WO2024021789A1 - Système d'entreposage et procédé de commande - Google Patents

Système d'entreposage et procédé de commande Download PDF

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Publication number
WO2024021789A1
WO2024021789A1 PCT/CN2023/094884 CN2023094884W WO2024021789A1 WO 2024021789 A1 WO2024021789 A1 WO 2024021789A1 CN 2023094884 W CN2023094884 W CN 2023094884W WO 2024021789 A1 WO2024021789 A1 WO 2024021789A1
Authority
WO
WIPO (PCT)
Prior art keywords
shelf
container
containers
movable base
handling equipment
Prior art date
Application number
PCT/CN2023/094884
Other languages
English (en)
Chinese (zh)
Inventor
刘凯
王梦迪
Original Assignee
北京极智嘉科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京极智嘉科技股份有限公司 filed Critical 北京极智嘉科技股份有限公司
Publication of WO2024021789A1 publication Critical patent/WO2024021789A1/fr

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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

Definitions

  • the present disclosure relates to the technical field of warehousing systems, and in particular to a warehousing system and a control method.
  • the operator In the past manual picking and distribution, the operator first placed the empty container representing the order on the order box shelf of the workstation, then picked the goods from the storage container of the goods, scanned the goods to obtain the product information, and then placed the goods according to the system prompts. The goods are delivered to the designated order container, and the order container is placed on the shelf. When the order container is full or the order is completed, the operator manually replaces the order box and repeats the next wave of order sorting operations. The operation is complex and consumes a lot of money. Manpower.
  • the present disclosure provides a storage system.
  • the disclosed warehousing system includes:
  • a shelf disposed within the shelf docking area and configured to store containers
  • Sorting equipment is provided in the shelf docking area and located on one side of the shelf, and is configured to receive goods and deliver the goods into corresponding containers on the shelf;
  • the container handling system is configured to take out the full containers or sorted containers on the shelf and transport them from the shelf parking area to a designated location, or to transport empty containers to the shelf parking area and put them into the on the shelf.
  • the container handling system includes:
  • the first container handling equipment is arranged in the shelf parking area and is located on the other side of the shelf, and is configured to take out the full containers or sorted containers on the shelf and place them on the second container handling equipment on the rack, or place the empty containers on the second container handling equipment on the shelf;
  • the second container handling equipment is configured to transport the full container or the sorted container from the shelf parking area to a designated location, or to transport empty containers to the shelf parking area.
  • the first container handling equipment includes:
  • a second door frame is provided in the shelf parking area and located on the other side of the shelf;
  • a second movable base is movably provided on the second mast and is configured to move up and down relative to the second mast;
  • the retrieval and return box assembly is arranged on the second movable base and is configured to take out the full containers or sorted containers on the shelf and place them on the second container handling equipment, or to place the second container handling equipment on the shelf. Empty containers are transported on the container handling equipment and placed into the racks.
  • the container handling system includes:
  • a second door frame is provided on the first handling equipment
  • a second movable base is movably provided on the second mast and is configured to move up and down relative to the second mast;
  • the retrieval and return box assembly is arranged on the second movable base and is configured to take out the full boxes of containers or sorted containers on the shelf, and enable the first handling equipment to remove the containers from the Move the shelves to the designated location from the docking area; and/or,
  • the retrieval box assembly is further configured to receive an empty container, and enable the first carrying device to carry the empty container from the current position to the shelf parking area and put it on the shelf.
  • the return box assembly includes:
  • Two telescopic arms are located on both sides of the second movable base and are configured to extend or contract relative to the second movable base;
  • a front finger is provided on at least one of the telescopic arms, and is configured to pull the container on the shelf onto the second movable base as the telescopic arm retracts toward the second movable base;
  • the rear finger is provided on at least one of the telescopic arms, and is configured to push the container on the second movable base into a designated position as the telescopic arm extends from the second movable base.
