WO2023005823A1

WO2023005823A1 - Warehousing system

Info

Publication number: WO2023005823A1
Application number: PCT/CN2022/107277
Authority: WO
Inventors: 陈宇奇
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2021-07-27
Filing date: 2022-07-22
Publication date: 2023-02-02
Also published as: CN215324896U

Abstract

A warehousing system, comprising a goods shelf (10), a goods moving device, and an unmanned forklift. The goods shelf (10) is provided with a storage space (11). The storage space (11) extends in the horizontal direction, and is used for storing goods. A first opening is provided on one end of the storage space (11). The goods moving device is located in the storage space (11), and used for driving goods (30) to move in the storage space (11). The unmanned forklift is used for delivering the goods (30) into the storage space (11) from the first opening, or taking the goods (30) out of the storage space (11) by means of the first opening. The warehousing system can complete goods access operation without using a stacking machine, simplifies the structure of the warehousing system and the goods access operation process, and improves the efficiency of the goods access operation.

Description

Storage system

This application claims the priority of a Chinese patent application with application number 202121746044.0 and application title "Warehouse System" filed with the China Patent Office on July 27, 2021, the entire contents of which are incorporated herein by reference.

technical field

Embodiments of the present disclosure belong to the technical field of intelligent logistics, and in particular relate to a storage system.

Background technique

In the field of intelligent warehousing technology, the warehousing system replaces manpower for warehousing management, cargo handling and other operations to realize automated operations and improve work efficiency. However, the warehousing system in the related art has a complex structure and a cumbersome process of picking and delivering goods, resulting in low efficiency of picking and delivering goods.

Utility model content

In view of this, the embodiments of the present disclosure provide a storage system to solve the technical problems of complex structure of the storage system and low delivery efficiency.

An embodiment of the present disclosure provides a storage system, including a shelf, a cargo moving device, and an unmanned forklift. A storage space is provided in the shelf, and the storage space extends along a horizontal direction. The storage space is used to accommodate goods. One end of the storage space has a first opening; the cargo moving device is located in the storage space, and the cargo moving device is used to drive the cargo to move in the storage space; the unmanned forklift is used to move the cargo from the storage space The first opening is used to send the goods into the storage space, or to take the goods out of the storage space through the first opening.

In the storage system of the embodiment of the present disclosure, a storage space extending along the horizontal direction is provided in the shelf, the storage space has a first opening, and the cargo moving device is located in the storage space. When delivering goods, the goods can be placed in the storage space through the first opening by an unmanned forklift, and the goods moving device will transport the goods to the designated position in the storage space; when picking up the goods, the goods moving device will transport the goods in the storage space to At the first opening, the unmanned forklift takes out the goods in the storage space through the first opening. The storage system of the embodiment of the present disclosure can directly place the goods in the storage space through an unmanned forklift, or directly take out the goods in the storage space. Compared with the related technology, the delivery of goods can be completed without using a stacker The operation simplifies the structure of the storage system, and at the same time simplifies the process of picking and delivering the goods, and improves the efficiency of the picking and delivering of the goods.

In some embodiments that may include the above-mentioned embodiments, the storage space has a cargo channel and a shuttle channel, the cargo channel is located above the shuttle channel, and the cargo channel and the shuttle channel are arranged horizontally and mutually Parallel; the cargo channel is used to accommodate cargo, one end of the cargo channel is provided with the first opening, the lower surface of the cargo channel is provided with a communication port, and the communication port is provided along the extension direction of the cargo channel; The shuttle channel communicates with the cargo channel through the communication port; the cargo moving device includes a shuttle plate, the shuttle plate is located in the shuttle channel, and the shuttle plate is used to drive the cargo in the cargo channel move within.

In some embodiments that may include the above-mentioned embodiments, the other end of the cargo channel has a second opening; the unmanned forklift is used to send goods into the cargo channel through the second opening, or to transport is removed from the cargo channel through the second opening.

In some embodiments that may include the above-mentioned embodiments, there are multiple storage spaces, and multiple storage spaces are arranged in parallel and at intervals; The cargo in the cargo channel is transferred to another cargo channel in the storage space.

In some embodiments that may include the above-mentioned embodiments, one end of the shuttle channel has a third opening, and the third opening and the first opening are located on the same side of the shelf; the unmanned forklift is used to The shuttle board is sent into the shuttle channel through the third opening, or the shuttle board is taken out of the shuttle channel through the third opening.

