WO2024011913A1 - 一种货物存取系统 - Google Patents

一种货物存取系统 Download PDF

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Publication number
WO2024011913A1
WO2024011913A1 PCT/CN2023/078236 CN2023078236W WO2024011913A1 WO 2024011913 A1 WO2024011913 A1 WO 2024011913A1 CN 2023078236 W CN2023078236 W CN 2023078236W WO 2024011913 A1 WO2024011913 A1 WO 2024011913A1
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WO
WIPO (PCT)
Prior art keywords
target storage
storage container
goods
transfer mechanism
pick
Prior art date
Application number
PCT/CN2023/078236
Other languages
English (en)
French (fr)
Inventor
姚继红
Original Assignee
北京天下先智创机器人技术有限责任公司
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 北京天下先智创机器人技术有限责任公司 filed Critical 北京天下先智创机器人技术有限责任公司
Publication of WO2024011913A1 publication Critical patent/WO2024011913A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—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
    • 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
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • 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
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/68—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the invention relates to the field of automation technology, and in particular to a cargo access system.
  • stacker storage system which is mainly composed of traditional stackers and shelves.
  • the stacker When accessing goods, the stacker first moves to the target position when receiving the signal, and uses the fork mechanism to perform the pick-and-place action of the storage container.
  • the storage container can be a turnover box or a pallet.
  • the efficiency bottleneck of this solution is the stacker, and compared with traditional shuttle warehouses, the stacker is more expensive than the elevator. There is a big difference in access throughput between a single stacker in a single lane and multiple shuttles. .
  • the present invention provides a cargo access system to solve or at least alleviate the above existing problems.
  • a cargo access system including: a storage area suitable for storing a plurality of storage containers; one or more access execution devices, the access execution device includes: a cross beam, arranged on Above the storage area; a pick-and-place mechanism is installed on the beam, adapted to grab the target storage container from the storage area, and provide the target storage container to the transfer mechanism; the transfer mechanism is installed on the beam and communicates with the transfer mechanism
  • the storage mechanism is relatively arranged and is adapted to move along the cross beam to transport the target storage container to the outbound conveyor line, so as to transport the target storage container to the picking area via the outbound conveyor line, and in the picking area Area picks goods from target storage containers.
  • the system further includes: a distribution wall including a plurality of order boxes; a picking robot adapted to pick goods from the target storage container in the picking area , and place the goods in the order box on the distribution wall.
  • the system further includes: two rows of oppositely arranged columns, wherein a first track is provided on each row of columns; both ends of the cross beam are respectively slidingly connected. on two first rails, so that the cross beam moves relative to the first rails.
  • the first track is arranged in a first direction
  • the cross beam is arranged in a second direction
  • the first direction and the second direction are perpendicular to each other.
  • both ends of the cross beam are slidingly connected to the first track through traction wheels respectively.
  • the pick-and-place mechanism includes: a fixed frame fixedly installed on the cross beam; a guide assembly installed on opposite sides of the fixed frame, the guide The assembly includes a guide plate and a driving device fixed on the upper part of the guide plate; a clamping claw movably installed on the fixing frame, and the clamping claw is connected to the driving device; wherein the target storage container is adapted to move along the The guide assembly is introduced into the pick-and-place mechanism, the clamping claw is adapted to grab the target storage container, and the driving device is adapted to drive the clamping claw to move in the vertical direction to drive the target storage container along the vertical direction. Movement in a straight direction to provide the target storage container to the transfer mechanism.
  • a second track is provided on the cross beam;
  • the transfer mechanism is installed on the second track of the crossbeam through a second direction drag component; the second direction drag component is drivingly connected to the second track to drive the transfer mechanism and the target storage container along the Crossbeam movement.
  • the transfer mechanism includes: a body connected to the second direction drag assembly; a transition plate connected to the body, and the pick-and-place mechanism is adapted to The target storage container is placed on the transition plate; the push-out assembly is adapted to push the target storage container on the transition plate so as to push the target storage container to the outbound conveyor line.
  • the outbound conveyor line includes a first conveyor line and a second conveyor line, and the second conveyor line is arranged on the ground; the transfer mechanism is adapted to move to and from The first conveying line connects and pushes the target storage container to the first conveying line.
  • the system further includes: a lift, adapted to transport the target storage container from the first conveyor line to the second conveyor line; a transfer machine, Suitable for transporting the target storage container from the second conveyor line to the picking area.
  • the system further includes: an inbound conveyor line, adapted to transport the target storage containers after picking the goods to the storage area.
  • a cargo access system in which a plurality of storage containers are stored in a storage area, and the access operation is performed in the storage area through one or more access execution devices, wherein the access execution device includes The cross beam, the pick-and-place mechanism and the transfer mechanism respectively installed on both sides of the cross beam, grab the target storage container from the storage area through the pick-and-place mechanism, and provide the target storage container to the transfer mechanism.
  • the transfer mechanism can move along the cross beam and transfer the target storage container to the cross beam.
  • the target storage container can be transported to the picking area via the outbound conveyor line, and the goods are picked from the target storage container in the picking area through the picking robot, and the goods are placed in the order box on the distribution wall middle.
  • the system of the present invention it is possible to pick goods and perform distribution processing on the goods at the same time, which is beneficial to improving the efficiency of picking processing.
  • the present invention utilizes one or more access execution devices to perform pick-and-place operations on storage containers in the storage area.