  • the return box assembly includes:
  • a telescopic frame configured to be telescopically disposed on the second movable base through a first-stage telescopic mechanism
  • Two telescopic arms are configured to be telescopically disposed on the telescopic frame through a second-stage telescopic mechanism, and the two telescopic arms are controlled by the grabbing driving mechanism to move toward or away from each other, so as to Grip or release containers.
  • the second container handling equipment includes:
  • a carrier tray configured to carry full containers, sorted containers, or empty containers
  • the carrying tray is provided on the second container handling equipment, and the second container handling equipment is configured to Leave the shelf parking area with full containers or sorted containers, or drive into the shelf parking area with empty containers.
  • the sorting equipment includes:
  • the first door frame is set in the shelf parking area
  • a first movable base is movably provided on the first gantry
  • a delivery component arranged on the movable base, and configured to receive goods and move with the first movable base relative to the first door frame to the container corresponding to the goods on the shelf, and Deliver the goods into the container.
  • the delivery assembly includes a delivery mechanism; or,
  • the delivery components include:
  • a flap rotatably disposed on the first movable base and configured to rotate between a carrying position and a delivery position;
  • the flap When in the carrying position, the flap is used to carry goods or containers;
  • the flap When it is in the delivery position, the flap is tilted at a preset angle relative to the load-bearing position so that the goods can slide down due to their own weight.
  • the sorting equipment includes:
  • a horizontal slide rail is provided on the first gantry and is configured to drive the first movable base to move in a horizontal direction relative to the first gantry; and/or,
  • a vertical slide rail is provided on the first door frame and is configured to drive the first movable base to move in a vertical direction relative to the first door frame.
  • a control method of the present disclosure is applied to a warehousing system, wherein the warehousing system includes: a shelf parking area; a shelf arranged in the shelf parking area and configured as a storage container; and a sorting device arranged in the shelf parking area. Within the parking area of the said shelf and located on one side of the said shelf;
  • the control method includes:
  • Control the container handling system to take out the full containers or sorted containers on the shelf, and carry the taken out containers from the shelf parking area to a designated location, or transport the empty containers to the shelf parking area and put them in on the shelf.
  • the container handling system includes:
  • the first container handling equipment and the second container handling equipment wherein the first container handling equipment is provided at said shelf docking area and located on the other side of said shelf,
  • control method also includes:
  • Control the first container handling equipment to take out the full containers or sorted containers on the shelf and place them on the second container handling equipment, or place the empty containers on the second container handling equipment on the shelf ;
  • the second container handling equipment is controlled to carry the full container or the sorted container from the shelf parking area to a designated location, or to transport an empty container to the shelf parking area.
  • the first container handling equipment in the storage system includes: a second door frame, which is provided in the shelf parking area and is located on the other side of the shelf; a second movable base a seat movably disposed on the second gantry and configured to move up and down relative to the second gantry; and a retrieval and return box assembly disposed on the second movable base;
  • control method also includes:
  • the retrieval and return box assembly is controlled to take out the full containers or sorted containers on the shelf and place them on the second container handling equipment, or to carry and put the empty containers on the second container handling equipment into the shelves.
  • the container handling system in the storage system includes: a first handling equipment; a second gantry provided on the first handling equipment; and a second movable base to enable Movably disposed on the second gantry and configured to move up and down relative to the second gantry; a retrieval and return box assembly is disposed on the second movable base;
  • control method also includes:
  • Control the retrieval box assembly to take out the full containers or sorted containers on the shelf, and enable the first handling device to carry the containers from the shelf parking area to a designated location;
  • the retrieval box assembly is controlled to accept the empty container, and the first carrying device is caused to carry the empty container from the current position to the shelf parking area and put it on the shelf.
  • the second container handling equipment in the warehousing system includes: a carrying tray configured to carry full containers, sorted containers or empty containers; the carrying tray is disposed on On the second container handling equipment;
  • control method also includes:
  • the second container handling equipment is controlled to carry full containers or sorted containers out of the shelf parking area or to carry empty containers into the shelf parking area.
  • the sorting equipment in the storage system includes: a first gantry, configured In the shelf parking area; a first movable base is movably provided on the first door frame; a delivery component is provided on the movable base;
  • control method also includes:
  • the delivery component is controlled to receive the goods and move with the first movable base relative to the first door frame to a container corresponding to the goods on the shelf, and deliver the goods into the container.