In some embodiments that may include the above-mentioned embodiments, there are multiple storage spaces, and multiple storage spaces are separated; The shuttle plate in the storage space is transferred to the shuttle channel in another storage space.

In some embodiments that may include the above-mentioned embodiments, the other end of the shuttle channel has a fourth opening; the unmanned forklift is used to send the shuttle board into the shuttle channel from the fourth opening, Or take the shuttle board out of the shuttle channel through the fourth opening.

In some embodiments that may include the above-mentioned embodiments, a partition board is provided in the storage space, and the partition board divides the storage space into the cargo channel and the shuttle channel, and the communication port is provided with on the partition.

In some embodiments that may include the above-mentioned embodiments, the shuttle board has a jacking mechanism, and when the jacking mechanism is raised, it passes through the communication opening to push against the goods.

In some embodiments that may include the above-mentioned embodiments, the shuttle board includes a body, the jacking mechanism includes an electric cylinder and a pallet, the electric cylinder is arranged vertically upward, and the electric cylinder includes a cylinder body and a telescopic rod , the cylinder is connected to the body, and one end of the telescopic rod protruding from the cylinder is connected to the supporting plate, and the supporting plate is used to pass through the Raise the channel to withstand the cargo.

In some embodiments that may include the above embodiments, the shuttle board includes a body, a driving mechanism and a moving mechanism, the moving mechanism and the driving mechanism are installed on the body, the driving mechanism and the moving mechanism transmission connection, the driving mechanism drives the moving mechanism to drive the body to move in the shuttle channel.

In some embodiments that may include the above-mentioned embodiments, the moving mechanism includes a plurality of rollers, and the driving mechanism is in transmission connection with the plurality of rollers; the bottom surface of the shuttle channel is a horizontal plane, and the plurality of rollers are supported on on the bottom surface.

In some embodiments that may include the above-mentioned embodiments, a first limiting portion and a second limiting portion are provided on the bottom surface of the shuttle channel, and the first limiting portion and the second limiting portion are arranged along the The extending direction of the shuttle channel is set opposite to each other, the roller is located between the first limiting part and the second limiting part, and the first limiting part and the second limiting part are surrounded by a Become a raceway for the rollers to pass through.

Description of drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art, and it is easy to see that the appended The drawings are some embodiments of the present disclosure, and those skilled in the art can obtain other drawings according to these drawings without creative work.

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

Fig. 2 is a partial enlarged view of place A in Fig. 1;

Fig. 3 is a schematic diagram of moving goods in a cargo channel in one storage space to a cargo channel in another storage space;

Fig. 4 is a schematic diagram of moving the shuttle board in the shuttle channel in one storage space to the shuttle channel in another storage space;

Fig. 5 is a schematic structural view of the shuttle board in Fig. 1;

Fig. 6 is a partial enlarged view of the place B in Fig. 1 .

Explanation of reference signs:

10 - shelves;

11 - storage space;

111 - cargo channel;

112 - shuttle channel;

113 - bottom surface;

114-the first limiting part;

115-the second limiting part;

116 - raceway;

117 - partition board;

118-communication port;

20 - shuttle board;

21 - ontology;

22-jacking mechanism;

221 - pallet;

23 - roller;

30 - Goods.

Detailed ways

In the related art, a storage system usually includes a shelf, a cargo moving device, a stacker and a forklift. A storage space is provided in the shelf, and an opening is provided at one end of the storage space; the goods moving device is located in the storage space, and the goods moving device can drive the goods to move in the storage space; the stacker is set on the side of the shelf with the opening. It should be noted that a stacker, that is, a stacking crane, refers to a special crane that uses forks, etc. .

When delivering goods, the forklift will place the goods on the stacker, and the stacker will lift the goods to the outside of the storage space close to the opening, and then send the goods into the storage space from the opening, and the goods moving device will transport the goods to the storage space. Specify the location; when picking up the goods, the goods moving device will transport the goods to the storage space near the opening, the stacker will take the goods out of the storage space through the opening, and then the goods on the stacker will be taken away by the forklift.

However, the storage system in the related art needs to be provided with a stacker and a forklift, which makes the structure of the storage system complicated. In addition, in the process of picking up and delivering goods, a forklift and a stacker are needed to pick up and deliver goods. The process of picking up and delivering goods is cumbersome, which reduces the efficiency of picking up and delivering goods.

