WO2024060988A1

WO2024060988A1 - Warehousing system and support platform

Info

Publication number: WO2024060988A1
Application number: PCT/CN2023/116967
Authority: WO
Inventors: 李洪波; 李考准; 卢泓翰; 孟飞
Original assignee: 北京极智嘉科技股份有限公司
Priority date: 2022-09-21
Filing date: 2023-09-05
Publication date: 2024-03-28
Also published as: CN117775564A

Abstract

A warehousing system and a support platform. The warehousing system comprises an edge support column (11), a support beam, a first mobile robot (31), and a second mobile robot (32). The edge support column (11) is located at an edge position below the support beam, and is configured to support the support beam at a predetermined height from a support surface (13). A first storage area (21) used to store a first movable carrier (211) is enclosed between the support beam, the edge support column (11) and the support surface (13). Multiple supports (14) are arranged on the support beam at intervals, and a second storage area (22) used to store a second movable carrier (221) is enclosed between two adjacent supports (14). The first mobile robot (31) is configured to travel on the support surface (13), so as to transfer the first movable carrier (211) located in the first storage area (21). The second mobile robot (32) is configured to move in the second storage area (22), so as to transfer the second movable carrier (221) located in the second storage area (22). The warehousing system facilitates dense storage in the first storage area (21) and the second storage area (22).

Description

Warehousing system and support platform

This application claims priority to the Chinese patent application filed with the China Patent Office on September 21, 2022, with the application number 202211152000.4 and the invention name "Warehouse System and Support Platform", the entire content of which is incorporated into this application by reference.

Technical Field

The present disclosure relates to the technical field of warehousing and logistics, in particular to a warehousing system; and also to a support platform.

Background technique

Currently, in the shelf-to-person logistics and warehousing system, the movable shelves are supported on the ground using supporting legs, so that the transfer of the movable shelves between the storage area and the workstation is completed by the movable robot. For example, the movable shelves located in the storage area are transported to the workroom for picking; after the picking is completed, the mobile robots are used to transport them to the storage area for storage.

Existing movable shelves are usually arranged in a matrix in the storage area. The height of the movable shelves is limited. This is because the movable shelves that are too high are not conducive to the handling of the movable robots. In addition, the shelves that are too high will cause structural instability. Shaking is easy to occur during transportation, which requires a large enough space to be reserved for the transportation of the shelves, which is not conducive to the needs of modern intensive storage.

Contents of the invention

According to a first aspect of the present disclosure, there is provided a storage system, comprising:

Support beam;

an edge support column, the edge support column being located at an edge position below the support beam and being configured to support the support beam at a predetermined height from a support surface;

Wherein, a first storage area for storing the first movable carrier is enclosed between the support beam, the edge support column and the support surface;

A bracket, wherein a plurality of the brackets are arranged on the support beam at intervals, and a second storage area located above the walking area and used for storing a second movable carrier is formed between two adjacent brackets;

A first mobile robot, the first mobile robot is configured to walk on the support surface to transport the first movable carrier located in the first storage area;

A second mobile robot configured to move in the second storage area to transfer the second movable carrier located in the second storage area.

In one embodiment of the present disclosure, a guide rail is provided on the bracket, and the guide rail surrounds a walking area; the walking area is provided with a first connection position, and the support surface is provided with a second connection position. The docking station further includes a lifting mechanism located between the first docking station and the second docking station; the lifting mechanism is configured to lift the connecting station between the first docking station and the second docking station. The second movable vehicle is used for transportation.

In one embodiment of the present disclosure, the second storage area is located above the walking area, and the second storage area includes storage locations arranged in a matrix; the walking area includes storage locations corresponding to the storage locations. Storage channel; also includes a steering channel connected to the storage channel, and a dedicated channel connected to the steering channel and the first connection position; the second mobile robot is configured to communicate with the first connection position at the storage position The second movable carrier is transported between positions through storage channels, turning channels, and special channels.

In one embodiment of the present disclosure, the extension direction of the storage channel and the special channel is the same, and the extension direction of the turning channel is perpendicular to the extension directions of the storage channel and the special channel respectively.

In one embodiment of the present disclosure, the second movable carrier is configured to be placed on an upper end surface of the guide rail corresponding to the storage position; The second movable robot is configured to lift the second movable carrier from the guide rail or drop it on the guide rail by lifting.

In one embodiment of the present disclosure, a connecting beam is further provided between two adjacent brackets, and the connecting beam is configured to be located below the guide rail.

In one embodiment of the present disclosure, at least two storage positions are formed in the extending direction of the guide rail and are connected together.

In one embodiment of the present disclosure, the support beam includes a load-bearing area surrounded by edges, and also includes a central support column located below the load-bearing area, and the distance between two adjacent central support columns is greater than that of two adjacent brackets. the distance between.

In one embodiment of the present disclosure, the support beam is connected to the upper end of the edge support column and is configured to be supported at a predetermined height from the support surface by at least four edge support columns; the support beam includes at least two cross beams , each cross beam is configured to be connected to the upper end of at least two edge support columns; it also includes a longitudinal beam provided on at least two cross beams; the bracket is connected to the longitudinal beam.

In one embodiment of the present disclosure, the longitudinal beam is an I-beam connected to the upper end surface of the cross beam.

In one embodiment of the present disclosure, a workstation is included, the workstation is located on a support surface, and the first mobile robot is configured to complete the processing of the first movable carrier between the first storage area and the workstation. Transfer; the first mobile robot is further configured to complete the transfer of the second movable carrier between the second docking position and the workstation.