  • the number of access execution devices can be adjusted according to the number of storage containers and execution efficiency, so as to adapt to the execution of different goods. efficiency requirements.
  • the access execution device replaces traditional shuttle cars and other solutions, and eliminates storage shelves, thereby reducing warehousing costs and increasing the flexibility of cargo access.
  • Figures 1 and 2 respectively show a schematic structural diagram of a cargo access system 100 according to an embodiment of the present invention
  • Figure 3 shows a schematic structural diagram of an access execution device according to an embodiment of the present invention
  • Figure 4 shows a schematic structural diagram of a pick-and-place mechanism according to an embodiment of the present invention
  • Figure 5 shows a schematic structural diagram of a crossbeam according to an embodiment of the present invention.
  • the present invention proposes a cargo access system 100 with more optimized performance.
  • the invention provides a cargo access system 100.
  • Figures 1 and 2 respectively show a schematic structural diagram of a cargo access system 100 according to an embodiment of the present invention.
  • the goods access system 100 includes a storage area 105, one or more access execution devices, an outbound conveyor line, and a picking area 150.
  • the storage area 105 can store multiple storage containers 106 for storing goods.
  • the multiple storage containers 106 can be placed in the storage area in multiple rows, columns, and layers. Domain 105.
  • One or more access execution devices may be used to retrieve storage containers from any location in the storage area 105 and transport and place the storage containers onto the outbound conveyor line.
  • the access execution device may be implemented as a truss robot.
  • each access execution device includes: a cross beam 120, a pick-and-place mechanism 110, and a transfer mechanism 130.
  • the pick-and-place mechanism 110 and the transfer mechanism 130 are respectively installed on both sides of the cross beam 120.
  • the cross beam 120 is arranged above the storage area 105 .
  • the cargo access system 100 of the present invention may be provided with one or more access execution devices, and accordingly, one or more cross beams 120 may be arranged above the storage area 105 .
  • the pick-and-place mechanism 110 is installed on the first side of the cross beam 120 .
  • the pick-and-place mechanism 110 can grab the target storage container from the storage area 105 and provide the target storage container to the transfer mechanism 130 .
  • the transfer mechanism 130 is installed on the second side of the cross beam 120 (the other side opposite to the first side) and is arranged opposite to the storage mechanism.
  • the transfer mechanism 130 and the pick-and-place mechanism 110 are arranged on both sides of the cross beam 120 opposite to each other.
  • the transfer mechanism 130 can move along the beam 120 to drive the target storage container to move and transport the target storage container to the outbound conveyor line. Then, the target storage container can be transported to the picking area 150 via the outbound conveyor line for picking. Area 150 picks items from target storage containers.
  • the cargo access system 100 includes two rows of oppositely arranged columns 104 , wherein a first track 101 is provided on each row of columns 104 .
  • Both ends of the cross beam 120 are respectively slidingly connected to two first rails 101 provided on the two rows of columns 104 so that they can slide along the first rails 101 . That is to say, both ends of the cross beam 120 can slide relative to the two first rails 101 respectively, so that the cross beam 120 can move relative to the first rails 101 .
  • the first rail 101 is arranged in a first direction
  • the cross beam 120 is arranged in a second direction, wherein the first direction and the second direction are perpendicular to each other. That is to say, the first rail 101 and the cross beam 120 are arranged perpendicularly to each other.
  • the beam 120 can move in a first direction relative to the first track 101 .
  • the relay mechanism 130 can move in the second direction relative to the cross beam 120 .
  • both ends of the cross beam 120 are slidingly connected to the first rail 101 through traction wheels, so that the cross beam 120 can move in the first direction relative to the first rail 101 .
  • Figure 3 shows a schematic structural diagram of an access execution device according to an embodiment of the present invention.
  • Figure 4 shows a schematic structural diagram of a pick-and-place mechanism 110 according to an embodiment of the present invention.
  • the pick-and-place mechanism 110 includes a fixed The frame 111, the guide assembly 115, and the gripper 113 for grabbing the target storage container.
  • the fixing bracket 111 of the pick-and-place mechanism 110 is fixedly installed on the first side of the cross beam 120 .
  • Guide assemblies 115 are installed on opposite sides of the fixed frame 111, and the guide assemblies 115 can drive the clamping claw 113 and the captured target storage container to move up and down (move in the vertical direction).
  • the guide assembly 115 includes a guide plate 116 and a driving device 117 fixed on the upper part of the guide plate 116 .
  • the guide assembly 115 includes two guide plates 116 respectively installed on both sides of the fixed frame 111 , and a driving device 117 is provided on the upper part of each guide plate 116 .
  • the clamping claw 113 is movably installed on the fixed frame 111, and the target storage container can be grabbed by the clamping claw 113.
  • the clamping jaw 113 is connected to the driving device 117 .
  • the clamping jaw 113 can be directly or indirectly connected to the driving device 117, so that the clamping jaw 113 can be driven to move in the vertical direction through the driving device 117, thereby driving the grasped target storage container to lift.
  • the clamping jaw 113 can be implemented as a double-layered clamping jaw 113 including upper and lower layers, so that two target storage containers can be grasped at the same time, and the double-layered clamping jaw 113 can be flexibly grasped.
  • Pick up and place containers It should be noted that the clamping jaw 113 of the pick-and-place mechanism 110 matches the shape and size of the storage container, and the structure of the clamping jaw 113 can be adaptively adjusted according to storage containers of different shapes and sizes.