In view of this, the storage system of the embodiment of the present disclosure omits the stacker in the storage system of the related art, and directly sends the goods into the storage space through an unmanned forklift, or directly takes out the goods in the storage space. Compared with related technologies, the picking and delivery of goods can be completed without using a stacker, which simplifies the structure of the storage system, and also simplifies the process of picking and delivering goods, and improves the efficiency of picking and delivering goods.

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments It is a part of the embodiments of the present disclosure, but not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.

The embodiment of the present disclosure takes a storage system as an example for illustration. It can be understood that the technical solution of the embodiment of the present disclosure is not limited to be applied only to the storage system, but also can be applied to other logistics fields such as sorting and production.

Referring to FIG. 1 , an embodiment of the present disclosure provides a storage system, including a shelf 10 , a cargo moving device and an unmanned forklift (not shown in FIG. 1 ). The rack 10 is used to accommodate goods 30 . The goods moving device is located in the shelf 10, and the goods moving device can drive the goods 30 to move inside the shelf 10, so as to transport the goods 30 to a designated position in the shelf 10. The laneway for cargo 30 reduces the number of laneways and improves the space utilization rate of the warehouse. The unmanned forklift is used to pick up and deliver the goods 30, and can place the goods 30 in the shelf 10, or take the goods 30 out of the shelf 10, so as to realize automatic access to the goods 30, improve the automation of the storage system, save manpower and improve Delivery efficiency of goods.

An unmanned forklift refers to a vehicle that can perform operations such as inserting, lifting, loading and unloading, stacking, and short-distance transportation of cargo 30 through electronic control, without the need for a driver to control it. The embodiment of the present disclosure does not specifically limit the specific structure of the unmanned forklift. Exemplarily, an unmanned forklift may include a car body, a fork, a detection device and a controller. The car body is movable, and the fork and the detection device are installed on the car body. The fork has a lifting function, and the detection device is used to detect the position of the car body and the fork to obtain position information. The controller can respond to the control command and control the walking of the car body and the lifting of the fork according to the control command and position information, so that the unmanned forklift can complete related operations.

When the unmanned forklift performs the delivery operation in response to the control command, first, the controller controls the vehicle body to move to the position where the goods 30 are placed, such as an assembly line, a transport truck, etc.; then, the controller controls the lifting of the fork, and controls the movement of the vehicle body, so that the fork extends under the goods 30 to insert and take out the goods 30; then, the controller controls the movement of the car body again, and drives the goods 30 to move to the roadway next to the shelf 10 through the forks; then, the controller controls the forks to drive the goods 30 lift, and control the movement of the car body to place the goods 30 in the shelf 10; after that, the controller controls the car body to return to the position where the goods 30 are placed for the next delivery operation.

When the unmanned forklift responds to the control command to pick up the goods, firstly, the controller controls the car body to move to the roadway next to the shelf 10, controls the lifting of the fork, and controls the movement of the car body to take out the goods 30 in the shelf 10; Then, the controller controls the movement of the car body, and drives the goods 30 to move to the position where the goods 30 are placed through the fork, such as an assembly line, a transport truck, etc.; Place it at this position; after that, the controller controls the car body to return to the laneway of the rack 10 for the next pick-up operation.

It should be noted that the delivery and pick-up in the embodiments of the present disclosure all take the shelf 10 as a reference point. In other words, in the embodiment of the present disclosure, delivering goods refers to sending the goods 30 in the rack 10 to other locations; Goods 30 should be understood in a broad sense, which can be understood as the goods themselves, or the goods themselves and containers for storing the goods for transportation, such as boxes, bags or pallets containing the goods.

A storage space 11 is provided inside the shelf 10 , and the storage space 11 is used for accommodating goods 30 . The storage space 11 extends in the horizontal direction. One end of the storage space 11 has a first opening. The goods moving device is located in the storage space 11 , and the goods moving device is used to drive the goods 30 to move in the storage space 11 . The unmanned forklift is used to send the goods 30 into the storage space 11 through the first opening, or take out the goods 30 from the storage space 11 through the first opening.

In the storage system of the embodiment of the present disclosure, a storage space 11 extending along the horizontal direction is arranged in the shelf 10, and the storage space 11 has a first opening, and an unmanned forklift can place the goods 30 in the storage space 11 through the first opening, or through The first opening takes the goods 30 out of the storage space 11 . The goods moving device is located in the storage space 11 , and the goods moving device can drive the goods 30 to move in the storage space 11 to transport the goods 30 to a designated position in the storage space 11 . During the delivery operation, the unmanned forklift places the goods 30 in the storage space 11 through the first opening, and the goods moving device transports the goods 30 to the designated position in the storage space 11; The goods 30 in the storage space 11 are transported to the first opening, and the unmanned forklift takes out the goods 30 in the storage space 11 through the first opening. It should be noted that the specified location in the storage space 11 refers to a preset location in the storage space 11 for placing the goods 30 .