  • One of the beneficial effects of the warehousing system of the present disclosure is that the delivery of goods and handling of containers in the warehousing system of the present disclosure are all completed by automated equipment, which reduces labor costs.
  • Figure 1 is a schematic structural diagram of the warehousing system of the present disclosure in one embodiment
  • Figure 2 is a schematic structural diagram of the sorting equipment of the present disclosure in one embodiment
  • Figure 3 is a schematic structural diagram of the first container handling equipment of the present disclosure in one embodiment
  • Figure 4 is a schematic structural diagram of the retrieval and return box assembly of the present disclosure in one embodiment
  • Figures 5 and 6 are respectively schematic structural diagrams of the first container handling equipment in the extended and retracted states of the telescopic arm in one embodiment.
  • any specific values are to be construed as illustrative only and not as limiting. Accordingly, other examples of the exemplary embodiments may have different values.
  • the existing sorting and shelf sorting work is basically completed manually, and there are technical problems such as complex operations and a lot of manpower consumption.
  • the present disclosure provides a warehousing system that includes a shelf docking area, shelves, sorting equipment, and container handling equipment.
  • the shelf is arranged in the shelf docking area and is configured as a storage container.
  • the sorting equipment is arranged in the shelf docking area and located on one side of the shelf, and is configured to receive goods and deliver the goods to corresponding containers.
  • the container handling system is configured to take out the full containers or sorted containers on the shelf, and carry the containers from the shelf parking area to a designated location, or transport the empty containers to the shelf parking area and put them on the shelf .
  • the working process of this warehousing system is: after the sorting equipment receives the goods, it moves the goods to the location of the container corresponding to the goods on the shelf, and then delivers the goods into the container.
  • the container handling equipment will take out the full container or the sorted container from the shelf, and transport the removed container from the shelf parking area to the designated position, and then the container is taken out manually or by other automatic equipment, or the container handling equipment can also transport the empty container to the shelf parking area and place it in a free storage space on the shelf.
  • the warehousing system includes a shelf docking area.
  • the shelf docking area is a specific area artificially divided within the storage site of the warehousing system in order to refine the various functional areas in the storage site and enable staff or automation to perform specific tasks.
  • the equipment only works in the corresponding specific functional areas to avoid interference with each other, thus improving the efficiency of the warehousing system.
  • At least one shelf 1 is parked in the shelf parking area.
  • the shelf 1 includes a bracket and a plurality of layers arranged vertically and sequentially on the bracket. The layers are used to store containers 2.
  • the shelf 1 is also called a sowing wall, and the sowing wall can be a fixed sowing wall or a mobile sowing wall.
  • a sorting device 3 is provided in the shelf parking area on one side of the shelf 1.
  • the sorting device 3 is configured to receive goods and deliver the goods to the corresponding container 2.
  • the sorting equipment 3 includes a first gantry 30 , a first movable base 31 and a delivery assembly 32 .
  • the first door frame 30 is provided in the shelf parking area, and its function is to carry the first movable base 31 and the delivery component 32, that is, to provide a carrier for the first movable base 31 and the delivery component 32.
  • the first portal frame 30 is a square hollow frame structure as a whole. Its bottom, top, left and right sides are all square structures formed by four sections of steel spliced together in sequence, and the bottom and top are connected by angle steel and fasteners. Both are fixedly connected to the left and right sides.
  • first door frame 30 is not limited to this structure.
  • first door frame 30 of the present disclosure may have a bottom plate, a top plate, a left side plate and a right side plate that are spliced together. Both the side plate and the right side plate are made of metal plates, as long as they can bear the weight of the first movable base 31 and the delivery component 32 .
  • the first movable base 31 is movably disposed on the first door frame 30 and is configured to move relative to the first door frame 30 to move from the current position to the container corresponding to the goods on the shelf.
  • the storage system includes horizontal slide rails and vertical slide rails.