  • the target storage container can be introduced into the pick-and-place mechanism 110 along the guide assembly 115, that is, the target storage container can be introduced along the guide assembly 115 for pick-up and placement.
  • the introduced target storage container can be grasped by the clamping claw 113.
  • the clamping claw 113 can hook the target storage container so as to fix the target storage container to the clamping claw 113 .
  • the target storage container grasped by the clamping claw 113 can be synchronously driven to move in the vertical direction, so as to provide the target storage container to the transfer mechanism 130 .
  • the driving device 117 is used to drive the clamping jaw 113 to move in the vertical direction, and the present invention does not limit the specific implementation of the driving device 117 .
  • the driving device 117 can be implemented as a motor, a cylinder, etc. that can drive the clamping jaw 113 to move linearly.
  • any driving device 117 that can drive the clamping jaw 113 to move linearly is within the scope of the present invention.
  • a transfer platform is also provided at the bottom of the fixed frame 111 , and the clamping jaws 113 of the pick-and-place mechanism 110 can release the captured target storage container on the transfer platform for easy access.
  • the target storage container is provided to the transfer mechanism 130 by the transfer station.
  • Figure 5 shows a schematic structural diagram of a crossbeam 120 according to an embodiment of the present invention.
  • a second track is provided on the cross beam 120 , and the second track may specifically be an offset track.
  • the transfer mechanism 130 can be installed on the second track of the cross beam 120 through the second direction drag assembly 125 . That is to say, the crossbeam 120 also includes a second direction drag component 125 that is drivingly connected to the second track, and the transfer mechanism 130 can be installed on the second direction drag component 125 . In this way, according to the transmission connection between the second direction drag component 125 and the second track, the second direction drag component 125 can move relative to the second track, thereby driving the transfer mechanism 130 to move along the cross beam 120 and synchronously driving the transfer mechanism 130 The captured target storage container moves along the beam 120 .
  • the second direction drag component 125 includes a second direction drag motor 1253, a transfer mechanism 130 drag motor 1254, a first synchronous belt 1251 and a second synchronous belt 1252.
  • the second direction drag motor 1253 The cooperation of the driving motor 1254 of the transfer mechanism 130, the first synchronous belt 1251 and the second synchronous belt 1252 can drive the transfer mechanism 130 to move in the second direction relative to the cross beam 120.
  • end beams 121 are respectively provided at both ends of the cross beam 120 , and traction wheels are provided on the end beams 121 .
  • the traction wheels may be rollingly connected with the first track 101, so that the cross beam 120 can be pulled to move in the first direction relative to the first track 101 through the two traction wheels.
  • the transfer mechanism 130 includes a body 131, a transition plate 132, and a push-out assembly.
  • the body 131 of the transfer mechanism 130 can be fixedly connected to the second direction drag assembly 125 on the cross beam 120 .
  • the transition plate 132 is fixedly connected to the body 131 .
  • the pick-and-place mechanism 110 can place the target storage container on the transition plate 132 of the transfer mechanism 130 to provide the target storage container to the transfer mechanism 130 .
  • the gripper 113 of the pick-and-place mechanism 110 can release the captured target storage container on the transfer platform, and transport the target storage container to the transfer mechanism 130 via the transfer platform. Transition plate 132.
  • the push-out assembly may be disposed between the body 131 and the transition plate 132 .
  • the transfer mechanism 130 drives the target storage container to move along the beam 120 to the first target position
  • the target storage container on the transition plate 132 can be pushed out through the push-out assembly, so as to push the target storage container to the outbound conveyor line.
  • the target storage container can be transported to the picking area 150 via the outbound conveyor line.
  • the cargo access system 100 further includes a lift 142 and a transfer machine.
  • the hoist 142 can adopt a reciprocating or continuous working mode, and the present invention does not limit this.
  • the outbound conveying line includes a first conveying line 141 and a second conveying line 142.
  • the first conveying line 141 is arranged parallel to the first track 101, and the second conveying line 142 is arranged on the ground.
  • the transfer mechanism 130 can move to connect with the first conveying line 141 and push the target storage container to the first conveying line 141 .
  • the position when the transfer mechanism 130 moves to connect with the first conveying line 141 is the first target position.
  • the transfer mechanism 130 drives the target storage container to move along the beam 120 to the first target position connected to the first conveyor line 141, the target storage container on the transition plate 132 can be pushed out through the push-out assembly, so that the target storage container can be pushed to First conveyor line 141.
  • the target storage container may be transported from the first conveying line 141 to the second conveying line 142 by the elevator 142 .
  • the first conveying line 141 is arranged above the second conveying line 142, and the target storage container on the first conveying line 141 can be transported downward to the second conveying line 142 by the elevator 142.
  • the target storage container can be transported from the second conveyor line 142 to the picking area 150 by a transfer machine, so that goods can be picked from the target storage container in the picking area 150 .
  • the goods access system 100 also includes a distribution wall 160 and a picking robot (not shown in the figure).
  • the present invention does not limit the specific structure of the picking robot.
  • Put wall 160 includes multiple order boxes.
  • the picking robot can pick the goods from the target storage container in the picking area 150 and place the goods in the corresponding order box on the distribution wall 160 , thereby realizing the distribution processing of the goods on the distribution wall 160 .