In one embodiment of the present disclosure, a conveyor line is further included, and the second connection position is provided on the conveyor line; the first mobile robot is configured to complete the second connection between the conveyor line and the workstation. Transport of movable vehicles.

In one embodiment of the present disclosure, a lifting mechanism is provided at the second connection position on the conveyor line, and the lifting mechanism is configured to lift the second movable carrier located at the second connection position to Connect with the lifting mechanism, or descend to connect with the conveyor line.

In one embodiment of the present disclosure, the workstation includes a container loading and unloading mechanism configured to load and unload containers located on the first movable carrier and/or the second movable carrier of the workstation.

In one embodiment of the present disclosure, the workstation is further provided with a temporary storage rack, and the first movable robot is configured to complete the transfer of the second movable carrier between the temporary storage rack and the conveyor line.

In one embodiment of the present disclosure, the second movable carrier is a legless shelf; and the first movable carrier is a legged shelf.

In one embodiment of the present disclosure, the warehousing system includes a control server configured to send control instructions to the first movable robot, the second movable robot, and the lifting mechanism;

The second mobile robot transfers the second movable carrier in the second storage area to the first docking position in response to the order instruction issued by the control server, and the lifting mechanism responds to the The order instruction transfers the second movable carrier located at the first docking station to the second docking station, and the first movable robot transfers the second movable carrier in response to the order instruction. The mobile vehicle is transferred from the second docking station to the workstation; and/or,

The first movable robot transfers the second movable carrier from the workstation to the second docking position in response to the storage instruction issued by the control server, and the lifting mechanism moves the second movable carrier in response to the storage instruction. The second movable carrier is transferred from the second docking station to the first docking station, and the second movable robot moves the second movable carrier from the second docking station in response to the storage instruction. A docking station is transferred to the second storage area.

According to a second aspect of the present disclosure, a support platform is provided, including:

Support beam;

an edge support column located at an edge position below the support beam and configured to support the support beam at a distance of The predetermined height from the support surface;

A plurality of brackets are arranged on the support beam at intervals, and a second storage area located above the walking area and used for storing the second movable carrier is enclosed between two adjacent brackets.

One beneficial effect of the present disclosure is that the first storage area and the second storage area at different heights are formed in the storage space through edge support columns and support beams. The first storage area and the second storage area can be used to store reusable products respectively. Mobile vehicle. The edge support column of the present disclosure is located at the edge below the support beam. Compared with the prior art support column extending from the support surface to the top of the storage space, it not only reduces the cost, but also prevents the edge support column from occupying the first storage area. The space of the second storage area enables dense storage of the first storage area and the second storage area, thereby increasing the storage capacity of the warehousing system.

Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

Figure 1 is a front view of a first storage area and a second storage area provided by an embodiment of the present disclosure;

Figure 2 is a top view of a second storage area provided by an embodiment of the present disclosure;

Figure 3 is a schematic structural diagram of a storage bit provided by an embodiment of the present disclosure;

Figure 4 is a schematic structural diagram of a second movable carrier placed in a storage position according to an embodiment of the present disclosure;

FIG5 is a schematic diagram of a partial structure of a second storage area provided in an embodiment of the present disclosure;

Figure 6 is a top view of the first storage area provided by an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a temporary storage bracket provided by an embodiment of the present disclosure.

The one-to-one correspondence between the names and reference signs of each component in Figures 1 to 7 is as follows:
11. Edge support column; 121. Cross beam; 122. Longitudinal beam; 13. Support surface; 14. Bracket; 15. Guide rail; 151. Upper end surface; 152.
Flange; 16. Connecting beam; 17. Center support column;
21. First storage area; 211. First movable carrier; 22. Second storage area; 221. Second movable carrier; 222. Storage position;
31. The first movable robot; 32. The second movable robot;
40. Lifting mechanism; 41. First connection position; 42. Second connection position; 43. Conveyor line;
51. Storage channel; 52. Steering channel; 53. Special channel;
6. Workstation; 61. Container loading and unloading mechanism; 62. Temporary storage bracket.

Detailed ways

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions, and numerical values set forth in these examples do not limit the scope of the disclosure unless otherwise specifically stated.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application or uses.

Techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment described are Techniques, methods and equipment should be considered part of the instructions.

It should be noted that similar reference numerals and letters refer to similar items in the following figures, so that once an item is defined in one figure, it does not need further discussion in subsequent figures.

Specific embodiments of the present disclosure will be described below in conjunction with the accompanying drawings.

In this article, "upper", "lower", "front", "back", "left", "right", etc. are only used to express the relative positional relationship between related parts, but not to limit the absolute position of these related parts. .

In this article, "first", "second", etc. are only used to distinguish each other, but do not indicate the degree of importance, order, or the prerequisite for the existence of each other.

In this article, "equal", "identical", etc. are not limitations in a strict mathematical and/or geometric sense, but also include errors that are understandable by those skilled in the art and allowed in manufacturing or use.

The present disclosure provides a storage system, which includes edge support columns and support beams. The edge support columns are vertically arranged on the support surface, located at the edge below the support beams, and are configured to support the support beams up to a distance of The predetermined height of the support surface encloses a first storage area for storing the first movable carrier between the edge support column and the support surface; it also includes a plurality of brackets arranged at intervals on the support beams, two adjacent ones A second storage area is enclosed between the brackets, and the second storage area is used to store the second movable carrier. Through the cooperation of edge support columns and support beams, a first storage area and a second storage area located at different heights are formed on the support surface.

