle-carrying frame 210 to rotate 90° (eg, rotates counterclockwise), so that the transporter 100 on the vehicle-carrying frame 210 rotates 90°, so that the The movement direction is towards the first horizontal direction A.
  • the transport vehicle 100 may move along the first horizontal direction A into the second storage area 30B to transport the articles.
  • the first horizontal direction A and the second horizontal direction B are, for example, perpendicular to each other.
  • the vehicle-carrying device of the embodiment of the present disclosure is provided with a rotating structure, and the rotating structure drives the rotation of the vehicle-carrying device through rotation, so that the moving direction of the transport vehicle on the vehicle-carrying device is changed.
  • FIG. 3 schematically shows a structural diagram of a vehicle carrier according to an embodiment of the present disclosure.
  • the vehicle carrier 210 includes a movable guide rail structure 211 .
  • the transport vehicle 100 on the carriage 210 can move along the movable rail structure 211 .
  • the transport vehicle 100 can leave the vehicle carrier frame 210 along the movable guide rail structure 211 , or return to the vehicle carrier frame 210 of the current vehicle carrier equipment from other vehicle carrying equipment along the movable guide rail structure 211 .
  • the movable guide rail structure 211 may also be shown in FIG. 5 .
  • the transportation system 10 further includes a lateral guide rail structure 300 , and the lateral guide rail structure 300 is located between every two adjacent vehicle carrying apparatuses 200 in the at least one vehicle carrying apparatus 200 .
  • the rotating structure 220 drives the vehicle carrier 210 to rotate
  • the movable guide rail structure 211 of the vehicle carrier 210 and the transverse guide rail structure 300 are butted against each other, so that the transport vehicle 100 on the vehicle carrier 210 can pass through the transverse guide rail structure 300 in the first place.
  • the first vehicle-mounted device 200a and the second vehicle-mounted device 200b travel back and forth.
  • the transport vehicle 100 moves from the movable guide rail structure 211 to the lateral guide rail structure 300 docked with the movable guide rail structure 211, and continues on the lateral guide rail
  • the structure 300 is moved up to the vehicle carrier frame 210 of the second vehicle carrier device 200b.
  • the vehicle carrier frame 210 of the second vehicle carrier device 200b also includes a movable guide rail structure 211 .
  • both the first storage area 30A and the second storage area 30B include the horizontal rail structure 20 .
  • the movable guide rail structure 211 and the horizontal guide rail structure 20 of the vehicle carrier frame 210 are connected to each other, so that the transport vehicle 100 on the vehicle carrier frame 210 can pass through
  • the movable rail structure 211 is moved to the horizontal rail structure 20 to enter the first storage area 30A for transporting items via the horizontal rail structure 20 .
  • the movable guide rail structure 211 and the horizontal guide rail structure 20 of the vehicle carrier frame 210 are butted against each other, so that the transport on the vehicle carrier frame 210
  • the cart 100 is moved to the horizontal rail structure 20 via the movable rail structure 211 to enter the second storage area 30B via the horizontal rail structure 20 to transport items.
  • the vehicle carrier 210 further includes a support frame 212 , a vehicle carrier 213 and a telescopic device 214 .
  • the support frame 212 is connected with the rotating structure 220 , for example, the bottom of the support frame 212 is connected with the rotating structure 220 , and the carriage 213 is connected with the support frame 212 .
  • the support frame 212 can be driven to rotate, and the support frame 212 can drive the carriage 213 to rotate.
  • the carriage 213 since the carriage 213 is connected to the movable guide rail structure 211 , the carriage 213 can drive the movable guide rail structure 211 to rotate, thereby driving the transport vehicle 100 on the guide rail structure 211 to rotate.
  • the telescoping device 214 may include an electric cylinder.
  • the telescopic device 214 can be connected with the support frame 212 and the carriage 213 .
  • one end D of the telescopic device 214 is fixed to the support frame 212 through the support 215
  • the other end E of the telescopic device 214 can be connected to the connecting member F of the carriage 213 .
  • the telescopic device 214 can move the carriage 213 relative to the support frame 212 through telescopic motion.
  • the telescopic device 214 can provide power to move the carriage 213 , so that the movable rail structure 211 is driven by the carriage 213 to move to be docked with the lateral rail structure 300 or the horizontal rail structure 20 .
  • the carriage 213 may include a sliding structure 2131 .
  • the sliding structure 2131 may be a slider or other movable components.
  • the support frame 212 may include a support rail structure 2121 .
  • the carriage 213 can move relative to the support rail structure 2121 through the sliding structure 2131 , so that the movable rail structure 211 is driven by the carriage 213 to move to be docked with the lateral rail structure 300 or the horizontal rail structure 20 .
  • FIG. 6-7 schematically show structural diagrams of a vehicle-mounted device according to an embodiment of the present disclosure.
  • the transportation system 10 further includes a drive 400, which may include a servo motor and a speed reducer.
  • Vehicle carrier 200 may also include a fixed frame structure 230 .
  • the fixed frame structure 230 can ensure the structural stability of the vehicle carrying device 200 .
  • the rotating structure 220 may include a first gear 221 and a second gear 222 .
  • the first gear 221 and the second gear 222 mesh.
  • the first gear 221 may be a driving gear
  • the second gear 222 may be a driven gear.
  • the first gear 221 is connected with the driver 400 and the fixed frame structure 230 , and the first gear 221 is configured to rotate under the driving of the driver 400 .
  • the second gear 222 is connected with the fixed frame structure 230 , the first gear 221 and the vehicle carrier 210 , and the second gear 222 is configured to drive the vehicle carrier 210 to rotate under the force of the first gear 221 .
  • the second gear 222 may comprise a rotating disk assembly.
  • the second gear 222 can be fixed to the bottom of the support frame 212 in the vehicle carrier frame 210 .