  • goods can be sorted and processed at the same time, which is beneficial to improving the efficiency of goods processing.
  • the picking area 150 can be equipped with auxiliary equipment such as display equipment and code scanning equipment to improve the accuracy of picking goods.
  • the goods access system 100 further includes an inbound conveyor line 192 .
  • the target storage container can be transported from the picking area 150 to the inbound conveyor line 192, and the target storage container can be transported and returned to the inbound conveyor line 192.
  • Storage area 105 (warehousing) to store goods in the target storage container again things. In this way, one-way cyclic transportation of storage containers in and out of storage is realized.
  • the goods access system 100 also includes a storage bin coding mechanism 191 , which is connected in series to the storage conveying line 192 .
  • the target storage containers can first be transported to the storage box mechanism 191 on the storage conveyor line 192 via the storage conveyor line 192, so that multiple target storage containers can be sorted and stacked through the storage box mechanism 191. , Subsequently, the entire stack of target storage containers can be grabbed by the truss manipulator to improve the warehousing efficiency of the target storage containers. Subsequently, the goods can be stored in the target storage container again (replenishment operation), and the target storage container can be shipped out again.
  • the running directions and positions of the outbound conveying line and the inbound conveying line 192 shown in FIG. 1 are exemplary.
  • the operation of the outbound conveying line and the inbound conveying line 192 The direction and position can be set by those skilled in the art according to actual needs, and the present invention does not limit this.
  • the present invention does not limit the number of warehousing conveyor lines 192, which can be adapted according to the size of the site.
  • a plurality of storage containers are stored in the storage area, and the access operation is performed in the storage area through one or more access execution devices.
  • the access execution device includes a cross beam and is installed on both sides of the cross beam.
  • the pick-and-place mechanism and transfer mechanism on the side grab the target storage container from the storage area through the pick-and-place mechanism, and provide the target storage container to the transfer mechanism.
  • the transfer mechanism can move along the beam and transport the target storage container to the outbound conveyor line.
  • the target storage container can be transported to the picking area via the outbound conveyor line, and the goods are picked from the target storage container in the picking area through the picking robot, and the goods are placed in the order box on the distribution wall.