A first movable robot is provided on the support surface, and the first movable robot can transport the first movable carrier located in the first storage area; there is a second movable robot in the second storage area, and the second movable robot The robot can move in the second storage area to transport the second movable carrier located in the second storage area. This enables the first movable robot and the second movable robot to respectively transport the first movable carrier and the second movable carrier in the first storage area and the second storage area.

The above-mentioned first movable carrier and second movable carrier can be used to store boxes, pallets and other containers for storing goods. The first movable carrier and the second movable carrier can have multiple layers for storage. Shelves for storing containers, or other carriers known to those skilled in the art that can perform the above functions.

The first movable carrier and the second movable carrier may be carriers with the same structure. The first and second movable carriers are used to easily distinguish the storage locations of the first movable carrier and the second movable carrier. In this article In the disclosure, the first movable carrier is stored in the first storage area, and the second movable carrier is stored in the second storage area.

In the case where the storage locations of the first movable carrier and the second movable carrier are divided, the first movable carrier and the second movable carrier can also be carriers of different structures, for example, the first movable carrier The carrier can be a legged carrier, which is directly placed on the support surface located in the first storage area through its own supporting legs. The second movable carrier can be a legless carrier. Correspondingly, the second storage area is provided with supports. The structure supports the second movable carrier through the supporting structure.

The above-mentioned first movable robot and second movable robot can be the same type of movable robot, or they can be different types of movable robots. The first and second movable robots are used to distinguish the activity areas of the movable robot. The mobile robot is configured to move on the support surface and the second mobile robot is configured to move on the second storage area.

In addition, in order to realize the transfer of the second movable carrier between the support surface and the second storage area, the storage system also includes a guide rail provided on the bracket, and the guide rail surrounds a space for the second movable robot to move in the second storage area. A walking area for walking, a first connection position on the walking area, a second connection position provided on the support surface, and a lifting mechanism provided between the first connection position and the second connection position. The lifting mechanism is Configured to transfer the second movable carrier between the first docking position and the second docking position.

The first movable robot can also be used to transfer the second movable carrier. For example, during the warehousing process, the first movable robot transfers the second movable carrier to the second docking position on the support surface. After that, the lifting mechanism transfers the second movable carrier to the first connection position, and the second movable robot transfers the second movable carrier from the first connection position to the second storage area, thereby realizing the transfer of the second movable carrier to the first connection position. The second movable carrier on the supporting surface is transferred to the second storage area for storage. During the process of leaving the warehouse, after the lifting mechanism transfers the second movable carrier to the second connection position, the first movable robot can transfer the second movable carrier located at the second connection position to A workstation for processing the second movable vehicle at the workstation.

The storage system provided by the present disclosure forms first storage areas at different heights in the storage space through edge support columns and support beams. Domain and second storage area, the first storage area and the second storage area can be respectively used to store the movable carrier. The edge support column is located below the support beam. Compared with the existing technology where the support column extends from the support surface to the top of the storage space, the length of the edge support column is reduced. In addition, the edge support column can also avoid occupying the space above the support beam. , which allows the second storage area to be formed on the support beam only by the bracket, thereby facilitating dense storage in the second storage area.

In addition, in the storage system of the present disclosure, the edge support column is located at the edge of the support beam, which can prevent the edge support column from occupying the internal space of the first storage area, which is beneficial to realizing dense storage in the first storage area, and also improves the efficiency of the first storage area. First removable vehicle storage flexibility.

For ease of understanding, the specific structure and working principle of the present disclosure are described in detail below with reference to FIGS. 1 to 7 in combination with embodiments.

Referring to Figure 1, in one embodiment of the present disclosure, the storage system includes edge support columns 11 and support beams (not marked in the figure). The edge support columns 11 are arranged perpendicularly to the support surface 13. The support surface 13 can be the ground or the floor. Or the support surface formed by the upper end of the support structure, etc. The edge support column 11 is located at the edge position below the support beam. For example, when the support beam is constructed as a rectangular structure, the edge position of the support beam is the position of the four sides or four corners of the rectangle. The position can be determined according to the actual situation. The top of the support column 11 is connected with the bottom surface of the support beam, and is used to support the support beam at a predetermined height from the support surface. For example, if the predetermined height is A meters, you can select an edge support column 11 of corresponding length, and support it through the edge. Column 11 supports the support beam at a height of A meters from the ground, that is, even if the bottom surface of the support beam is at a height of A meters from the ground, the height can be selected according to the actual situation, and there is no specific restriction on this.

The storage system may include at least four edge support columns 11. The edges of the support beams are connected to the upper ends of the plurality of edge support columns 11 to support the support beams to a predetermined height from the support surface. Therefore, the first storage area 21 is enclosed between the support beam, the edge support column 11 and the support surface 13. The distance between the support beam and the support surface 13 is the height of the first storage area 21. Multiple edges located at the boundary position The area enclosed by the support columns 11 is the floor area of the first storage area. Since the edge support column 11 is connected to the edge position below the support beam, compared to the existing technology that uses multiple support columns extending from the ground to the top of the storage space as the support body, in this embodiment, the edge support is connected to the edge position below the support beam. The column 11 will not cause the problem of reducing the storage space of the movable carrier due to the existence of the support column inside the first storage area 21, which can improve the space utilization and increase the storage capacity of the first storage area 21.

In this embodiment, a plurality of brackets 14 arranged at intervals are provided on the support beam 12, and the second storage area 22 is surrounded by two adjacent brackets 14. For example, at least two brackets 14 can be arranged at intervals on the support beam. Between the two racks 14 is a second storage area 22 . The second storage area 22 is located above the support beam. Since the edge support column 11 is connected to the edge position below the support beam, compared with the existing technology that uses multiple support columns extending from the ground to the top of the storage space as the support body, in the third storage area 22 is located above the support beam. There will be no support columns in the second storage area 22 that will affect the storage of movable carriers, which increases the storage space for storing movable carriers and further improves the utilization of storage space.