  • the horizontal slide rail includes a horizontal linear rail 310 extending in the horizontal direction, a horizontal slide block 311 slidably connected to the horizontal linear rail 310, and a horizontal slider that drives the horizontal slide block 311 to slide horizontally on the horizontal linear rail 310. drive components.
  • the storage system includes two horizontal slide rails arranged in parallel, and the two horizontal slide rails share a horizontal driving element.
  • One of the two horizontal slide rails is disposed between two oppositely disposed steel sections on the top of the first mast 30 , and the other is disposed between two oppositely disposed steel sections on the bottom of the first mast 30 .
  • the horizontal driving element of the present disclosure may be a mechanism such as a pneumatic cylinder or a hydraulic cylinder that uses a pressure medium to push the horizontal slider 311 .
  • the horizontal driving element of the present disclosure includes a horizontal motor and a horizontal power transmission mechanism, the horizontal power transmission mechanism is drivingly connected to the horizontal motor, and the horizontal power transmission mechanism is configured to convert the rotational motion of the horizontal motor into Reciprocating linear motion to drive the horizontal slider 311 to reciprocate in the horizontal direction on the horizontal linear track 310 to drive the first movable base 31 to move from the connecting position to the horizontal coordinate of the target position of the order container on the shelf, Or return to the connecting location from this horizontal coordinate.
  • the horizontal power transmission mechanism is a ball screw nut mechanism or a rack and pinion transmission mechanism.
  • the vertical slide rail includes a vertical linear rail 312 extending in the vertical direction, a vertical slide block 313 slidably connected to the vertical linear rail 312, and a driving vertical rail.
  • the motion assembly of the present disclosure includes two horizontal slide rails arranged in parallel.
  • the upper end of the vertical linear rail 312 is provided on the horizontal slide block 311 of the horizontal slide rail located on the top of the first mast 30. Its lower end is arranged on the horizontal slide block 311 of the horizontal slide rail at the bottom of the first gantry 30.
  • the vertical linear track 312 moves in the horizontal direction along with the two horizontal slide blocks 311.
  • the vertical driving element of the present disclosure may be a mechanism such as a pneumatic cylinder or a hydraulic cylinder that uses pressure medium to push the vertical slider 313 .
  • the vertical driving element of the present disclosure includes a vertical motor and a vertical power transmission mechanism, the vertical power transmission mechanism is drivingly connected to the vertical motor, and the vertical power transmission mechanism is configured to connect the vertical motor to the vertical power transmission mechanism.
  • the rotational motion is converted into a reciprocating linear motion to drive the vertical slider 313 to slide reciprocatingly on the vertical linear track 312 along the vertical direction to drive the distribution mechanism 3 to move from the connecting position to the target position of the order container on the shelf. at the vertical coordinate, or return to the docking position from the vertical coordinate.
  • the vertical power transmission mechanism is a ball screw nut mechanism or a rack and pinion transmission mechanism.
  • the storage system of the present disclosure only includes horizontal slide rails, that is, the moving assembly drives the first movable base 31 to slide only in the horizontal direction, that is, the first movable base 31 can only move in the horizontal direction from the connecting position to at the order container in the same horizontal plane.
  • the storage system of the present disclosure only includes vertical slide rails, that is, the moving assembly drives the first movable base 312 to slide only in the vertical direction, that is, the first movable base 31 can only slide in the vertical direction from the docking position. Direction movement to the order container.
  • a delivery assembly 32 is provided on the first movable base 31 .
  • the delivery assembly 32 is configured to receive goods at a receiving position and deliver the goods to containers on the shelf at a delivery position.
  • the delivery component 32 is a delivery mechanism.
  • the conveying mechanism includes a driving roller, at least one driven roller and an endless belt. Wherein, the driving roller and at least one driven roller are arranged parallel and rotationally on the base, the endless belt is tensioned and sleeved between the driving roller and the driven roller, and the conveying driving element is driven by the driving roller. Connected to drive the driving roller to rotate relative to the bracket, the annular belt also rotates with the driving roller under the action of friction, and then drives the driven roller to rotate. Changing the rotation direction of the conveyor drive element can change the rotation direction of the conveyor belt.