  • the present invention utilizes one or more access execution devices to perform pick-and-place operations on storage containers in the storage area.
  • the number of access execution devices can be adjusted according to the number of storage containers and execution efficiency, so as to adapt to the execution of different goods. efficiency requirements.
  • the access execution device replaces traditional shuttle cars and other solutions, and eliminates storage shelves, thereby reducing warehousing costs and increasing the flexibility of cargo access.
  • connection should be understood in a broad sense.
  • modules or units or components of the device in the examples disclosed herein may be arranged in the device as described in this embodiment, or may alternatively be located in a different device than in this example. in one or more devices.
  • the modules in the preceding examples can be combined into one module or further divided into sub-modules.
  • modules in the devices in the embodiment can be adaptively changed and arranged in one or more devices different from that in the embodiment.
  • the modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method so disclosed may be employed in any combination, except that at least some of such features and/or processes or units are mutually exclusive. All processes or units of the equipment are combined.
  • Each feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

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

Abstract

一种货物存取系统，包括：存放区域（105），适于存放多个存储容器（106）；一个或多个存取执行装置，所述存取执行装置包括：横梁（120），布置在所述存放区域（105）上方；取放机构（110），安装于所述横梁（120），适于从所述存放区域（105）抓取目标存储容器（106），并将目标存储容器（106）提供给中转机构（130）；中转机构（130），安装于所述横梁（120）并与所述取放机构（110）相对布置，适于沿所述横梁（120）运动，以将所述目标存储容器（106）运送至出库输送线，以便经由出库输送线将所述目标存储容器（106）输送至拣货区域（150），并在拣货区域（150）从目标存储容器（106）中拣选货物。根据该货物存取系统，有利于提高拣货处理效率，降低了仓储成本，增加了货物存取的灵活性。

Description

一种货物存取系统 技术领域
本发明涉及自动化技术领域，尤其涉及一种货物存取系统。
背景技术
目前，电商仓储行业存储和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，拣选效率高、存储密度高、成本低，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、生鲜、医药、服装、日化等行业。
现有技术中，存在一种穿梭车式自动化仓储系统，该系统采用了穿梭板、穿梭车和升降装置来进行货物的存取操作，需要多种设备协同工作，在传递货物时容易出现异常或者带来时间损耗，成本投入大。另外，提升机仍然是整个系统的效率瓶颈，且提升机单体成本较高，在配置上，穿梭车需每层配置一台，如果要提高柔性，需要增加换层提升机，因此，这种方案在成本、效率、柔性方面不可兼得。
还有一种堆垛机仓储系统，该系统主要由传统堆垛机、货架组成。在存取货物时，堆垛机接收到信号时先行移动至目标位置，通过货叉机构执行存储容器取放动作，存储容器可以是周转箱也可是托盘。这种方案的效率瓶颈在堆垛机上，而且与传统穿梭车立库相比，堆垛机比提升机成本高，单巷道单台堆垛机与多台穿梭车的存取吞吐量相差较大。
为此，需要提供一种货物存取系统和方法，以解决上述技术方案中存在的问题。
发明内容
为此，本发明提供了一种货物存取系统，以解决或至少缓解上面存在的问题。
根据本发明的一个方面，提供了一种货物存取系统，包括：存放区域，适于存放多个存储容器；一个或多个存取执行装置，所述存取执行装置包括：横梁，布置在所述存放区域上方；取放机构，安装于所述横梁，适于从所述存放区域抓取目标存储容器，并将目标存储容器提供给中转机构；中转机构，安装于所述横梁并与所述存放机构相对布置，适于沿所述横梁运动，以将所述目标存储容器运送至出库输送线，以便经由出库输送线将所述目标存储容器输送至拣货区域，并在拣货区域从目标存储容器中拣选货物。
可选地，在根据本发明的货物存取系统中，所述系统还包括：分播墙，包括多个订单箱；拣货机械手，适于从所述拣货区域的目标存储容器中拣选货物，并将所述货物放置在分播墙的订单箱中。
可选地，在根据本发明的货物存取系统中，所述系统还包括：相对布置的两排立柱，其中，每排立柱上分别设有第一轨道；所述横梁的两端分别滑动连接于两个第一轨道，以便所述横梁相对所述第一轨道运动。
可选地，在根据本发明的货物存取系统中，所述第一轨道布置在第一方向，所述横梁布置在第二方向，所述第一方向与第二方向相互垂直。