Referring to Figures 2 and 5, in one embodiment of the present disclosure, the support beam includes a load-bearing area surrounded by edges. For example, when the support beam is configured as a rectangular structure, the load-bearing area is except for the four sides and four corners of the rectangular structure. external internal position. In addition to the edge support columns 11 supported at the lower edge of the support beam, it also includes a central support column 17 located below the load-bearing area. The distance between two adjacent central support columns 17 is greater than the distance between two adjacent brackets 14 The edge support column 11 and the center support column 17 are jointly used to support the support beam to a predetermined height from the support surface. The edge support column 11 and the center support column 17 can share the pressure and improve the stability of the support.

For example, referring to Figures 1 and 2, 8 support columns can be arranged horizontally and 8 support columns longitudinally on the support surface according to an 8*8 matrix, including 28 edge support columns 11 spaced at the edges of the support beams. And 36 central support columns 17 located at intervals below the load-bearing area, jointly support the support beam to a predetermined height from the support surface, and the 64 support columns will jointly share the pressure of the support beam, making the overall support structure more stable. The number of edge support columns 11, the number of central support columns 17, and the spacing between adjacent support columns can be determined according to actual conditions, and there is no limit to this.

In this embodiment, there is a central support column 17 in the first storage area 21 and no support column in the second storage area 22. Therefore, the storage capacity of the second storage area 22 will not be affected. The storage capacity may be greater than the storage capacity of the first storage area 21. Therefore, the first storage area 21 may be configured to flexibly store goods, such as storing movable shelves, cargo boxes, pallets, etc. of various sizes carrying goods. For media, since the first storage area 21 is located on the support surface, it can also be set up as an area for goods to be picked, and the second storage area 22 is used as a storage area for goods, which improves the storage flexibility of the warehousing system and provides opportunities for differentiated picking and storage. convenient.

Referring to FIG. 6 , in one embodiment of the present disclosure, the support beam may include at least two beams 121 , each beam 121 is configured to be connected to the upper ends of at least two edge support columns 11 , and may also include at least two beams disposed on Longitudinal beam 122 on 121. For example, referring to the view direction of Figure 6, a total of 64 support columns are arranged on the support surface 13 at intervals of 8*8 matrix, and the cross beams 121 and longitudinal beams 122 are arranged on the support columns at intervals, thereby forming support beams.

Referring to Figure 1, the brackets 14 can be connected to the longitudinal beams 122. For example, in Figure 1, there are 22 brackets 14 connected to the 22 longitudinal beams 122, and a second movable carrier is formed between each two brackets 14. storage location.

In one embodiment, the longitudinal beam 122 may be an I-beam connected to the upper end surface of the cross beam 121, and the bracket 14 is connected to the upper end surface of the I-beam.

The above-mentioned first storage area and second storage area can store shelves, containers, pallets and other carriers for carrying goods in an array, stack, etc. manner, in order to achieve intensive storage and efficient transfer of goods. Referring to FIG. 1 , in this embodiment, the warehousing system includes a first movable carrier 211 and a second movable carrier 221 , as well as a first movable robot 31 and a second movable robot 32 .

The first movable carrier 211 can be stored in the first storage area 21, and the first movable robot 31 is configured to walk on the support surface 13 to transfer the first movable carrier 211 located in the first storage area 21. The first movable carrier 211 can be constructed to have at least one storage layer and be used to carry containers, pallets, shelves, etc. for storing goods. The container can be a material box, an order box, etc., and the pallet can be used to carry goods, material boxes, etc. The structure of the first movable carrier 211 and the form of carrying goods can be determined according to actual conditions and are not limited thereto.

The second movable carrier 221 may be stored in the second storage area 22, and the second movable robot 32 is configured to move to the second storage area 22 to transport the second movable carrier 221 located in the second storage area 22. . Since the edge support column 11 and/or the center support column 17 are located below the support beam, compared with the prior art that uses multiple support columns extending from the ground to the top of the storage space as the support body, this embodiment shortens the installation length of the support columns. , making the support structure more stable, the second movable robot 32 can move stably in the second storage area, and the shaking amplitude of the second movable carrier 221 is greatly reduced during the transfer of the second movable carrier 221 , to avoid the second movable carrier 221 being transferred from colliding with other second movable carriers 221 , thereby improving safety. In addition, the distance of the avoidance space extending to both sides of the transfer path in the transfer path of the second movable carrier 221 can be reduced in the second storage area 22, so that more space can be left in the second storage area 22 for storing the second movable carrier 221. The two movable carriers 221 increase the storage capacity of the second storage area 22. The structure and carrying method of the second movable carrier 221 have been exemplified above and will not be described again here.

In this embodiment, the storage space is divided into a first storage area 21 and a second storage area 22 in the height direction through edge support columns 11, support beams, and support surfaces 13. The first mobile robot 31 walks on the support surface 13. , to transport the first movable carriers 211 in the first storage area 21. Based on this, the first movable carriers 211 can be densely arranged in the first storage area 21 and only need to be reserved for the first movable robot. 31 walking space is enough.

