CN117775564A - Warehouse system and supporting platform - Google Patents

Abstract

The present disclosure relates to a warehousing system and a support platform, the warehousing system including an edge support column, a support beam, a first mobile robot, a second mobile robot. An edge support post is positioned at an edge location below the support beam and is configured to support the support beam at a predetermined height from a support surface; wherein, a first storage area for storing a first movable carrier is enclosed among the support beam, the edge support column and the support surface; the plurality of brackets are arranged on the supporting beam at intervals, and a second storage area for storing a second movable carrier is defined between two adjacent brackets; the first movable robot is configured to walk on the supporting surface to transfer the first movable carrier positioned in the first storage area; the second movable robot is configured to move in the second storage area to transfer the second movable carrier located in the second storage area. The warehousing system disclosed by the invention is beneficial to dense storage of the first storage area and the second storage area.

Description

Warehouse system and supporting platform

Technical Field

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

Background

Currently, in a shelf to person logistics warehouse system, a movable shelf is supported on the ground by support legs, so that the movable shelf is transported between a warehouse area and a workstation by a movable robot. For example, the movable shelves in the warehouse area are carried to a workshop for picking; after the picking is finished, the picking is carried to a storage area for storage by a movable robot.

The conventional movable shelves are generally arranged in a storage area according to a matrix, and the height of the movable shelves is limited, because the too high movable shelves are unfavorable for the transportation of the movable robot, in addition, the too high movable shelves can cause unstable structure, and shake is easily generated in the transportation process, so that a large enough space is reserved for the transportation of the shelves, thereby being unfavorable for the requirement of modern intensive storage.

In addition, in the technical scheme of the existing layered warehouse, a plurality of support columns extending from the ground to the top of the warehouse area are generally arranged to serve as main support structures, and the support columns are overlong in length and inflexible in arrangement, so that the storage positions of the goods shelves arranged in the storage area need to avoid the support columns, the storage density of the goods shelves is reduced, and the space utilization rate of the storage area is reduced.

Disclosure of Invention

The utility model provides a warehouse system and supporting platform in order to solve the problem that exists among the prior art.

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

a support beam;

an edge support post positioned at an edge location below the support beam and configured to support the support beam at a predetermined height from a support surface;

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

the brackets are arranged on the supporting beam at intervals, and a second storage area which is positioned above the walking area and used for storing a second movable carrier is enclosed between two adjacent brackets;

a first mobile robot configured to walk on a support surface to transport a first mobile carrier located in a first storage area;

a second mobile robot configured to move in the second storage area to transport a second mobile vehicle located in the second storage area.

In one embodiment of the present disclosure, a guide rail is provided on the support, the guide rail enclosing a walking area; the walking area is provided with a first connection position, the supporting surface is provided with a second connection position, and the walking area further comprises a lifting mechanism positioned between the first connection position and the second connection position; the lifting mechanism is configured to transfer the second movable vehicle between the first docking station and the second docking station.

In one embodiment of the disclosure, the second storage area is located above the walking area, and the second storage area includes storage bits arranged in a matrix; the walking area comprises a storage channel corresponding to the storage position; the device also comprises a steering channel communicated with the storage channel and a special channel communicated with the steering channel and the first connection position; the second mobile robot is configured to transfer the second mobile vehicle between a storage position and a first docking position through a storage channel, a turning channel, a dedicated channel.

In one embodiment of the present disclosure, the extension direction of the storage channel is the same as the extension direction of the dedicated channel, and the extension direction of the diverting channel is perpendicular to the extension direction of the storage channel and the dedicated channel, respectively.

In one embodiment of the present disclosure, the second movable carrier is configured to be placed on an upper end surface of a rail corresponding to the storage location; the second movable robot is configured to lift or drop the second movable carrier from or onto the guide rail in a lifting manner.

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

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

In one embodiment of the present disclosure, the support beam includes a load-bearing area surrounded by edges, and further includes a center support post located below the load-bearing area, wherein a distance between two adjacent center support posts is greater than a distance between two adjacent brackets.

In one embodiment of the present disclosure, the support beam is connected to the upper ends of the edge support posts and is configured to be supported at a predetermined height from the support surface by at least four edge support posts; the support beam comprises at least two beams, each beam being configured to be connected to the upper ends of at least two edge support posts; the device also comprises longitudinal beams arranged on at least two cross beams; the support is connected to the longitudinal beam.