可选地，在根据本发明的货物存取系统中，所述横梁的两端分别通过牵引轮与所述第一轨道滑动连接。
可选地，在根据本发明的货物存取系统中，所述取放机构包括：固定架，固定安装于所述横梁；导向组件，安装于所述固定架内相对的两侧，所述导向组件包括导向板、固定于所述导向板上部的驱动装置；夹爪，活动安装于所述固定架，且所述夹爪与所述驱动装置连接；其中，所述目标存储容器适于沿所述导向组件导入所述取放机构，所述夹爪适于抓取所述目标存储容器，所述驱动装置适于驱动所述夹爪沿竖直方向运动，以带动所述目标存储容器沿竖直方向运动，以便将目标存储容器提供给中转机构。
可选地，在根据本发明的货物存取系统中，所述横梁上设有第二轨道； 所述中转机构通过第二方向拖动组件安装于所述横梁的第二轨道上；所述第二方向拖动组件与所述第二轨道传动连接，以便带动所述中转机构和目标存储容器沿横梁运动。
可选地，在根据本发明的货物存取系统中，所述中转机构包括：机体，与所述第二方向拖动组件连接；过渡板，与所述机体连接，所述取放机构适于将目标存储容器放置在所述过渡板上；推出组件，适于将所述过渡板上的目标存储容器推出，以便将目标存储容器推送至出库输送线。
可选地，在根据本发明的货物存取系统中，所述出库输送线包括第一输送线、第二输送线，第二输送线布置在地面上；所述中转机构适于运动至与所述第一输送线接驳，并将所述目标存储容器推送至所述第一输送线。
可选地，在根据本发明的货物存取系统中，所述系统还包括：提升机，适于将所述目标存储容器从第一输送线运送至所述第二输送线；移载机，适于将所述目标存储容器从第二输送线运送至拣货区域。
可选地，在根据本发明的货物存取系统中，所述系统还包括：入库输送线，适于将拣选货物后的目标存储容器运送至所述存放区域。
根据本发明的技术方案，提供了一种货物存取系统，在存放区域存放有多个存储容器，通过一个或多个存取执行装置在存放区域执行取放操作，其中，存取执行装置包括横梁、分别安装在横梁两侧的取放机构和中转机构，通过取放机构从存放区域抓取目标存储容器，并将目标存储容器提供给中转机构，中转机构可以沿横梁运动并将目标存储容器运送至出库输送线，经由出库输送线可以将目标存储容器输送至拣货区域，并通过拣货机械手从拣货区域的目标存储容器中拣选货物，将货物放置在分播墙的订单箱中。这样，根据本发明的系统，可以实现一边拣选货物、一边对货物进行分播处理，有利于提高拣货处理效率。
而且，本发明利用一个或多个存取执行装置在存储区域来对存储容器进行取放操作，可以根据存储容器的数量和执行效率来调整存取执行装置的数量，以便于适应不同货物的执行效率要求。而且，通过存取执行装置取代传统的穿梭车等方案，并取消了存储货架，从而降低了仓储成本，增加了货物存取的灵活性。
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。
附图说明
为了实现上述以及相关目的，本文结合下面的描述和附图来描述某些说明性方面，这些方面指示了可以实践本文所公开的原理的各种方式，并且所有方面及其等效方面旨在落入所要求保护的主题的范围内。通过结合附图阅读下面的详细描述，本公开的上述以及其它目的、特征和优势将变得更加明显。遍及本公开，相同的附图标记通常指代相同的部件或元素。
图1、图2分别示出了根据本发明一个实施例的货物存取系统100的结构示意图；
图3示出了根据本发明一个实施例的存取执行装置的结构示意图；
图4示出了根据本发明一个实施例的取放机构的结构示意图；
图5示出了根据本发明一个实施例的横梁的结构示意图。
具体实施方式
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
如前文所述，现有技术中的货物存取系统存在一定的缺陷，因此本发明提出了一种性能更优化的货物存取系统100。本发明提供的货物存取系统100。
图1、图2分别示出了根据本发明一个实施例的货物存取系统100的结构示意图。
如图1和图2所示，货物存取系统100包括存放区域105、一个或多个存取执行装置、出库输送线、拣货区域150。存放区域105可以存放多个用于存放货物的存储容器106，多个存储容器106可以呈多行多列多层放置在存放区 域105。一个或多个存取执行装置可用于从存放区域105的任意位置提取存储容器，并将存储容器运送并投放至出库输送线上。
根据本发明的一个实施例，存取执行装置可以实现为桁架机器人。具体地，每个存取执行装置包括：横梁120、取放机构110、中转机构130，取放机构110和中转机构130分别安装在横梁120的两侧。其中，横梁120布置在存放区域105的上方。可以理解，本发明的货物存取系统100可以设置一个或多个存取执行装置，相应地，存放区域105的上方可以布置一个或多个横梁120。
其中，取放机构110安装在横梁120的第一侧，取放机构110可以从存放区域105抓取目标存储容器，并将目标存储容器提供给中转机构130。
中转机构130安装在横梁120的第二侧(与第一侧相对的另一侧)并与存放机构相对布置。换言之，中转机构130与取放机构110相对布置在横梁120的两侧。中转机构130可以沿横梁120运动，从而带动目标存储容器运动，将目标存储容器运送至出库输送线，进而，经由出库输送线可以将目标存储容器输送至拣货区域150，以便在拣货区域150从目标存储容器中拣选货物。
根据本发明的一个实施例，如图1所示，货物存取系统100包括相对布置的两排立柱104，其中，每排立柱104上分别设有第一轨道101。
横梁120的两端分别滑动连接于设置在两排立柱104上的两个第一轨道101，从而可以沿第一轨道101滑动。也即是，横梁120的两端分别可以相对两个第一轨道101滑动，从而使得横梁120可以相对第一轨道101运动。
在一个实施例中，第一轨道101布置在第一方向，横梁120布置在第二方向，其中，第一方向与第二方向相互垂直。也就是说，第一轨道101与横梁120相互垂直布置。在该实施例中，横梁120可以相对第一轨道101在第一方向运动。中转机构130可以相对横梁120在第二方向运动。在一个实施例中，横梁120的两端分别通过牵引轮与第一轨道101滑动连接，以使横梁120可以相对第一轨道101在第一方向运动。
图3示出了根据本发明一个实施例的存取执行装置的结构示意图。图4示出了根据本发明一个实施例的取放机构110的结构示意图。
根据本发明的一个实施例，如图3和图4所示，取放机构110包括固定 架111、导向组件115、用于抓取目标存储容器的夹爪113。其中，取放机构110的固定架111固定安装在横梁120的第一侧。
导向组件115安装在固定架111内相对的两侧，通过导向组件115可以带动夹爪113及抓取的目标存储容器升降运动(沿竖直方向运动)。导向组件115包括导向板116、固定于导向板116上部的驱动装置117。具体地，导向组件115包括分别安装在固定架111内两侧的两个导向板116，每个导向板116的上部分别设有驱动装置117。