The storage system of the embodiment of the present disclosure can directly place the goods 30 in the storage space 11 through an unmanned forklift, or directly take out the goods 30 in the storage space 11. Compared with related technologies, it can be completed without using a stacker The pick-up and delivery operation of the goods 30 simplifies the structure of the storage system, simplifies the process of picking up and delivering the goods, and improves the efficiency of the pick-up and delivery of the goods.

A horizontally extending storage space 11 is disposed inside the shelf 10 , and the storage space 11 is used for accommodating goods 30 . Exemplarily, the shelf 10 may be a frame structure. The shelf 10 includes four vertical beams and support plates, the four vertical beams are arranged in parallel, and the four vertical beams are respectively located on the four vertical edges of the cuboid to enclose the cuboid frame structure. The support plate is arranged horizontally, and the support plate is connected with four vertical beams. The space enclosed by the upper surface of the support plate and the cuboid frame structure is the storage space 11 extending in the horizontal direction.

Rack 10 can also comprise four crossbeams, and four crossbeams are connected end to end in sequence to form a rectangular frame, and the four vertices of the rectangular frame are respectively connected to the tops of four vertical beams, that is to say, the four crossbeams are respectively located on the rectangular parallelepiped frame and vertical on the vertical edge of the beam. Such setting can improve the strength and stability of the frame structure.

The shelf 10 can also be a cabinet structure. The shelf 10 includes two vertical connecting plates and a support plate, the two vertical connecting plates are arranged in parallel, the two vertical connecting plates surround a rectangular cabinet structure, the supporting plates are arranged horizontally, and one end of the supporting plate is connected to a connecting plate , the other end of the support plate is connected to another connecting plate, and the space enclosed by the upper surface of the support plate and the cuboid cabinet structure is the storage space 11 extending in the horizontal direction.

Rack 10 can also comprise horizontal connecting plate, and horizontal connecting plate is arranged horizontally, and one end of horizontal connecting plate is connected with the top of a vertical connecting plate, and the other end of horizontal connecting plate is connected with the top of another vertical connecting plate, that is to say , the horizontal connecting plate is located on the surface perpendicular to the vertical connecting plate on the cuboid cabinet body. Such arrangement can improve the strength and stability of the cabinet structure.

One end of the storage space 11 has a first opening, and the unmanned forklift is used to send the goods 30 into the storage space 11 through the first opening, or take the goods 30 out of the storage space 11 through the first opening, so as to realize the advancement of the goods 30. back out.

Exemplarily, when the shelf 10 is a frame structure, the four vertical sides of the storage space 11 are all open, and the first opening may be any one of the four open sides.

When the shelf 10 is a cabinet structure, both sides between the two vertical connecting plates on the storage space 11 are open, and the first opening may be any one of the two open sides. It can be understood that the first opening may also be provided on any one of the vertical connecting plates, which is not specifically limited in this embodiment of the present disclosure.

In some implementations of the embodiments of the present disclosure, the other end of the storage space 11 has a second opening. That is to say, the second opening is disposed at an end of the storage space 11 away from the first opening. The unmanned forklift can send the cargo 30 into the storage space 11 through the second opening, or take the cargo 30 out of the storage space 11 through the second opening. With this arrangement, the unmanned forklift can pick up and deliver the goods 30 from multiple locations, improving the convenience of picking up and delivering the goods.

In addition, the unmanned forklift can also put a plurality of goods 30 into the storage space 11 through the first opening, and the goods moving device transports the goods 30 to a designated position in the storage space 11, and the plurality of goods 30 are placed in the storage space 11 according to the The input sequence is arranged along the direction from the second opening to the first opening. The unmanned forklift can take out the goods 30 put in first from the storage space 11 through the second opening, so as to realize the first-in first-out of the goods 30 . With such a setting, it is possible to realize a variety of cargo pick-up and delivery operations, and improve the applicability of the storage system.

When the shelf 10 is a frame structure, the second opening is an open side of the storage space 11 opposite to the first opening.

When the shelf 10 is a cabinet structure, the second opening can be an open side opposite to the first opening on the storage space 11; the second opening can also be arranged on another vertical connecting plate, and the other vertical connecting plate and The vertical connecting plates provided with the first opening are opposite to each other.