  • FIG. 8 schematically shows a structural diagram of a lifting structure according to an embodiment of the present disclosure.
  • the transportation system 10 of the embodiment of the present disclosure may further include a lifting structure 500 .
  • the lift structure 500 is connected to the vehicle-mounted device 200 .
  • the lifting structure 500 is used to drive the vehicle-carrying device 200 to move along the vertical direction C, so that the transport vehicle 100 on the vehicle-carrying device 200 is moved to At least one of the plurality of first sub-regions 31A, 32A, 33A, 34A of the first vehicle-mounted device 200a, or moving to at least one of the plurality of second sub-regions of the second vehicle-mounted device 200b Two sub-regions.
  • the lifting structure 500 of the embodiment of the present disclosure includes a vertical frame structure 510 and a transmission structure 520 .
  • the fixed frame structure 230 of the vehicle carrier 200 is movably connected with the vertical frame structure 510 of the lift structure 500 .
  • the vertical frame structure 510 is connected with the driver 400 , and the vertical frame structure 510 is the main load-bearing structure of the lifting structure 500 .
  • the transmission structure 520 is connected to the vehicle-mounted device 200 and the driver 400 . Wherein, the transmission structure 520 may be a timing belt.
  • the transmission structure 520 can drive the vehicle carrying device 200 to move along the vertical direction C. As shown in FIG.
  • the fixed frame structure 230 of the lift structure 500 may cooperate with the vertical frame structure 510 of the lift structure 500 to achieve stable lift.
  • the vehicle carrying device 200 further includes guide wheels 240 , and the guide wheels 240 are distributed around the fixed frame structure 230 .
  • the guide wheel 240 provides a guiding function, so as to keep the vehicle-carrying device 200 stably rise and fall.
  • the driver may include a servo motor, and the servo motor can control the speed and the position with high precision.
  • Servo motors can convert voltage signals into torque and speed to drive control objects. The rotor speed of the servo motor is controlled by the input signal and can respond quickly.
  • servo motors can be used as actuators, and have the characteristics of small electromechanical time constant, high linearity, and starting voltage.
  • the servo motor can convert the received electrical signal into angular displacement or angular velocity output on the motor shaft.
  • Servo motors can be divided into two categories: DC and AC servo motors. The main feature is that there is no rotation phenomenon when the signal voltage is zero.
  • the transport vehicle may comprise a shuttle.
  • a shuttle is an intelligent robot that can be programmed to pick up, deliver, place, and more.
  • the shuttle can communicate with the host computer or the Warehouse Management System (WMS).
  • WMS Warehouse Management System
  • the shuttle car can be combined with RFID, barcode and other identification technologies to realize automatic identification, access to goods and other functions.
  • the host computer refers to a computer that can directly issue control commands.
  • the vehicle-carrying device of the embodiment of the present disclosure is provided with a rotating structure, and the rotating structure drives the direction of the vehicle-carrying device through rotation, so that the moving direction of the transport vehicle on the vehicle-carrying device is changed.
  • FIG. 9 schematically shows a flowchart of a method applied to a transportation system according to an embodiment of the present disclosure.
  • the method applied to the transportation system according to the embodiment of the present disclosure may include operations S910 to S930.
  • a rotation instruction is received, wherein the rotation instruction is used to instruct the rotation structure 220 of the first vehicle-carrying device 200a to drive the vehicle-carrying frame 210 of the first vehicle-carrying device 200a to rotate.
  • the rotation instruction may be an instruction sent by the computer to the transportation system 10 for controlling the rotation of the rotation structure 220 of the transportation system 10 .
  • the rotation structure 220 is controlled to drive the vehicle carrier 210 to rotate.
  • the transport vehicle 100 on the rotated vehicle carriage 210 is controlled to move to the second vehicle carrying apparatus 200b along the second horizontal direction.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Système de transport (10), comprenant : un véhicule de transport (100) configuré pour transporter un article et au moins un dispositif de transport de véhicule (200). Chaque dispositif de transport de véhicule (200) du ou des dispositifs de transport de véhicule (200) comprend un cadre de support de véhicule (210) et une structure rotative (220). Le cadre de support de véhicule (210) est utilisé pour transporter le véhicule de transport (100), et la structure rotative (220) est reliée au cadre de support de véhicule (210). Le ou les dispositifs de transport de véhicule (200) comprennent un premier dispositif de transport de véhicule (200a) et un second dispositif de transport de véhicule (200b). Pour le premier dispositif de transport de véhicule (200a), le véhicule de transport (100) situé sur le cadre de support de véhicule (210) se déplace dans une première zone de stockage le long d'une première direction horizontale de façon à transporter un article ; pour le premier dispositif de transport de véhicule (200a), la structure rotative (220) est conçue pour entraîner le cadre de support de véhicule (210) de sorte que le véhicule de transport (100) sur le cadre porteur de véhicule (210) rotatif se déplace vers le second dispositif de transport de véhicule (200b) dans une seconde direction horizontale ; pour le second dispositif de transport de véhicule (200b), le véhicule de transport (100) sur le cadre de support de véhicule (210) se déplace dans une seconde zone de stockage le long de la première direction horizontale de façon à transporter un article. L'efficacité du transport d'articles est améliorée.
PCT/CN2021/080198 2020-08-24 2021-03-11 Système de transport et procédé appliqué au système de transport WO2022041682A1 (fr)

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CN202010860250.8A CN112320177A (zh) 2020-08-24 2020-08-24 运输系统和应用于运输系统的方法
CN202010860250.8 2020-08-24

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GB2611056B (en) * 2021-09-23 2023-11-15 Ocado Innovation Ltd A grid framework structure

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