  • the conveying driving element is a motor.
  • the endless belt of the conveyor mechanism is in a stationary state.
  • the conveyor driving element is started, which drives the conveyor belt to rotate to the position where it is placed. The goods are delivered into the container.
  • the delivery component can also use a flap to deliver goods, that is, the flap is rotatably disposed on the first movable base 31.
  • the flap slides horizontally.
  • the working surface where the rails are located is parallel.
  • the flap rotates at a preset angle relative to the first movable base 31 so that the goods on it fall onto the container under its own weight.
  • the container handling system will then take out the full container on the shelf 1 or the sorting is completed. containers, and transport the removed containers from the shelf parking area to the designated location, or transport empty containers in other areas of the storage area that are different from the shelf parking area to the shelf parking area and put them on the shelves.
  • the container handling system is a device that has both a self-moving function and a container picking and placing function. That is to say, the equipment alone can take out full containers or sorted containers from the shelves, and can also transport the taken out containers from the shelf docking area to the designated location. Of course, based on its dual functions, the container handling system alone can also transport empty containers to the shelf docking area and place them on the free storage spaces on the shelves to replenish the shelves with containers, so that the sorting equipment can continuously deliver goods in real time. .
  • a container handling system includes a first container handling device 4 and a second container handling device 5 .
  • the first container handling equipment 4 takes out the full containers 2 or the sorted containers 2 on the shelf 1, and carries the taken out containers 2 from the shelf 1 to the second container handling equipment 5.
  • the first container handling equipment 4 includes a second mast 40 , a first handling equipment 41 and a second movable base 42 that can be lifted and lowered, and a second container handling equipment 42 that is disposed on the second movable base 42 .
  • the second portal frame 40 includes two vertical columns, the bottom ends of the two vertical columns are fixed on the first handling device 41 , and the bottom ends of the two vertical columns are fixedly connected by cross beams.
  • the first handling device 41 is configured to travel within the shelf landing area.
  • the first handling equipment 41 is an AGV car with automatic navigation function.
  • the storage system also includes a lifting drive mechanism to drive the movable base 42 to lift relative to the second gantry 40 to drive the retrieval box assembly 43 thereon to lift relative to the second gantry 40 to the vertical coordinate where the target container is located.
  • the lifting drive mechanism includes a motor (not shown in the figure), a rack 44 and a gear 45 that mesh with each other.
  • the rack 44 extends along the vertical direction and is fixedly arranged on the column.
  • the gear 45 is rotatably arranged on the movable base 42, and the motor is configured to drive the gear 45 to move along the rack 44 to drive the movement.
  • the base 42 moves up and down relative to the second mast 40 .
  • two linear guide rails are provided on both sides of the movable base 42 on the column.
  • the tracks of the linear guide rails are fixed on the column and along the vertical direction. Extend, and the slider that slides and cooperates with the track is fixed on the movable base 42 .
  • the lifting drive mechanism drives the movable base 42 to lift
  • the linear guide rails form a guiding role to ensure the lifting operation. Movement stability.
  • the lifting drive mechanism may also be a synchronous belt transmission mechanism, a synchronous sprocket transmission mechanism, etc.
  • the retrieval box assembly 43 includes a telescopic frame 430 and two telescopic arms 431 .
  • the telescopic frame 430 is telescopically arranged on the movable base 42 through a first-stage telescopic mechanism, two telescopic arms 431 are telescopically arranged on the telescopic frame 430 through a second-stage telescopic mechanism, and two The telescopic arms 431 are controlled by the grabbing driving mechanism to move toward or away from each other to grab the container.
  • the first-stage telescopic mechanism includes a first-stage telescopic motor 432, two first-stage telescopic sprockets (not shown in the figure) and a first-stage telescopic chain 433.
  • two first-stage telescopic sprockets are rotatably arranged on the movable base 42
  • the first-stage telescopic chain 433 is tensioned and engaged between the two first-stage telescopic sprockets
  • the telescopic frame 430 is fixedly connected to
  • the first-stage telescopic motor 432 drives one of the first-stage telescopic sprockets to rotate.