The goods moving device is located in the storage space 11 , and the goods moving device is used to drive the goods 30 to move in the storage space 11 so as to transport the goods 30 to a designated position in the storage space 11 .

Exemplarily, the cargo moving device may be a flow rack, which may be arranged on a support plate in the storage space 11 , and the flow rack extends from the first opening to the inside of the storage space 11 . The unmanned forklift places the goods 30 on the flow rack through the first opening, and under the action of its own gravity, the goods 30 move on the flow rack until the goods 30 touch other goods on the flow rack and stop moving, that is, move Go to the specified location in the storage space 11.

A liftable limit block can also be arranged on the fluent frame. When the limit block is raised, the top surface of the limit block is higher than the fluent frame, and when the goods 30 move on the fluent frame to abut against the raised limit block, they stop moving, and the raised limit block in the storage space 11 The corresponding position is the designated position, and the goods 30 move to the designated position and stop moving. When the limit block is lowered, the top surface of the limit block is lower than the flow frame, and the goods 30 on the flow frame can continue to move on the flow frame until the goods 30 abut against another raised limit block or another goods 30 And stop moving. Exemplarily, the liftable limit block can be a vertically arranged telescopic rod controlled by hydraulic pressure or pneumatic pressure, and the height of the telescopic rod can be controlled by hydraulic pressure or pneumatic pressure, so that the telescopic rod is higher or lower than the flow frame.

The cargo moving device may also be a shuttle board 20 , which refers to an intelligent robot that can shuttle within the rack 10 and is used to move the cargo 30 . The shuttle board 20 can be moved by electronic control to transport the goods 30 to the designated position in the storage space 11, which improves the automation of the storage system, saves manpower and improves the efficiency of the goods picking and delivery operation; Aisles for carrying and sorting goods 30 in the shelves 10 are arranged outside, which reduces the number of aisles and improves the space utilization rate of the storage system.

When the cargo moving device is a shuttle board 20, referring to Fig. 1 and Fig. 2, there is a cargo channel 111 and a shuttle channel 112 in the storage space 11, the cargo channel 111 is located above the shuttle channel 112, and the cargo channel 111 and the shuttle channel 112 are all arranged horizontally and parallel to each other; the cargo channel 111 is used to accommodate the cargo 30, and one end of the cargo channel 111 is provided with a first opening, and the lower surface of the cargo channel 111 is provided with a communication port 118, and the communication port 118 is provided along the extending direction of the cargo channel 111; the shuttle channel 112 It communicates with the cargo channel 111 through the communication port 118 . The shuttle board 20 is located in the shuttle passage 112 , and the shuttle board 20 is used to drive the cargo 30 to move in the cargo passage 111 .

During the delivery operation, the unmanned forklift places the cargo 30 in the cargo channel 111 through the first opening; the shuttle board 20 is located at the end of the shuttle channel 112 close to the first opening, and the shuttle board 20 extends into the cargo channel 111 through the communication port 118 to transport the cargo 30 placed in the cargo channel 111; the shuttle board 20 transports the cargo 30 to a designated position in the cargo channel 111, and recovers it from the cargo channel 111 through the communication port 118, so that the cargo 30 is placed in the specified position. Position; the shuttle board 20 returns to the end near the first opening in the shuttle channel 112 to carry the next cargo 30 for the next delivery operation.

During the pick-up operation, the shuttle board 20 moves below the cargo 30 in the shuttle passage 112; the shuttle board 20 extends into the cargo passage 111 through the communication port 118 to transport the goods positioned in the cargo passage 111; the shuttle board 20 moves the goods 30 is transported to the end of the cargo channel 111 near the first opening, and is withdrawn from the cargo channel 111 through the communication port 118, so that the cargo 30 is placed on the end of the cargo channel 111 close to the first opening, and the unmanned forklift transports the cargo through the first opening. 30 is taken out from the cargo channel 111; the shuttle board 20 returns to the below of the next cargo 30 in the cargo channel 111 in the shuttle channel 112 to carry the next cargo 30 for the next picking operation.

Exemplarily, a partition plate 117 is disposed in the storage space 11 , and the partition plate 117 divides the storage space 11 into a cargo channel 111 and a shuttle channel 112 , and the communication port 118 is disposed on the partition plate 117 . It can be understood that the inner wall of the cargo passage 111 may also be provided with a placement plate for placing the cargo 30 , and when the shuttle board 20 is withdrawn from the cargo passage 111 , the cargo 30 can be placed on the placement board. Specific limits.