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

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

In one embodiment of the disclosure, the system further comprises a conveyor line, wherein the second docking station is arranged on the conveyor line; the first movable robot is configured to complete the transfer of the second movable carrier between the conveyor line and the workstation.

In one embodiment of the present disclosure, a lifting mechanism is provided on the conveyor line at a location of the second docking station, the lifting mechanism being configured to lift the second movable carrier at the second docking station into docking with the lifting mechanism or to descend into docking with the conveyor line.

In one embodiment of the present disclosure, the workstation includes a container handling mechanism configured to handle containers located on the first and/or second movable carriers of the workstation.

In one embodiment of the present disclosure, a temporary storage rack is further provided at the workstation, 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; 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 mobile robot, second mobile robot, lifting mechanism;

the second movable robot transfers the second movable carrier in the second storage area to the first connection position in response to an order instruction sent by the control server, the lifting mechanism transfers the second movable carrier positioned at the first connection position to the second connection position in response to the order instruction, and the first movable robot transfers the second movable carrier from the second connection position to a workstation in response to the order instruction; and/or the number of the groups of groups,

the first movable robot transfers a second movable carrier from a workstation to the second connection position in response to a storage instruction sent by the control server, the lifting mechanism transfers the second movable carrier from the second connection position to the first connection position in response to the storage instruction, and the second movable robot transfers the second movable carrier from the first connection position to the second storage area in response to the storage instruction.

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

a support beam;

an edge support post positioned at an edge location below the support beam and configured to support the support beam at a predetermined height from the support surface;

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

the brackets are arranged on the supporting beam at intervals, and a second storage area which is positioned above the walking area and used for storing a second movable carrier is enclosed between two adjacent brackets.

The movable carrier storage device has the beneficial effects that the first storage area and the second storage area which are positioned at different heights are formed in the storage space through the edge support columns and the support beams, and the first storage area and the second storage area can be respectively used for storing the movable carrier. The edge support column is located at the edge position below the support beam, compared with the prior art, the edge support column extends to the top of the storage space from the support surface, so that the cost is reduced, the edge support column can be prevented from occupying the space of the first storage area and the second storage area, dense storage of the first storage area and the second storage area can be realized, and the storage capacity of the storage system is improved.

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

Drawings

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

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

FIG. 2 is a top view of a second storage area provided in an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a storage bit according to an embodiment of the disclosure;

FIG. 4 is a schematic diagram of a second movable carrier according to an embodiment of the disclosure;

FIG. 5 is a schematic diagram of a partial structure of a second storage area according to an embodiment of the present disclosure;

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

fig. 7 is a schematic structural diagram of a temporary storage rack according to an embodiment of the disclosure.

The one-to-one correspondence between the component names and the reference numerals in fig. 1 to 7 is as follows:

11. edge support posts; 121. a cross beam; 122. a longitudinal beam; 13. a support surface; 14. a bracket; 15. a guide rail; 151. an upper end surface; 152. a flange; 16. a connecting beam; 17. a central support column;

21. A first storage area; 211. a first movable carrier; 22. a second storage area; 221. a second movable carrier; 222. a storage location;

31. a first movable robot; 32. a second movable robot;

40. a lifting mechanism; 41. a first docking station; 42. the second connection position; 43. a conveying line;

51. a storage channel; 52. a diversion channel; 53. a dedicated channel;

6. a workstation; 61. a container loading and unloading mechanism; 62. temporary storage support.

Detailed Description

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 the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.

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 apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.

Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.

Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.

The present disclosure provides a warehousing system including an edge support column vertically disposed on a support surface at an edge location below the support column and configured to support the support column a predetermined height from the support surface, a first storage area defined between the edge support column and the support surface for storing a first movable carrier; the movable carrier is characterized by further comprising a plurality of brackets which are arranged on the supporting beam at intervals, wherein a second storage area is defined between two adjacent brackets and is used for storing a second movable carrier. The first storage area and the second storage area which are positioned at different heights are formed on the supporting surface through the cooperation of the edge supporting columns and the supporting beams.