In one embodiment of the present disclosure, a guide rail 15 is provided on the bracket 14, and a walking area (not shown in the figure) is surrounded by the guide rail 15. The second storage area 22 is located above the walking area, and the walking area can be used for support. The mobile robot walks, and the second mobile robot 32 moves along the guide rail 15 in the walking area to transfer the second movable carrier 221 in the second storage area 22 . The second movable robot 32 walks along the extension direction of the guide rail 15. On this basis, the second movable carriers 221 can also be arranged in a sealed manner in the second storage area 22, thereby improving the understanding of different heights of the storage space. The utilization rate is improved, the storage capacity is improved, and the overall transfer of the movable carrier improves the transfer efficiency of the goods in the first storage area 21 and the second storage area 22.

In order to facilitate the transfer of the second movable carrier 221 between the support surface 13 and the second storage area 22, with reference to Figure 2, in one embodiment of the present disclosure, a first connection position 41 is provided in the walking area. A second connecting position 42 is provided on the surface 13, and also includes a lifting mechanism 40 located between the first connecting position 41 and the second connecting position 42. The lifting mechanism 40 is configured to connect between the first connecting position 41 and the second connecting position 42. The second movable carrier 221 is transferred between the two docking stations 42 . The lifting mechanism 40 can realize the transfer of the second movable carrier 221 through sprocket transmission. Of course, the lifting mechanism 40 can also realize the transfer of the second movable carrier 221 at different heights through other methods well known to those skilled in the art. The above transfers are not listed one by one here.

The first mobile robot 31 may be configured to transfer the second movable carrier 221 to the second docking station 42 or to transfer the second movable carrier 221 out of the second docking station 42 . The second mobile robot 32 may be configured to be in the second docking station 42 and the second Transfer of the second movable carrier 221 between storage areas 22 . By using the first movable robot 31 to transport the second movable carrier 221 on the support surface 13, the utilization rate of the first movable robot 31 can be improved. Of course, in addition to the first movable robot 31, those skilled in the art can also select other movable robots located on the support surface 13 to transfer the second movable carrier 221 on the support surface 13 according to actual needs. They are not listed here one by one. Below, the present disclosure will be described by using the first movable robot 31 to transfer the second movable carrier 221 on the support surface 13 .

For example, during the process of taking out the warehouse, the second movable robot 32 can first transfer the second movable carrier 221 that needs to be taken out of the warehouse from the second storage area 22 to the first connection position 41, and the lifting mechanism 40 will move the second movable carrier 221 located in the first connection position 41. The second movable carrier 221 at the docking station 41 is transferred to the second docking station 42, and then the first movable robot 31 transfers the second movable carrier 221 located at the second docking station 42 to complete the exit. During the warehousing process, the first movable robot 31 can transfer the second movable carrier 221 that needs to be put into the warehouse to the second connecting position 42, and the lifting mechanism 40 will move the second movable carrier 221 located in the second connecting position 42. The two movable carriers 221 are transferred to the first docking station 41, and then the second movable robot 32 transfers the second movable carrier 221 located in the first docking station 41 to the second storage area to complete storage.

The installation positions of the first connecting position 41, the second connecting position 42 and the lifting mechanism can be determined according to actual conditions.

For example, in one embodiment, the first connecting position 41 can be set at the edge of the walking area, and the lifting mechanism 40 can be set at a corresponding position outside the walking area, so that the second storage area does not need to sacrifice the storage position to install the lifting mechanism. 40, ensuring the storage capacity of the second storage area 22. The second connecting position 42 can be provided at a corresponding position outside the lifting mechanism 40 relative to the second storage area. Since the second storage area 22 is below the first storage area 21, the storage capacity of the first storage area 21 is also ensured.

In another embodiment, the first connecting position 41 can be set in the center of the walking area, and the lifting mechanism 40 is provided at the expense of part of the storage position, ensuring the compactness of the overall storage space. In addition, since the lifting mechanism 40 is located in the center , with the lifting mechanism 40 as the center, the entire second storage area 22 can be radiated, which is beneficial to improving the transfer efficiency. The second connecting position 42 can be set according to the position of the lifting mechanism 40, and there is no restriction on this.

Referring to Figures 2 and 3, in one embodiment of the present disclosure, the second storage area 22 includes storage locations 222 arranged in a matrix, and the walking area includes a storage channel 51 corresponding to the storage location 222, and also includes a storage channel 51 connected to the storage channel 51. The steering channel 52, and the dedicated channel 53 connecting the steering channel 52 and the first connection position 41. For example, with reference to the view direction of FIG. 3 , the channel in the storage position 222 for the second mobile robot 32 to move is marked as the storage channel 51 , and the storage channel 51 can extend along the longitudinal direction; with reference to the view direction of FIG. 2 , the channel corresponding to the storage position 222 The channel arranged transversely is marked as the steering channel 52. The steering channel 52 can extend in both the longitudinal direction and the transverse direction. The storage channel 51 can extend longitudinally to the steering channel 52 and dock with the steering channel 52; it will be located longitudinally at the corresponding position of the storage position 222. The arranged channel is marked as a special channel 53. The turning channel 52 extends transversely and is connected with the special channel 53. The special channel 53 can extend longitudinally to the first connecting position 41 through the turning channel 52.