  • the first telescopic chain 433 can be driven to drive the telescopic frame 430 to telescope in the first direction relative to the movable base 42 .
  • the telescopic frame 430 is a U-shaped frame structure.
  • the second-stage telescopic mechanism includes a second-stage telescopic motor 434, a second-stage telescopic transmission shaft 435, and two second-stage telescopic chain transmission mechanisms.
  • the second-stage telescopic motor 434 is configured to drive the second-stage telescopic transmission shaft 435 to rotate.
  • One second-stage telescopic sprocket 436 of each second-stage telescopic chain transmission mechanism is fixed on two of the second-stage telescopic transmission shaft 435.
  • another second-stage telescopic sprocket of each second-stage telescopic chain transmission mechanism is rotatably arranged on the telescopic frame 430, and the chain of each second-stage telescopic chain transmission mechanism is tensioned and engaged in two
  • the second-stage telescopic chain 437 of the second-stage telescopic sprocket drives the two telescopic arms 431 to telescope in the first direction.
  • the grabbing driving mechanism includes a grabbing motor 438 and two screw nut transmission mechanisms.
  • the screws of the two screw nut transmission mechanisms are coaxial and rotate in opposite directions.
  • the nut blocks of the two are provided with a telescopic arm 431.
  • One end of the two screws is connected through a coupling and driven to rotate by the grabbing motor 438.
  • the other ends of the two screws are respectively fixedly connected to the second telescopic chains 437 of the two second-stage telescopic chain transmission mechanisms through fixed blocks. superior.
  • first-stage telescopic mechanism, the second-stage telescopic mechanism and the grabbing drive mechanism are all provided with linear guide rails, so that the telescopic frame 430 can telescope relative to the movable base 42 along the track of its linear guide rails, so that the two The telescopic arm 431 telescopes relative to the telescopic frame 430 along the track of its linear guide rail, so that the two telescopic arms 431 move toward or away from each other along the track of its linear guide rail.
  • the linear guide includes a track and a slider that slides along the extension direction of the track under external force.
  • the track of the linear guide rail of the first-stage telescopic mechanism is arranged on the movable base 42 , and the slider is fixed on the telescopic frame 430 .
  • the arrangement of the linear guide rails on the second-stage telescopic mechanism and the grabbing drive mechanism and its guiding principle are similar to those of the linear guide rails on the first telescopic mechanism, and will not be described again in this article.
  • the working principle of the first container handling equipment 4 is:
  • the first handling equipment 41 of the first container handling equipment 4 After receiving the handling instruction, first, the first handling equipment 41 of the first container handling equipment 4 walks from the current position to the horizontal coordinate position of the target container on the shelf 1, and the lifting mechanism drives the movable base 42 to reach the vertical coordinate of the target container. Location.
  • the first-stage telescopic mechanism of the retrieval box assembly 43 drives the telescopic frame 430 to extend a first distance in the direction close to the shelf 1 relative to the movable base 42, and then the second telescopic mechanism drives the two telescopic arms 431 relative to the telescopic frame.
  • 430 extends a second distance in the direction close to the shelf 1, so that the two telescopic arms 431 are located on both sides of the target container, and then the grab driving mechanism drives the two telescopic arms 431 to move closer to each other to clamp the target container.
  • the first-stage telescopic mechanism and the second-stage telescopic mechanism drive the telescopic frame 430 and the two telescopic arms 431 to retract in the direction away from the shelf 1 successively or simultaneously to place the container on the movable base 42, or to maintain the current position. state.
  • the first handling equipment 41 drives the second gantry 40 to move on the working surface, and the movable base 42 rises and falls relative to the second gantry 40 until the movable base 42 reaches the position where the second container handling equipment 5 is located.
  • retrieval and return box assembly 43 reversely performs the step of taking out the container from the shelf 1 and returns the clamped container to the second container handling device 5 .