A first movable robot is arranged on the supporting surface, and can transport the first movable carrier positioned in the first storage area; the second movable robot is arranged in the second storage area and can move in the second storage area to transfer the second movable carrier in the second storage area. Thereby, it is achieved that the first movable carrier and the second movable carrier are transported in the first storage area and the second storage area by the first movable robot and the second movable robot, respectively.

The first and second movable carriers may be used for storing containers such as bins and trays for storing goods, and the first and second movable carriers may have multiple layers of shelves for storing the containers, or other carriers capable of performing the functions as known to those skilled in the art.

The first movable carrier and the second movable carrier may be the same carrier, and the first and second are for facilitating distinguishing storage positions of the first movable carrier and the second movable carrier, and in the present 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 of dividing the storage positions of the first movable carrier and the second movable carrier, the first movable carrier and the second movable carrier may also be carriers of different configurations, for example, the first movable carrier may be a legged carrier, the second movable carrier may be a legless carrier, by means of its own support legs, placed directly on a support surface located in the first storage area, and the second movable carrier may be a legless carrier, and the second storage area is provided with a support structure, by means of which the second movable carrier is supported.

The first and second robots may be the same kind of movable robot or different kinds of movable robots, the first and second robots are for distinguishing the movable areas of the movable robots, the first movable robot is configured to move on the support surface, and the second movable robot is configured to move in the second storage area.

In addition, in order to realize the transportation of the second movable carrier between the supporting surface and the second storage area, the warehousing system further comprises a guide rail arranged on the bracket, the guide rail encloses a walking area for the second movable robot to walk in the second storage area, a first connection position on the walking area, a second connection position arranged on the supporting surface, and a lifting mechanism arranged between the first connection position and the second connection position, wherein the lifting mechanism is configured to transport the second movable carrier between the first connection position and the second connection position.

The first movable robot may be further configured to transfer the second movable carrier, for example, during a warehouse entry process, after the first movable robot transfers the second movable carrier to the second docking station on the supporting surface, the second movable carrier is transferred to the first docking station by the lifting mechanism, and the second movable carrier is transferred to the second storage area from the first docking station by the second movable robot, thereby implementing the transfer of the second movable carrier located on the supporting surface to the second storage area for storage. In 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 positioned on the second connection position to the workstation so as to process the second movable carrier at the workstation.

According to the warehousing system, the first storage area and the second storage area which are located at different heights are formed in the warehousing space through the edge support columns and the support beams, and the first storage area and the second storage area can be used for storing movable carriers respectively. The edge support column is located the below of supporting beam, compares in prior art that the support column extends to the top in storage space by the holding surface, has reduced the length of edge support column, still can avoid the edge support column to occupy the space above the supporting beam in addition, this makes only rely on the support to form the second storage area on the supporting beam to be favorable to the intensive storage of second storage area.

In addition, in the warehousing system disclosed by the invention, the edge support columns are positioned at the edge positions of the support beams, so that the edge support columns can be prevented from occupying the inner space of the first storage area, the dense storage of the first storage area is facilitated, and meanwhile, the flexibility of the storage of the first movable carrier is improved.

For ease of understanding, the specific structure and operation of the present disclosure will be described in detail below with reference to fig. 1 to 7 in conjunction with the embodiments.

Referring to fig. 1, in one embodiment of the present disclosure, the warehousing system includes edge support columns 11, support beams (not shown), the edge support columns 11 being arranged perpendicular to a support surface 13, the support surface 13 may be a floor, or a support surface formed by an upper end of a support structure, etc. The edge support post 11 is located at an edge position under the support beam, for example, when the support beam is constructed in a rectangular structure, the edge position of the support beam, that is, the positions of four sides or four corners of the rectangle, may be determined according to the actual situation, the top of the edge support post 11 is connected to the bottom surface of the support beam for supporting the support beam at a predetermined height from the support surface, for example, a predetermined height of a meters, the edge support post 11 of a corresponding length may be selected, and the support beam is supported by the edge support post 11 at a height of a meters from the ground, that is, even if the bottom surface of the support beam is a meters from the ground, the height may be selected according to the actual situation, and no particular limitation is imposed on this.