Exemplarily, the other end of the cargo passage 111 also has a second opening, that is to say, the end of the cargo passage 111 away from the first opening has a second opening. The unmanned forklift can send the goods 30 into the goods passage 111 through the second opening, or take the goods 30 out of the goods passage 111 through the second opening, so as to realize the first-in first-out of the goods 30 . With such a setting, various ways of picking up and delivering goods can be realized, and the applicability of the storage system can be improved.

In some implementations of the embodiments of the present disclosure, one end of the shuttle channel 112 has a third opening, and the third opening and the first opening are located on the same side of the shelf 10 . The unmanned forklift can send the shuttle board 20 into the shuttle passage 112 through the third opening, or take the shuttle board 20 out of the shuttle passage 112 through the third opening. With such arrangement, when the shuttle board 20 is maintained or replaced, the convenience of taking and delivering the shuttle board 20 is improved, and the work efficiency of maintenance or replacement is improved.

Exemplarily, the other end of the shuttle channel 112 has a fourth opening; an unmanned forklift is used to send the shuttle board 20 into the shuttle channel 112 from the fourth opening, or take the shuttle board 20 out of the shuttle channel 112 from the fourth opening . The unmanned forklift can fetch and deliver the shuttle board 20 from multiple positions, which improves the convenience of taking and sending the shuttle board 20 .

The embodiment of the present disclosure does not specifically limit the number of storage spaces 11 . The number of storage spaces 11 can be one or more.

For example, referring to FIG. 1 , when there are multiple storage spaces 11 , the multiple storage spaces 11 may be arranged at intervals. The cargo passages 111 of each storage space 11 are arranged at intervals. Referring to FIG. 3 , the unmanned forklift can transfer the cargo 30 in the cargo channel 111 in one of the storage spaces 11 to the cargo channel 111 of the other storage space 11, and the unmanned forklift can realize the reconfiguration of the cargo 30 on the shelf 10, There is no need to set up additional robots, the structure of the storage system is simplified, and the operation process is simplified, thereby improving operation efficiency. In Fig. 3, the dotted arrows schematically show the direction of movement of the cargo 30 transferred by the unmanned forklift.

When a plurality of storage spaces 11 are arranged in parallel and at intervals, the shuttle channels 112 of each storage space 11 are also arranged at intervals. Referring to FIG. 4 , the unmanned forklift can transfer the shuttle board 20 in the shuttle channel 112 in one of the storage spaces 11 to the shuttle channel 112 in the other storage space 11 . With such an arrangement, the unmanned forklift can realize the redistribution of the shuttle boards 20 on the shelf 10, reuse the idle shuttle boards 20 in the rack 10, that is, the shuttle boards 20 that are not in working state, and do not need to add shuttle boards 20, thereby improving work efficiency . The dotted arrow in FIG. 4 exemplarily shows the moving direction of the shuttle board 20 transferred by the unmanned forklift.

Multiple storage spaces 11 may also be arranged in a multi-layer grid. That is to say, the multiple storage spaces 11 can be divided into multiple storage space layers, and the multiple storage space layers are vertically spaced apart. Each storage space group includes a first storage space group and a second storage space group. The first storage space group includes a plurality of storage spaces 11 parallel to each other and arranged at equal intervals, and the plurality of storage spaces 11 are located in the same horizontal plane; the second storage space group includes a plurality of parallel storage spaces 11 arranged at equal intervals, and the second The multiple storage spaces 11 of the storage space group are located in the same horizontal plane as the storage spaces 11 of the first storage space group, and the extension direction of the multiple storage spaces 11 of the second storage space group is the same as that of the multiple storage spaces 11 of the first storage space group. The extension direction is vertical, and the storage space 11 of the first storage space group is connected to the storage space 11 of the second storage space group, so that the multiple storage spaces 11 of each storage space layer are connected to each other.

When the storage space 11 has cargo passages 111 and shuttle passages 112, a plurality of cargo passages 111 in each layer of storage space are arranged in a grid pattern, and a plurality of cargo passages 111 are interconnected; multiple cargo passages in each layer of storage space The shuttle passages 112 are arranged in a grid shape, and a plurality of shuttle passages 112 communicate with each other. The shuttle board 20 can move in any shuttle channel 112 to drive the cargo 30 to move in the cargo channel 111 . Then the unmanned forklift can take out the goods 30 from the first opening or the second opening of any one of the goods passages 111, or send the goods 30 in from the first or second opening of any one of the goods passages 111, so as to realize the The pick-up and delivery operation at any position can realize a variety of goods pick-up and delivery methods and improve the applicability of the storage system.