夹爪113活动安装于固定架111，通过夹爪113可以抓取目标存储容器。另外，夹爪113与驱动装置117连接。这里，夹爪113可以直接或间接地与驱动装置117连接，以便通过驱动装置117驱动夹爪113沿竖直方向运动，从而带动抓取的目标存储容器提升运动。在一种实现方式中，如图4所示，夹爪113可以实现为包括上下两层的双层夹爪113，从而可以同时抓取两个目标存储容器，并可以依靠双层夹爪113灵活取放容器。应当指出，取放机构110的夹爪113与存储容器的形状和尺寸相配合，并可以根据不同形状尺寸的存储容器来对夹爪113的结构进行适应性调整。
需要说明的是，在通过取放机构110从存放区域105抓取目标存储容器的过程中，目标存储容器可以沿导向组件115导入取放机构110，即目标存储容器可以沿导向组件115导入取放机构110的固定架111内，进而，可以通过夹爪113来抓取已导入的目标存储容器。
具体地，夹爪113可以卡钩住目标存储容器，以便将目标存储容器固定于夹爪113。通过驱动装置117驱动夹爪113沿竖直方向运动，可以同步带动被夹爪113抓取的目标存储容器沿竖直方向运动，以便将目标存储容器提供给中转机构130。
应当指出，驱动装置117用于驱动夹爪113沿竖直方向运动，本发明对驱动装置117的具体实现不做限制。在具体实施方式中，驱动装置117可以实现为可以驱动夹爪113直线运动的电机、气缸等，现有技术中只要能实现驱动夹爪113直线运动的驱动装置117均在本发明的保护范围之内。
在一种实现方式中，如图3所示，固定架111的底部还设有移载台，取放机构110的夹爪113可以将抓取的目标存储容器释放在移载台上，以便经 由移载台将目标存储容器提供给中转机构130。
图5示出了根据本发明一个实施例的横梁120的结构示意图。
根据本发明的一个实施例，如图5所示，横梁120上设有第二轨道，第二轨道具体可以为偏置轨道。中转机构130可以通过第二方向拖动组件125安装于横梁120的第二轨道上。也就是说，横梁120上还包括与第二轨道传动连接的第二方向拖动组件125，中转机构130可以安装于第二方向拖动组件125。这样，根据第二方向拖动组件125与第二轨道的传动连接，使第二方向拖动组件125可以相对第二轨道运动，从而可以带动中转机构130沿横梁120运动，并同步带动中转机构130抓取到的目标存储容器沿横梁120运动。在一种实现方式中，第二方向拖动组件125包括第二方向拖动电机1253、中转机构130拖动电机1254、第一同步带1251和第二同步带1252，通过第二方向拖动电机1253、中转机构130拖动电机1254、第一同步带1251和第二同步带1252的配合，可以实现带动中转机构130相对横梁120在第二方向运动。
在一种实现方式中，如图5所示，横梁120的两端分别设有端边梁121，端边梁121上设有牵引轮。牵引轮可以与第一轨道101滚动连接，这样，可以实现通过两个牵引轮来牵引横梁120相对第一轨道101在第一方向运动。在一个实施例中，如图3所示，中转机构130包括机体131、过渡板132、推出组件。
其中，中转机构130的机体131可以与横梁120上的第二方向拖动组件125固定连接。
过渡板132与机体131固定连接。取放机构110可以将目标存储容器放置在中转机构130的过渡板132上，以实现将目标存储容器提供给中转机构130。在一种实现方式中，如图3所示，取放机构110的夹爪113可以将抓取的目标存储容器释放在移载台上，经由移载台将目标存储容器运送至中转机构130的过渡板132。
推出组件可以布置在机体131与过渡板132之间。当中转机构130带动目标存储容器沿横梁120运动到第一目标位置后，可以通过推出组件将过渡板132上的目标存储容器推出，以便将目标存储容器推送至出库输送线。进而，经由出库输送线可以将目标存储容器输送至拣货区域150。
根据本发明的一个实施例，货物存取系统100还包括提升机142和移载机。提升机142可以采用往复式或连续式工作模式，本发明对此不做限制。出库输送线包括第一输送线141、第二输送线142，第一输送线141与第一轨道101平行布置，第二输送线142布置在地面上。
中转机构130可以运动至与第一输送线141接驳，并将目标存储容器推送至第一输送线141。具体地，中转机构130运动至与第一输送线141接驳时的位置即是第一目标位置。当中转机构130带动目标存储容器沿横梁120运动到与第一输送线141接驳的第一目标位置后，可以通过推出组件将过渡板132上的目标存储容器推出，以便将目标存储容器推送至第一输送线141。
接着，可以通过提升机142将目标存储容器从第一输送线141运送至第二输送线142。这里，第一输送线141布置在第二输送线142的上方，通过提升机142可以将第一输送线141上的目标存储容器向下运送至第二输送线142。
进而，可以通过移载机将目标存储容器从第二输送线142运送至拣货区域150，以便在拣货区域150从目标存储容器中拣选货物。
根据本发明的一个实施例，如图1所示，货物存取系统100还包括分播墙160、拣货机械手(图中未示出)，本发明对拣货机械手的具体结构实现不做限制。分播墙160包括多个订单箱。拣货机械手可以从拣货区域150的目标存储容器中拣选货物，并将货物放置在分播墙160的相应的订单箱中，从而实现在分播墙160对货物进行分播处理。这样，可以实现一边拣选货物、一边对货物进行分播处理，有利于提高对货物的处理效率。这里，拣货区域150可以配置显示设备、扫码设备等辅助设备，以便提高拣选货物的准确率。
需要说明的是，在拣选区域，不仅可以通过拣货机械手来拣选货物，还可以人工拣选货物并投放在分播墙160的订单箱中，可以实现货到人、货到机器人。
根据本发明的一个实施例，货物存取系统100还包括入库输送线192。当拣货机械手从拣货区域150的目标存储容器中拣选货物后，可以将目标存储容器从拣货区域150运送至入库输送线192，通过入库输送线192将目标存储容器运送、返回至存放区域105(入库)，以便再次向目标存储容器中存放货 物。这样，便实现对存储容器出库和入库过程的单方向循环输送。
进一步地，货物存取系统100还包括入库码箱机构191，入库码箱机构191串接在入库输送线192上。经由入库输送线192首先可以将目标存储容器首先运送至入库输送线192上的入库码箱机构191，以便通过入库码箱机构191来对多个目标存储容器进行整理并进行叠放，随后，可以通过桁架机械手对目标存储容器进行整摞抓取，以提高目标存储容器的入库效率。随后，可以再次向目标存储容器中存放货物(补货操作)，进而目标存储容器可以再次出库。
还应当指出，在图1中所示出的出库输送线和入库输送线192的运行方向和位置是示例性的，在具体实施方式中，出库输送线和入库输送线192的运行方向和位置可以由本领域技术人员根据实际需求进行设置，本发明对此不做限定。另外，本发明对入库输送线192的数量也不做限制，其可以根据场地大小进行适配。