The warehouse system may include at least four edge support columns 11, the edges of the support beam being connected to the upper ends of the plurality of edge support columns 11 to support the support beam at a predetermined height from the support surface. Therefore, the first storage area 21 is defined among the support beam, the edge support columns 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, and the area defined by the edge support columns 11 at the boundary position is the occupied area of the first storage area. Because the edge support columns 11 are connected to the edge positions below the support beams, compared with the prior art that a plurality of support columns extending from the ground to the top of the storage space are used as the support bodies, the problem that the storage space of the movable carrier is reduced due to the existence of the support columns inside the first storage area 21 can not occur due to the fact that the edge support columns 11 are connected to the edge positions below the support beams in the embodiment, the space utilization rate can be improved, and the storage capacity of the first storage area 21 can be increased.

In this embodiment, a plurality of brackets 14 are disposed on the support beam 12 at intervals, and two adjacent brackets 14 define a second storage area 22, for example, at least two brackets 14 may be disposed on the support beam at intervals, and the second storage area 22 is located between the two brackets 14. The second storage area 22 is located above the supporting beam, and since the edge supporting columns 11 are connected to the edge position below the supporting beam, compared with the prior art, a plurality of supporting columns extending from the ground to the top of the storage space are used as the supporting body, the storage of the movable carrier is not affected by the supporting columns in the second storage area 22, the storage space for storing the movable carrier is increased, and the utilization rate of the storage space is further improved.

Referring to fig. 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 an internal location except for four sides and four corners of the rectangular structure. In addition to the edge support columns 11 supported at the edge positions below the support beams, the support beam support device further comprises a central support column 17 positioned below the bearing area, the distance between two adjacent central support columns 17 is larger than the distance between two adjacent brackets 14, the edge support columns 11 and the central support columns 17 are jointly used for supporting the support beams to a preset height from the support surface, the edge support columns 11 and the central support columns 17 can share pressure, and the stability of the support is improved.

For example, referring to fig. 1 and 2, 8 support columns may be arranged in a matrix of 8×8 on the support surface, and 8 support columns may be arranged longitudinally, including 28 edge support columns 11 spaced at edge positions of the support beam, and 36 center support columns 17 spaced below the bearing area, to collectively support the support beam at a predetermined height from the support surface, where the 64 support columns may collectively share the pressure of the support beam, so that the overall support structure is more stable. The number of edge support columns 11, the number of center support columns 17, and the spacing distance between adjacent support columns may be determined according to practical situations, and is not limited.

In this embodiment, the central support column 17 is present in the first storage area 21, the second storage area 22 does not have support columns, so the storage capacity of the second storage area 22 is not affected, the storage capacity of the second storage area 22 may be greater than that of the first storage area 21, and therefore, the first storage area 21 may be configured to flexibly store goods, such as storing a plurality of storage mediums with different sizes, including a movable shelf, a container, a pallet, etc. for carrying the goods, and since the first storage area 21 is located on a supporting surface, it may also be set as a goods area to be sorted, and the second storage area 22 is set as a goods storage area, thereby improving the storage flexibility of the warehouse system and providing convenience for sorting and storing.

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

Referring to fig. 1, the carriages 14 may be connected to stringers 122, for example 22 carriages 14 in total are connected to 22 stringers 122 in fig. 1, a storage location being formed between each two carriages 14 for storing a second movable carrier.

In one embodiment, stringers 122 may be i-beams attached to the upper end of cross-beam 121 to which brackets 14 are attached.

The first storage area and the second storage area can store carriers such as shelves, containers, trays and the like for carrying goods in a manner of arrangement, stacking and the like, so as to realize dense storage and efficient transportation of the goods. Referring to fig. 1, in the present embodiment, the warehouse system includes a first movable carrier 211 and a second movable carrier 221, and a first movable robot 31 and a second movable robot 32.

The first movable carrier 211 may 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 may be configured to have at least one storage layer, and to carry a container for storing goods, such as a material box, an order box, or the like, a tray for carrying goods, a material box, or the like, and the structure of the first movable carrier 211 and the form of carrying goods may be determined according to the actual situation, without limitation.