The shuttle board 20 can move in the shuttle channel 112 of the storage space 11 to drive the cargo 30 to move in the cargo channel 111 . The embodiment of the present disclosure does not specifically limit the shuttle board 20 .

Exemplarily, referring to FIG. 2 and FIG. 5 , the shuttle board 20 includes a body 21 , a jacking mechanism 22 , a driving mechanism and a moving mechanism. The jacking mechanism 22 is arranged on the body 21, and when the jacking mechanism 22 rises, it passes through the communication port 118 to push against the cargo 30. The driving mechanism and the moving mechanism are installed on the body 21 , the driving mechanism is connected to the moving mechanism through transmission, and the driving mechanism drives the moving mechanism to drive the body 21 to move in the shuttle channel 112 .

When moving the cargo 30, the driving mechanism drives the moving mechanism to move, and the moving mechanism drives the body 21 and the lifting mechanism 22 to move below the cargo 30, and the jacking mechanism 22 rises to push against the cargo 30; the driving mechanism drives the moving mechanism again, and the moving mechanism Drive the main body 21, the jacking mechanism 22 and the cargo 30 above the jacking mechanism 22 to move. When moving to the designated position, the moving mechanism stops, and the lifting mechanism 22 descends to place the goods 30 in the storage space 11;

The embodiment of the present disclosure does not specifically limit the lifting mechanism 22 , as long as it can realize the function of lifting the goods 30 . Exemplarily, referring to FIG. 5 , the jacking mechanism 22 may include an electric cylinder and a pallet 221 . The electric cylinder is arranged vertically upwards. The electric cylinder includes a cylinder body and a telescopic rod. Pass through the communication port 118 to resist the goods 30 . In addition, for example, the jacking mechanism 22 may also include an electric jack, an electric lifting platform, and the like.

The driving mechanism may include a servo motor or a stepping motor, which is not specifically limited in the embodiments of the present disclosure, as long as it can drive the moving mechanism to act.

5 and 6, the moving mechanism may include a plurality of rollers 23, the driving mechanism is in transmission connection with the plurality of rollers 23, the bottom surface 113 of the shuttle channel 112 is a horizontal plane, and the plurality of rollers 23 are supported on the bottom surface 113. The driving mechanism can drive a plurality of rollers 23 to roll on the bottom surface 113 of the shuttle channel 112 , thereby driving the body 21 and the jacking mechanism 22 to move.

Exemplarily, the axes of the plurality of rollers 23 may be parallel to each other, that is, the rolling directions of the plurality of rollers 23 are the same.

The plurality of rollers 23 can also be divided into a first roller group and a second roller group. The first roller set includes several rollers 23, and the axes of the rollers 23 in the first roller set are parallel to each other, that is to say, the rolling directions of the rollers 23 in the first roller set are the same. The second roller set includes several rollers 23, and the axes of the rollers 23 in the second roller set are parallel to each other, that is to say, the rolling directions of the rollers 23 in the second roller set are the same. The rolling direction of the rollers 23 in the first roller set is perpendicular to the rolling direction of the rollers 23 in the second roller set. Correspondingly, the shuttle board 20 includes a first driving mechanism and a second driving mechanism, the first driving mechanism is in transmission connection with the rollers 23 of the first roller group, and the second driving mechanism is in transmission connection with the rollers 23 of the second roller group. So set, the first driving mechanism can drive the rollers 23 of the first roller group to move in the shuttle channel 112 of the first storage space group, and the second driving mechanism can drive the rollers 23 of the second roller group to shuttle in the second storage space group The movement in the channel 112 enables the shuttle board 20 to move to any position in the grid-shaped shuttle channel 112 .

Referring to FIG. 6 , the bottom surface 113 of the shuttle channel 112 is provided with a first limiting portion 114 and a second limiting portion 115 , and the first limiting portion 114 and the second limiting portion 115 are oppositely arranged along the extending direction of the shuttle channel 112 . The roller 23 is located between the first limiting portion 114 and the second limiting portion 115 , and a raceway 116 for the roller 23 to pass is formed between the first limiting portion 114 and the second limiting portion 115 . The first limiting portion 114 and the second limiting portion 115 limit the roller 23 so that the roller 23 can roll in the raceway 116 to improve the stability of the movement of the shuttle board 20 .