  • first-stage telescopic mechanism and the second-stage telescopic mechanism of the present disclosure adopt the structure of a telescopic motor and a chain transmission mechanism. It can be understood that the first-stage telescopic mechanism and the second-stage telescopic mechanism can also adopt a drive motor and a chain transmission mechanism. The structure is matched with the belt transmission mechanism or the rack and pinion transmission mechanism.
  • the retrieval and return box assembly 43 of this embodiment has a two-stage telescopic structure.
  • its telescopic stroke can be increased to form a two-position container pickup and placement mechanism, that is, two containers placed sequentially along the telescopic direction on the same layer of the shelf 1 can be retrieved and placed. container, which expands the applicable scope of the container picking and placing mechanism.
  • the retrieval box assembly 43 includes two telescopic arms, which are telescopically disposed on the left and right sides of the second movable base 42 respectively. on the board.
  • the two telescopic arms 431 are provided with front finger 46 and rear finger 47.
  • the front finger 46 is rotatably arranged at the front end of the telescopic arm 431, and is driven by the finger motor to rotate relative to the telescopic arm 431 until it extends.
  • the inside of the telescopic arm 431, or rotated to the outside of the telescopic arm, and the rear finger 47 is fixed at the rear of the telescopic arm.
  • the directional words "inside and outside" used in this article are based on the space formed between the two telescopic arms.
  • the space formed by the two telescopic arms is within the space formed by the two telescopic arms. What is outside the formed space is outside.
  • the two telescopic arms 431 When the retrieval box assembly takes out the container from the shelf, the two telescopic arms 431 extend toward the shelf direction relative to the second movable base 42 to both sides of the container inserted on the shelf, and then the finger motor drives the front finger 46 to telescope. The inner side of the arm 431 is rotated to abut against the rear end of the container. The two telescopic arms 431 retract in opposite directions relative to the delivery assembly to pull the container onto the second movable base 42 .
  • the two telescopic arms 431 extend toward the shelf relative to the second movable base 42 until the rear fingers 47 push the container to a designated position on the shelf, and then retract the telescopic arms to Second activity base on the seat 42 to prepare for picking up and placing the container next time.
  • the second container handling equipment 5 when the full container or the sorted container is placed on the second container handling equipment 5, the second container handling equipment 5 will carry the container from the shelf docking area to a designated location.
  • the designated location may be
  • the work station or container transfer area of the downstream process can be set by those skilled in the art based on the actual storage conditions.
  • the second container handling equipment 5 includes a second handling equipment 50 and a carrying tray 51 disposed on the second carrying equipment 50 .
  • the carrying tray 51 is configured to receive the container and hold the container while the second carrying equipment 50 is traveling. Smoothness and safety.
  • the second transport equipment 50 may also be an AGV car with automatic navigation function.
  • the second container handling equipment 5 After the second container handling equipment 5 moves the full containers or sorted containers away from the shelf parking area, the second container handling equipment 5 or another second container handling equipment will deliver the empty containers to the shelf parking area.
  • the first container handling equipment 4 then takes out the empty container and places it on the shelf in the storage location where the removed full container or the sorted container originally resides, or in other free storage locations.
  • the warehousing system can continuously supply empty containers to the shelves, so that the sorting equipment can continuously perform the task of delivering goods, thus improving the overall sorting efficiency of the warehousing system.
  • the present disclosure also provides a control method, which is applied to the warehousing system shown in Figures 1-6, wherein the warehousing system includes: a shelf parking area; the shelf (1) is arranged in the shelf parking area and is Constructed as a storage container (2); a sorting device (3) arranged in the shelf parking area and located on one side of the shelf (1);
  • the control method includes:
  • the container handling system is controlled to take out the full container (2) or the sorted container (2) on the shelf (1), and carry the taken out container (2) from the shelf parking area to a designated location, or to The empty container (2) is transported to the shelf parking area and placed on the shelf (1).
  • the container handling system includes:
  • control method also includes:
  • Control the second container handling equipment (5) to move the full container (2) or the sorted container (2) from The shelf parking area is transported to a designated location, or the empty container (2) is transported to the shelf parking area.