The second movable carrier 221 may be stored in the second storage area 22, and the second movable robot 32 is configured to move the second storage area 22 to transfer the second movable carrier 221 located in the second storage area 22. Because the edge support columns 11 and/or the center support columns 17 are located below the support beams, compared with the prior art, which uses a plurality of support columns extending from the ground to the top of the storage space as the support main body, the embodiment shortens the set length of the support columns, so that the support structure is more stable, the second movable robot 32 can stably move in the second storage area, the shaking amplitude of the second movable carrier 221 is greatly weakened in the process of transferring the second movable carrier 221, the transferred second movable carrier 221 is prevented from colliding with other second movable carriers 221, and the safety is improved. In addition, the distance that the avoiding space extends to two 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 reserved in the second storage area 22 for storing the second movable carrier 221, and the storage capacity of the second storage area 22 is improved. The structure and the carrying manner of the second movable carrier 221 are described above by way of example, and are not described herein.

In this embodiment, the storage space is divided into the first storage area 21 and the second storage area 22 in the height direction by the edge support columns 11, the support beams and the support surface 13, the first movable robot 31 walks on the support surface 13 to transport the first movable carriers 211 in the first storage area 21, and based on this, the first movable carriers 211 can be densely arranged in the first storage area 21, and only the space for the first movable robot 31 to walk needs to be reserved.

In one embodiment of the present disclosure, a rail 15 is provided on the rack 14, a walking area (not shown) is surrounded by the rail 15, and the second storage area 22 is located above the walking area, and the walking area may be used to support the mobile robot for walking, and the second mobile robot 32 moves along the rail 15 in the walking area to transport the second mobile carrier 221 in the second storage area 22. The second movable robot 32 walks along the extending direction of the guide rail 15, and on this basis, the second movable carriers 221 can be arranged in a sealing manner in the second storage area 22, so that the utilization rate of different heights of the storage space is improved, the storage capacity is improved, and the transport efficiency of the cargoes in the first storage area 21 and the second storage area 22 is improved through the whole transport of the movable carriers.

To facilitate the transfer of the second movable carrier 221 between the support surface 13 and the second storage area 22, referring to fig. 2, in one embodiment of the present disclosure, a first docking station 41 is provided in the walking area, a second docking station 42 is provided on the support surface 13, and a lifting mechanism 40 located between the first docking station 41 and the second docking station 42 is further included, the lifting mechanism 40 being configured to transfer the second movable carrier 221 between the first docking station 41 and the second docking station 42. The lifting mechanism 40 may be adapted to effect the transfer of the second movable carrier 221 by means of a sprocket drive, although the lifting mechanism 40 may be adapted to effect the transfer of the second movable carrier 221 at different heights by other means known to a person skilled in the art, which are not shown here.

The first movable 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 transfer the second mobile carrier 221 between the second docking station 42 and the second storage area 22. The utilization of the first movable robot 31 can be improved by transferring the second movable carrier 221 on the support surface 13 by the first movable robot 31. Of course, in addition to the first movable robot 31, a person skilled in the art may select other movable robots located on the supporting surface 13 according to actual needs to implement the transfer of the second movable carrier 221 on the supporting surface 13, which is not illustrated herein, and the present disclosure will be described below by the first movable robot 31 for the transfer of the second movable carrier 221 on the supporting surface 13.

For example, during the process of unloading, the second movable robot 32 may transfer the second movable carrier 221 to be unloaded from the second storage area 22 to the first docking station 41, transfer the second movable carrier 221 located at the first docking station 41 to the second docking station 42 by the lifting mechanism 40, and then transfer the second movable carrier 221 located at the second docking station 42 by the first movable robot 31 to complete unloading; in the warehouse-in process, the first movable robot 31 can transfer the second movable carrier 221 to be warehoused to the second docking station 42, the lifting mechanism 40 transfers the second movable carrier 221 located at the second docking station 42 to the first docking station 41, and then the second movable robot 32 transfers the second movable carrier 221 located at the first docking station 41 to the second storage area to finish warehouse-in.

The arrangement positions of the first docking station 41, the second docking station 42, and the lifting mechanism may be determined according to actual situations.

For example, in one embodiment, the first docking station 41 may be disposed at an edge of the walking area, and the lifting mechanism 40 may be disposed at a corresponding location outside the walking area, such that the second storage area does not need to sacrifice the storage location to dispose the lifting mechanism 40, thereby ensuring the storage capacity of the second storage area 22. The second docking station 42 may be arranged at a corresponding position of the lifting mechanism 40 outside the second storage area, since the first storage area 21 is below the second storage area 22, whereby the storage capacity of the first storage area 21 is also ensured.