The second movable robot 32 is configured to transfer the second movable carrier 221 between the storage position 222 and the first connecting position 41 through the storage channel 51 , the turning channel 52 , and the dedicated channel 53 . For example, referring to FIGS. 2 and 3 , when the second movable robot 32 transfers the second movable carrier 221 that needs to be taken out of the warehouse from the second storage area 22 to the first connection position 41 , it first moves along the storage channel 51 Move to the steering channel 52 in the longitudinal direction, then move in the transverse direction from the steering channel 52 to the dedicated channel 53, and then move longitudinally from the dedicated channel 53 to the first connection position 41; when the second movable robot 32 needs to be put into the warehouse, When the second movable carrier 221 is transferred from the first connecting position 41 to the second storage area 22, it first moves longitudinally from the first connecting position 41 to the dedicated channel 53, and then moves longitudinally from the dedicated channel 53 to the turning channel. 52, move in the turning channel 52 to the entrance of the storage channel 51 corresponding to the storage position 222, and finally move from the storage channel 51 to the corresponding storage position 222 in the longitudinal direction. The loading and unloading of the second movable carrier 221 is realized by the above two processes. In one embodiment of the present disclosure, the extension direction of the storage channel 51 and the dedicated channel 53 is the same, for example, it can be the longitudinal direction. The turning channel 52 has two extension directions, horizontal and vertical, and the extension directions are the same as those of the storage channel 51 and the dedicated channel respectively. The extension direction of 53 is vertical.

Referring to Figure 3, in one embodiment of the present disclosure, the second movable carrier 221 is configured to be placed on the upper end surface 151 of the guide rail 15 corresponding to the storage position 222. The guide rails 15 corresponding to the storage position 222 may be two oppositely arranged ones. One side of the corbels is connected to the bracket 14. The upper ends of the two corbels can be used to place the second movable carrier 221. The lower ends of the two corbels have flanges 152 extending towards each other. , the flange 152 is used to support the second mobile robot 32 to move.

Continuing to refer to FIG. 3 , the second movable robot 32 may be configured to lift the second movable carrier 221 from the guide rail. 15 is pushed up or dropped on the guide rail 15. The second movable robot 32 at least includes a walking mechanism and a lifting mechanism. The maximum lifting height of the lifting mechanism is at least a certain height higher than the upper end surface 151 of the guide rail 15 , and the minimum descending height is at least a certain height lower than the upper end surface 151 of the guide rail 15 . Therefore, The second movable carrier 221 can be lifted, lowered, and placed. Those skilled in the art are aware of the specific structure for realizing the lifting function of the jacking mechanism, and will not elaborate on this.

Referring to FIG. 5 , in one embodiment of the present disclosure, at least two storage locations 222 are formed in the extension direction of the guide rail 15 . Four storage positions 222 are arranged in the longitudinal direction, among which the two storage positions 222 close to any turning channel 52 can be connected together, that is, the guide rail 15 below the two storage positions 222 close to any turning channel 52 is continuous. , it is also possible that the four storage positions 222 in the same longitudinal direction are all connected together, that is, the guide rails 15 under the four storage positions 222 are continuous, thereby improving the storage density of the storage system, and the second movable robot 32 movement efficiency.

Referring to Figure 3, in one embodiment of the present disclosure, a connecting beam 16 is provided between two adjacent brackets 14. The connecting beam 16 is configured to be located below the guide rail 15. The connecting beam 16 can realize the connection between the two adjacent brackets. The fixed spacing between adjacent brackets 14 and the load-bearing guide rail 15 improve the load-carrying capacity of the guide rail 15 for the second movable carrier 221 .

Referring to Figure 6, in one embodiment of the present disclosure, the warehousing system also includes a workstation 6, which is located on the support surface 13. The workstation 6 can perform loading, unloading, sorting and other operations on the goods carried by the first movable carrier 211 and the second movable carrier 221. The first movable robot 31 is configured to complete the transfer of the first movable carrier 211 between the first storage area 21 and the workstation 6. The first movable robot is also configured to complete the transfer of the second movable carrier 221 between the second docking position 42 and the workstation 6.

Referring to FIG. 6 , in one embodiment, the first movable robot 31 can transfer the first movable carrier 211 in the first storage area 21 to the workstation 6 . After the transfer is in place, the first movable robot 31 can perform other tasks. After that, the workstation 6 is responsible for operating the first movable carrier 211; the first movable robot 31 can also transfer the first movable carrier 211 that has been processed at the workstation 6 to the first storage area 21 for storage. After being in place, the first mobile robot 31 can perform other tasks.

Referring to FIG. 2 , in another embodiment, the first movable robot 31 can transfer the second movable carrier 221 from the second docking station 42 to the workstation 6 . After the transfer is in place, the first movable robot 31 can perform For other work, the workstation 6 is then responsible for operating the second movable carrier 221; the first mobile robot 31 can also transfer the second movable carrier 221 that has been processed at the workstation 6 to the second docking station 42. After the transfer is in place, the first movable robot 31 can perform other tasks, and then the second movable carrier 221 is transferred to the first docking position 41 by the lifting mechanism 40 .

Referring to Figure 2, in one embodiment of the present disclosure, the warehousing system also includes a conveyor line 43. The conveyor line 43 is docked with the lifting mechanism 40. The second connection position 42 is provided on the conveyor line 43. The first movable robot 31 is It is configured to complete the transfer of the second movable carrier 221 between the conveyor line 43 and the workstation 6 .

For example, when the lifting mechanism 40 transfers the second movable carrier 221 from the first connecting position 41 to the second connecting position 42 , the conveyor line 43 can transfer the second movable carrier 221 to the first movable robot 31 The docking position, and then the first movable robot 31 transfers the second movable carrier from the conveyor line 43 to the workstation 6 .

Since different movable robots have different maximum lifting heights and different lifting mechanisms have different minimum descending heights, in one embodiment of the present disclosure, a lifting device is provided at the second connecting position 42 on the conveyor line 43 Mechanism (not shown in the figure), the lifting mechanism is configured to lift the second movable carrier 221 located on the second docking position 42 to dock with the lifting mechanism 40 , or to lower the second movable carrier 221 to dock with the conveyor line 43 . This facilitates different lifting mechanisms to cooperate with different first movable robots in height to transfer the second movable carrier 221 .