根据本发明的货物存取系统，在存放区域存放有多个存储容器，通过一个或多个存取执行装置在存放区域执行取放操作，其中，存取执行装置包括横梁、分别安装在横梁两侧的取放机构和中转机构，通过取放机构从存放区域抓取目标存储容器，并将目标存储容器提供给中转机构，中转机构可以沿横梁运动并将目标存储容器运送至出库输送线，经由出库输送线可以将目标存储容器输送至拣货区域，并通过拣货机械手从拣货区域的目标存储容器中拣选货物，将货物放置在分播墙的订单箱中。这样，根据本发明的系统，可以实现一边拣选货物、一边对货物进行分播处理，有利于提高拣货处理效率。
而且，本发明利用一个或多个存取执行装置在存储区域来对存储容器进行取放操作，可以根据存储容器的数量和执行效率来调整存取执行装置的数量，以便于适应不同货物的执行效率要求。而且，通过存取执行装置取代传统的穿梭车等方案，并取消了存储货架，从而降低了仓储成本，增加了货物存取的灵活性。本说明书的描述中，除非另有明确的规定和限定，术语“连接”、“固定”等均应做广义理解。此外，术语“前”“后”“上”、“下”、“内”、“外”、“顶”、“底”等指示的方位或位置关系是基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的设备或单元必须具有特定的方向、以特定的方位构造和操作，因此，不能理解为对本发明的限制。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下被实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本公开并帮助理解各个发明方面中的一个或多个，在上面对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。
本领域那些技术人员应当理解在本文所公开的示例中的设备的模块或单元或组件可以布置在如该实施例中所描述的设备中，或者可替换地可以定位在与该示例中的设备不同的一个或多个设备中。前述示例中的模块可以组合为一个模块或者此外可以分成多个子模块。
本领域那些技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。可以把实施例中的模块或单元或组件组合成一个模块或单元或组件，以及此外可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/或过程或者单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。
如在此所使用的那样，除非另行规定，使用序数词“第一”、“第二”、“第三”等等来描述普通对象仅仅表示涉及类似对象的不同实例，并且并不意图暗示这样被描述的对象必须具有时间上、空间上、排序方面或者以任意其它方 式的给定顺序。
尽管根据有限数量的实施例描述了本发明，但是受益于上面的描述，本技术领域内的技术人员明白，在由此描述的本发明的范围内，可以设想其它实施例。此外，应当注意，本说明书中使用的语言主要是为了可读性和教导的目的而选择的，而不是为了解释或者限定本发明的主题而选择的。因此，在不偏离所附权利要求书的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。对于本发明的范围，对本发明所做的公开是说明性的而非限制性的，本发明的范围由所附权利要求书限定。

Claims (11)

  1. 一种货物存取系统，包括：
    存放区域，适于存放多个存储容器；
    一个或多个存取执行装置，所述存取执行装置包括：
    横梁，布置在所述存放区域上方；
    取放机构，安装于所述横梁，适于从所述存放区域抓取目标存储容器，并将目标存储容器提供给中转机构；
    中转机构，安装于所述横梁并与所述存放机构相对布置，适于沿所述横梁运动，以将所述目标存储容器运送至出库输送线，以便经由出库输送线将所述目标存储容器输送至拣货区域，并在拣货区域从目标存储容器中拣选货物。
  2. 如权利要求1所述的系统，其中，所述系统还包括：
    分播墙，包括多个订单箱；
    拣货机械手，适于从所述拣货区域的目标存储容器中拣选货物，并将所述货物放置在分播墙的订单箱中。
  3. 如权利要求1所述的系统，其中，所述系统还包括：
    相对布置的两排立柱，其中，每排立柱上分别设有第一轨道；
    所述横梁的两端分别滑动连接于两个第一轨道，以便所述横梁相对所述第一轨道运动。
  4. 如权利要求3所述的系统，其中，
    所述第一轨道布置在第一方向，所述横梁布置在第二方向，所述第一方向与第二方向相互垂直。
  5. 如权利要求1-4中任一项所述的系统，其中，
    所述横梁的两端分别通过牵引轮与所述第一轨道滑动连接。
  6. 如权利要求1-4中任一项所述的系统，其中，所述取放机构包括：
    固定架，固定安装于所述横梁；
    导向组件，安装于所述固定架内相对的两侧，所述导向组件包括导向板、固定于所述导向板上部的驱动装置；
    夹爪，活动安装于所述固定架，且所述夹爪与所述驱动装置连接；
    其中，所述目标存储容器适于沿所述导向组件导入所述取放机构，所述夹爪适于抓取所述目标存储容器，所述驱动装置适于驱动所述夹爪沿竖直方向运动，以带动所述目标存储容器沿竖直方向运动，以便将目标存储容器提供给中转机构。
  7. 如权利要求1-4中任一项所述的系统，其中，
    所述横梁上设有第二轨道；
    所述中转机构通过第二方向拖动组件安装于所述横梁的第二轨道上；
    所述第二方向拖动组件与所述第二轨道传动连接，以便带动所述中转机构和目标存储容器沿横梁运动。
  8. 如权利要求1-4中任一项所述的系统，其中，所述中转机构包括：
    机体，与所述第二方向拖动组件连接；
    过渡板，与所述机体连接，所述取放机构适于将目标存储容器放置在所述过渡板上；
    推出组件，适于将所述过渡板上的目标存储容器推出，以便将目标存储容器推送至出库输送线。
  9. 如权利要求1-4中任一项所述的系统，其中，
    所述出库输送线包括第一输送线、第二输送线，第二输送线布置在地面上；
    所述中转机构适于运动至与所述第一输送线接驳，并将所述目标存储容器推送至所述第一输送线。
  10. 如权利要求9所述的系统，其中，所述系统还包括：
    提升机，适于将所述目标存储容器从第一输送线运送至所述第二输送线；
    移载机，适于将所述目标存储容器从第二输送线运送至拣货区域。
  11. 如权利要求1-4中任一项所述的系统，其中，所述系统还包括：
    入库输送线，适于将拣选货物后的目标存储容器运送至所述存放区域。
PCT/CN2023/078236 2022-07-15 2023-02-24 一种货物存取系统 WO2024011913A1 (zh)

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