In another embodiment, the first docking station 41 may be disposed at a central position of the walking area, and the lifting mechanism 40 is disposed at a storage position of the sacrificial portion, so that compactness of the whole storage space is guaranteed, and in addition, since the lifting mechanism 40 is disposed at the central position, the whole second storage area 22 can be irradiated with the lifting mechanism 40 as a center, which is beneficial to improving the transfer efficiency. The second docking station 42 may be set according to the position of the lifting mechanism 40, which is not limited.

Referring to fig. 2 and 3, in one embodiment of the present disclosure, the second storage area 22 includes storage locations 222 arranged in a matrix, the walking area includes storage channels 51 corresponding to the storage locations 222, and includes a diversion channel 52 communicating with the storage channels 51, and a dedicated channel 53 communicating the diversion channel 52 and the first docking location 41. For example, referring to the view direction of fig. 3, the channel in the storage location 222 for the second movable robot 32 to move is denoted as a storage channel 51, and the storage channel 51 may extend in the longitudinal direction; referring to the view of fig. 2, the diverting passage 52 is denoted as a passage laterally disposed at a location corresponding to the storage location 222, the diverting passage 52 may extend in both the longitudinal direction and the lateral direction, and the storage passage 51 may extend longitudinally to the point where the diverting passage 52 interfaces with the diverting passage 52; the channels longitudinally arranged at the corresponding positions of the storage locations 222 are denoted as dedicated channels 53, the diverting channels 52 extending transversely to interface with the dedicated channels 53, the dedicated channels 53 being capable of extending longitudinally through the diverting channels 52 to the first docking location 41.

The second mobile robot 32 is configured to transfer the second mobile carrier 221 between the storage location 222 and the first docking location 41 through the storage channel 51, the turning channel 52, the dedicated channel 53. For example, referring to fig. 2 and 3, during the transfer of the second movable vehicle 221 to be delivered from the second storage area 22 to the first docking station 41 by the second movable robot 32, the second movable vehicle is first moved in the longitudinal direction along the storage channel 51 to the diversion channel 52, then moved in the transverse direction by the diversion channel 52 to the dedicated channel 53, and then moved in the longitudinal direction by the dedicated channel 53 to the first docking station 41; in the process of transferring the second movable carriers 221 to be put in storage from the first docking station 41 to the second storage area 22 by the second movable robot 32, the second movable carriers are firstly moved longitudinally from the first docking station 41 to the dedicated channel 53, then moved longitudinally from the dedicated channel 53 to the turning channel 52, moved in the turning channel 52 to the entrance of the storage channel 51 corresponding to the storage location 222, and finally moved longitudinally from the storage channel 51 to the corresponding storage location 222. The ex-warehouse and the warehouse-in of the second movable carrier 221 are realized by the above two processes. In one embodiment of the present disclosure, the extending directions of the storage channel 51 and the dedicated channel 53 are the same, for example, the extending directions may be longitudinal directions, the steering channel 52 has two extending directions of transverse and longitudinal directions, and the extending directions are perpendicular to the extending directions of the storage channel 51 and the dedicated channel 53, respectively.

Referring to fig. 3, in one embodiment of the present disclosure, the second movable carrier 221 is configured to be placed on an upper end surface 151 of the guide rail 15 corresponding to the storage location 222, the guide rail 15 corresponding to the storage location 222 may be two bracket beams disposed opposite to each other, one side of the bracket beams is connected to the bracket 14, upper ends of the two bracket beams may be used to place the second movable carrier 221, lower ends of the two bracket beams have flanges 152 extending toward each other, and the flanges 152 are used to support the second movable robot 32 for movement.

With continued reference to fig. 3, the second movable robot 32 may be configured to lift the second movable carrier 221 from the rail 15 or drop on the rail 15 by lifting. The second movable robot 32 at least comprises a travelling mechanism and a lifting mechanism, wherein the maximum lifting height of the lifting mechanism is at least higher than the upper end surface 151 of the guide rail 15 by a certain height, and the minimum lowering height is at least lower than the upper end surface 151 of the guide rail 15 by a certain height, so that the lifting and taking of the second movable carrier 221 are realized. The specific structure for realizing the lifting function of the lifting mechanism is known to those skilled in the art, and will not be described in detail.