Exemplarily, the first limiting portion 114 and the second limiting portion 115 can be two long protrusions arranged on the bottom surface 113 of the shuttle passage 112 , and the two long protrusions are both along the extending direction of the shuttle passage 112 Setting, the two strips are raised in parallel and spaced apart. It can be understood that the first limiting portion 114 and the second limiting portion 115 may also have other structures, as long as they can form the raceway 116 for the roller 23 to run, which is not specifically limited in this embodiment of the present disclosure.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present disclosure. scope.

Claims

A storage system, characterized in that it includes a shelf, a cargo moving device and an unmanned forklift, a storage space is provided in the shelf, the storage space extends along the horizontal direction, the storage space is used to accommodate goods, and the storage space One end of the space has a first opening; the goods moving device is located in the storage space, and the goods moving device is used to drive the goods to move in the storage space; the unmanned forklift is used to move the goods from the first An opening is used to send the goods into the storage space, or the goods are taken out from the storage space through the first opening.
The storage system according to claim 1, wherein the storage space has a cargo channel and a shuttle channel, the cargo channel is located above the shuttle channel, and both the cargo channel and the shuttle channel are arranged horizontally and parallel to each other; the cargo channel is used to accommodate cargo, one end of the cargo channel is provided with the first opening, the lower surface of the cargo channel is provided with a communication port, and the communication port is along the extending direction of the cargo channel setting; the shuttle channel communicates with the cargo channel through the communication port; the cargo moving device includes a shuttle board, the shuttle board is located in the shuttle channel, and the shuttle board is used to drive the cargo in the Movement within the cargo lane.
The storage system according to claim 2, wherein the other end of the cargo passage has a second opening; the unmanned forklift is used to send goods into the cargo passage from the second opening, or The cargo is taken out from the cargo channel through the second opening.
The warehouse system according to claim 2 or 3, characterized in that, there are multiple storage spaces, and multiple storage spaces are separated; The cargo in the cargo channel is transferred to another cargo channel in the storage space.
The storage system according to claim 2 or 3, wherein one end of the shuttle channel has a third opening, and the third opening and the first opening are located on the same side of the shelf; A forklift is used to send the shuttle board into the shuttle passage through the third opening, or take the shuttle board out of the shuttle passage through the third opening.
The storage system according to claim 5, wherein there are multiple storage spaces, and multiple storage spaces are arranged in parallel and at intervals; The shuttle board in the shuttle channel is transferred to another shuttle channel in the storage space.
The storage system according to claim 5, wherein the other end of the shuttle channel has a fourth opening; the unmanned forklift is used to send the shuttle board into the shuttle channel from the fourth opening or remove the shuttle plate from the shuttle channel through the fourth opening.
The storage system according to claim 2 or 3, wherein a partition plate is arranged in the storage space, and the partition plate divides the storage space into the cargo channel and the shuttle channel, so The communication port is arranged on the partition plate.
The storage system according to claim 8, characterized in that, the shuttle board has a jacking mechanism, and when the jacking mechanism is raised, it passes through the communication opening to push against the goods.
The storage system according to claim 9, wherein the shuttle board includes a body, the jacking mechanism includes an electric cylinder and a pallet, the electric cylinder is arranged vertically upward, and the electric cylinder includes a cylinder body and a pallet. A telescopic rod, the cylinder body is connected to the body, and one end of the telescopic rod protruding from the cylinder body is connected to the supporting plate, and the supporting plate is used to pass through when the telescopic rod protrudes upwards. The communication port is used to resist the goods.
The storage system according to claim 2 or 3, wherein the shuttle board includes a body, a driving mechanism and a moving mechanism, the moving mechanism and the driving mechanism are installed on the body, and the driving mechanism and The moving mechanism is connected by transmission, and the driving mechanism drives the moving mechanism to drive the body to move in the shuttle channel.
The storage system according to claim 11, wherein the moving mechanism includes a plurality of rollers, and the driving mechanism is in transmission connection with the plurality of rollers; the bottom surface of the shuttle channel is a horizontal plane, and the plurality of rollers supported on the bottom surface.
The storage system according to claim 12, wherein a first limiting portion and a second limiting portion are provided on the bottom surface of the shuttle channel, and the first limiting portion and the second limiting portion Arranged oppositely along the extending direction of the shuttle channel, the rollers are located between the first limiting portion and the second limiting portion, and between the first limiting portion and the second limiting portion A raceway for the rollers to pass is formed around.