  • the first container handling equipment (4) in the storage system includes: a second door frame (40), which is provided in the shelf parking area and located on the shelf (1) on the other side; a second movable base (42), movably disposed on the second mast (40), and configured to move up and down relative to the second mast (40); and A return box assembly (43) is provided on the second movable base (42);
  • control method also includes:
  • the container handling system in the storage system includes: a first handling device (41); a second gantry (40) disposed on the first handling device (41) ;
  • the second movable base (42) is movably disposed on the second gantry (40) and is configured to move up and down relative to the second gantry (40); the retrieval and return box assembly (43 ), arranged on the second movable base (42);
  • control method also includes:
  • the retrieval and return box assembly (43) is controlled to take out the full container (2) or the sorted container (2) on the shelf (1), and the first handling device (41) is allowed to take out the container (2). 2) Transport from the shelf parking area to the designated location; and/or,
  • the retrieval box assembly (43) is controlled to accept the empty container (2), and the first carrying device (41) is used to carry the empty container (2) from the current position to the shelf parking area, and put it into the shelf parking area. on the shelf (1).
  • the second container handling equipment (5) in the warehousing system includes: a carrying tray (51) configured to carry full containers (2), sorted containers ( 2) or empty container (2); the carrying tray (51) is arranged on the second container handling equipment (5);
  • control method also includes:
  • the second container handling equipment (5) is controlled to carry a full container (2) or a sorted container (2) to leave the shelf parking area, or to carry an empty container (2) into the shelf parking area.
  • the sorting equipment (3) in the warehousing system includes: a first door frame (30), which is provided in the shelf parking area; a first movable base (31), Movably arranged on the first door frame (30); a delivery component (32) arranged on the movable base;
  • control method also includes:
  • the delivery component (32) is controlled to receive the goods and move with the first movable base (31) relative to the first door frame (30) to the container (2) corresponding to the goods on the shelf (1). ), and deliver the goods into the container (2).
  • the control method of the present disclosure can realize that the delivery of goods and handling of containers in the warehousing system are all completed by automated equipment, reducing the labor cost invested. In addition, there are always empty containers on the shelves of the warehousing system for the sorting equipment to deliver, so that the sorting equipment can continue to perform delivery work, thereby improving the sorting efficiency of the warehousing system through the control method of the present disclosure.

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

Abstract

La présente invention concerne un système d'entreposage comprenant une zone de butée de rayonnage, un rayonnage (1), un appareil de tri (3) et un système de transfert de contenant. Le rayonnage (1) est disposé dans une zone de butée de rayonnage, et est conçu pour stocker des contenants (2). L'appareil de tri (3) est disposé dans la zone de butée de rayonnage et situé sur un côté du rayonnage (1), et est conçu pour recevoir des marchandises et distribuer les marchandises dans les contenants (2) correspondants. Le système de transfert de contenants est conçu pour prélever, à partir du rayonnage (1), des contenants (2) pleins ou des contenants (2) après tri et transfert des contenants (2) de la zone de butée de rayonnage à un emplacement désigné, ou pour transférer des contenants (2) vides à la zone de butée de rayonnage et les placer sur le rayonnage (1). La distribution de marchandises, le transfert de contenants et d'autres opérations du système d'entreposage sont toutes achevées par un équipement d'automatisation, ce qui permet de réduire le coût de main-d'œuvre. De plus, il y a toujours des contenants (2) vides sur le rayonnage (1) destinés à être distribués au moyen de l'appareil de tri (3), de telle sorte que l'appareil de tri (3) peut effectuer en continu une opération de distribution, ce qui permet d'améliorer l'efficacité de tri du système d'entreposage.
PCT/CN2023/094884 2022-07-28 2023-05-17 Système d'entreposage et procédé de commande WO2024021789A1 (fr)

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CN117429800A (zh) * 2022-07-13 2024-01-23 北京极智嘉科技股份有限公司 分拣设备和仓储系统
CN218369822U (zh) * 2022-07-28 2023-01-24 北京极智嘉科技股份有限公司 仓储系统

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