In one embodiment of the present disclosure, the workstation 6 includes a container handling mechanism 61 configured to handle containers located on the first movable carrier 211 and/or the second movable carrier 221 of the workstation 6 . Loading and unloading. After the first movable robot 31 transfers the first movable carrier 211 or the second movable carrier 221 to the loading and unloading position of the container loading and unloading mechanism 61 , the first movable carrier 211 or the second movable carrier 221 is loaded and unloaded by the container loading and unloading mechanism 61 . The movable carrier 221 is unloaded; or, after the container loading and unloading mechanism 61 completes loading the first movable carrier 211 or the second movable carrier 221, the first movable robot 31 unloads the first movable carrier 221. The tool 211 or the second movable carrier 221 is transferred to the corresponding position. This improves the efficiency of loading and unloading containers.

Referring to FIG. 7 , in one embodiment of the present disclosure, the workstation 6 may also be provided with a temporary storage for placing the second movable carrier 221 The temporary storage bracket 62 is placed on the support surface 13. The first movable robot 31 can move to the bottom of the temporary storage bracket 62, lift the second movable carrier 221 located on the temporary storage bracket 62, and then transfer it. to the conveyor line 43; alternatively, the first movable robot 31 can transfer the second movable carrier 221 from the conveyor line 43 to the temporary storage rack 62, and place the second movable carrier 221 on the temporary storage rack 62. After that, the first mobile robot 31 can perform other tasks.

In one embodiment of the present disclosure, the second movable carrier 221 is a legless shelf, and the first movable carrier 211 is a legged shelf.

In one embodiment of the present disclosure, the workstation 6 includes a third movable robot, and the third movable robot can transfer the second movable carrier to the first movable robot 31 through clamping, telescopic forks, etc., or The second movable carrier 221 located on the first movable robot 31 is transferred to the corresponding placement position.

In one embodiment of the present disclosure, the warehousing system includes a control server, and the control server is configured to send control instructions to the first movable robot 31, the second movable robot 32, and the lifting mechanism 40 to facilitate control of each movable robot in the warehousing system. Mobile unit for centralized control.

In one embodiment, the second movable robot 32 responds to the order instruction issued by the control server and transfers the second movable carrier 221 in the second storage area 22 to the first connecting position 41, The lifting mechanism 40 transfers the second movable carrier 221 to the second docking station 42 in response to the order instruction, and the first movable robot 31 transfers the second movable carrier 221 from the second docking station in response to the order instruction. 42 is transferred to workstation 6.

In another embodiment, the first movable robot 31 transfers the second movable carrier 221 from the workstation 6 to the second docking station 42 in response to the storage instruction issued by the control server, and the lifting mechanism 40 responds to the storage instruction. The second movable carrier 221 is transferred from the second docking station 42 to the first docking station 41, and the second movable robot 32 responds to the storage instruction to transfer the second movable carrier 221 from the first docking station 42 to the first docking station 41. The barge 41 is transferred to the second storage area 22 .

Regarding the specific transfer process in the above-mentioned response order scenario and response storage scenario, it is exactly the same as the above-mentioned transfer process of the second movable carrier 221 by the first movable robot 31, the second movable robot 32, and the lifting mechanism 40. This will not be described in detail. In addition, the control server can also select a suitable storage location to store the second movable carrier 221 according to the storage situation, which will not be described in detail here.

Referring to FIG. 2 , in one embodiment of the present disclosure, a support platform is provided, which includes an edge support column 11 , a support beam (not marked in the figure), and a bracket 14 . The edge support column 11 is located at an edge position below the support beam, and is configured to support the support beam at a predetermined height from the support surface; wherein, the support beam, the edge support column 11 and the support surface 13 enclose a A first storage area 21 for storing the first movable carrier 211; a plurality of brackets 14 are spaced on the support beam; an area is enclosed between two adjacent brackets 14 for storing the second movable carrier. The second storage area 22 of 221.

This support platform can be used in the warehousing system mentioned above, or in other application scenarios that require intensive storage of vehicles, containers, goods, etc. The support platform can be used to divide the warehousing space into different storage areas for storing movable vehicles. , which is conducive to improving the rational utilization of storage height space. In addition, the support platform can also be used in conjunction with movable robots, lifting mechanisms, and workstations, thereby realizing the transfer of movable carriers stored on the support platform. The support platform The structural composition and connection method are exactly the same as those in the warehousing system mentioned above, and the cooperation method with the movable robot, lifting mechanism, and workstation is exactly the same, and will not be described in detail here.

The embodiments of the present disclosure have been described above. The above description is illustrative, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements in the market of the embodiments, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the disclosure is defined by the appended claims.

Claims

A warehousing system is characterized by including:

Support beam;

An edge support column (11), which is located at an edge position below the support beam and is configured to support the support beam at a predetermined height from the support surface;

Wherein, the first storage area (21) for storing the first movable carrier (211) is enclosed between the support beam, the edge support column (11) and the support surface (13);

Bracket (14), a plurality of the brackets (14) are arranged on the support beam at intervals, and a second space for storing the second movable carrier (221) is enclosed between two adjacent brackets (14). storage area(22);

A first movable robot (31) configured to walk on the support surface (13) to respond to the first movable carrier (211) located in the first storage area (21) carry out transfer;

A second movable robot (32) configured to move in the second storage area (22) to move the second movable carrier located in the second storage area (22) (221) for transshipment.
The storage system according to claim 1, wherein a guide rail (15) is provided on the bracket (14), and the guide rail (15) surrounds a walking area; the walking area is provided with a first connection position (41), a second connection position (42) is provided on the support surface (13), and also includes a lifting mechanism (42) located between the first connection position (41) and the second connection position (42) 40); the lifting mechanism (40) is configured to lift the second movable carrier (221) between the first connection position (41) and the second connection position (42). transport.
The storage system according to claim 2, wherein the second storage area (22) is located above the walking area, and the second storage area (22) includes storage positions (222) arranged in a matrix; The walking area includes a storage channel (51) corresponding to the storage position (222); it also includes a steering channel (52) connected to the storage channel (51), and a third channel (52) connected to the steering channel (52). A dedicated channel (53) connected to the connecting position (41); the second mobile robot (32) is configured to pass the storage channel (51) between the storage position (222) and the first connecting position (41). ), the steering channel (52), and the dedicated channel (53) transfer the second movable carrier (221).
The storage system according to claim 3, wherein the storage channel (51) and the special channel (53) extend in the same direction, and the turning channel (52) extends in the same direction as the storage channel (51) and the special channel (53) respectively. The extension direction of the special channel (53) is vertical.
The storage system according to claim 4, characterized in that the second movable carrier (221) is configured to be placed on the upper end surface (151) of the guide rail (15) corresponding to the storage position (222); The second movable robot (32) is configured to lift the second movable carrier (221) from the guide rail (15) or drop it on the guide rail (15) by lifting.
The storage system according to claim 4, wherein a connecting beam (16) is further provided between two adjacent brackets (14), and the connecting beam (16) is configured to be located on the guide rail (15). lower position.
The storage system according to claim 5, characterized in that at least two storage positions (222) penetrating together are formed in the extending direction of the guide rail (15).
The storage system according to claim 1, wherein the support beam includes a load-bearing area surrounded by edges, and also includes a central support column (17) located below the load-bearing area, and one of the two adjacent central support columns (17) The distance between them is greater than the distance between two adjacent brackets (14).
The storage system according to claim 1, wherein the support beam is connected to the upper end of the edge support column (11), and is configured to be supported by at least four edge support columns (11) at a predetermined distance from the support surface (13). The height of the support beam includes at least two cross beams (121), each cross beam (121) is configured to be connected to the upper end of at least two edge support columns (11); it also includes at least two cross beams (121) the longitudinal beam (122); the bracket (14) is connected to the longitudinal beam (122).
The storage system according to claim 9, characterized in that the longitudinal beam (122) is an I-beam connected to the upper end surface (151) of the cross beam (121).
The warehousing system according to claim 2, comprising a workstation (6) located on a support surface (13), and the first mobile robot (31) is configured to operate on the first The transfer of the first movable carrier (211) is completed between the storage area (21) and the workstation (6); the first movable robot (31) is also configured to communicate with the second docking station (42). The transfer of the second movable carrier (221) is completed between the workstations (6).
The warehousing system according to claim 11, further comprising a conveyor line (43), the second connecting position (42) is provided on the conveyor line (43); the first movable robot (31 ) is configured to complete the transfer of the second movable carrier (221) between the conveyor line (43) and the workstation (6).
The storage system according to claim 12, wherein a lifting mechanism is provided on the conveyor line (43) at the second connecting position (42), and the lifting mechanism is configured to move the conveyor line (43) to the second connecting position (42). The second movable carrier (221) on (42) is lifted to dock with the lifting mechanism (40), or lowered to dock with the conveyor line (43).
According to the warehousing system according to claim 13, the workstation (6) includes a container loading and unloading mechanism (61), and the container loading and unloading mechanism (61) is configured to load and unload containers on the first movable carrier (211) and/or the second movable carrier (221) located at the workstation (6).
The warehousing system according to claim 14, wherein the workstation (6) is further provided with a temporary storage rack (62), and the first movable robot (31) is configured to connect the temporary storage rack (62) and The transfer of the second movable carrier (221) is completed between the conveyor lines (43).
The storage system according to claim 15, wherein the second movable carrier (221) is a legless shelf; and the first movable carrier (211) is a legged shelf.
The warehousing system according to claim 2, wherein the warehousing system comprises a control server, and the control server is configured to send control instructions to the first movable robot (31), the second movable robot (32), and the lifting mechanism (40);

The second movable robot (32) responds to the order instruction issued by the control server and transfers the second movable carrier (221) in the second storage area (22) to the first connection. position (41), the lifting mechanism (40) transfers the second movable carrier (221) located at the first connecting position (41) to the second connecting position in response to the order instruction. position (42), the first mobile robot (31) responds to the order instruction to transfer the second movable carrier (221) from the second connecting position (42) to the workstation (6) ;and / or,

The first movable robot (31) responds to the storage instruction issued by the control server and transfers the second movable carrier (221) from the workstation (6) to the second docking position (42), so The lifting mechanism (40) transfers the second movable carrier (221) from the second connecting position (42) to the first connecting position (41) in response to the storage instruction, the The second movable robot (32) responds to the storage instruction by transferring the second movable carrier (221) from the first connecting position (41) to the second storage area (22) for storage. .
A support platform is characterized by including:

Support beam;

An edge support column (11), which is located at an edge position below the support beam and is configured to support the support beam at a predetermined height from the support surface;

Wherein, the first storage area (21) for storing the first movable carrier (211) is enclosed between the support beam, the edge support column (11) and the support surface (13);

A bracket (14), wherein a plurality of the brackets (14) are arranged at intervals on the support beam, and a second storage area (22) for storing a second movable carrier (221) is formed between two adjacent brackets (14).