Referring to fig. 5, in one embodiment of the present disclosure, at least two storage locations 222 penetrating together are formed in the extending direction of the guide rail 15, for example, referring to the view direction of fig. 2, 4 storage locations 222 may be arranged in the longitudinal direction between two turning channels 52, wherein two storage locations 222 near any turning channel 52 may penetrate together, that is, the guide rail 15 under two storage locations 222 near any turning channel 52 is continuous, or the same longitudinal 4 storage locations 222 are all penetrated together, that is, the guide rail 15 under four storage locations 222 is continuous, whereby the storage density of the warehouse system, and the movement efficiency of the second movable robot 32 may be improved.

Referring to fig. 3, in one embodiment of the present disclosure, a connection beam 16 is provided between two adjacent brackets 14, the connection beam 16 being configured to be located at a lower position of the guide rail 15, the fixing of the distance between the two adjacent brackets 14 by the connection beam 16 can be achieved, and the guide rail 15 is carried, improving the carrying capacity of the guide rail 15 to the second movable carrier 221.

Referring to fig. 6, in one embodiment of the present disclosure, the warehouse system further includes a workstation 6, where the workstation 6 is located on the supporting surface 13, and cargo carried by the first movable carrier 211 and the second movable carrier 221 may be handled, sorted, etc. at the workstation 6, and 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, and is further configured to complete the transfer of the second movable carrier 221 between the second docking station 42 and the workstation 6.

Referring to fig. 6, in one embodiment, the first movable robot 31 may transfer the first movable carrier 211 in the first storage area 21 to the workstation 6, after which the first movable robot 31 may perform other work, after which the workstation 6 is responsible for operating the first movable carrier 211; the first movable robot 31 may further transfer the first movable carrier 211 processed at the workstation 6 to the first storage area 21 for storage, and after transferring to place, the first movable robot 31 may perform other work.

Referring to fig. 2, in another embodiment, the first movable robot 31 may transfer the second movable carrier 221 from the second docking station 42 to the workstation 6, after which the first movable robot 31 may perform other work, after which the workstation 6 is responsible for operating the second movable carrier 221; the first movable robot 31 may further transfer the second movable carrier 221 processed at the workstation 6 to the second docking station 42, and after the transfer, the first movable robot 31 may perform other tasks, and then the second movable carrier 221 is transferred to the first docking station 41 by the lifting mechanism 40.

Referring to fig. 2, in one embodiment of the present disclosure, the warehouse system further includes a conveyor line 43, the conveyor line 43 interfacing with the lifting mechanism 40, the second docking station 42 being disposed on the conveyor line 43, the first movable robot 31 being configured to complete the transfer of the second movable carrier 221 between the conveyor line 43 and the workstation 6.

For example, when the second movable carrier 221 is transferred from the first docking station 41 to the second docking station 42 by the lifting mechanism 40, the conveyor line 43 may transfer the second movable carrier 221 to the docking station with the first movable robot 31, after which the second movable carrier is transferred from the conveyor line 43 to the workstation 6 by the first movable robot 31.

Since different mobile robots have different highest lifting heights and different lifting mechanisms have different lowest lowering heights, in one embodiment of the present disclosure, a lifting mechanism (not shown) is provided on the conveyor line 43 at the location of the second docking station 42, the lifting mechanism being configured to lift the second mobile carrier 221 located on the second docking station 42 into docking with the lifting mechanism 40 or to lower into docking with the conveyor line 43. Thereby facilitating the cooperation of different lifting mechanisms with different first movable robots in height for transferring the second movable carriers 221.

In one embodiment of the present disclosure, the workstation 6 includes a container handling mechanism 61, the container handling mechanism 61 being configured to handle containers located on the first movable carrier 211 and/or the second movable carrier 221 of the workstation 6. 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 unloaded by the container loading and unloading mechanism 61; alternatively, after the container loading/unloading mechanism 61 finishes loading the first movable carrier 211 or the second movable carrier 221, the first movable robot 31 transfers the first movable carrier 211 or the second movable carrier 221 to the corresponding position. Thereby improving the efficiency of loading and unloading the container.

Referring to fig. 7, in one embodiment of the present disclosure, the workstation 6 may further be provided with a temporary storage bracket 62 for placing the second movable carrier 221, the temporary storage bracket 62 is placed on the supporting surface 13, the first movable robot 31 may move under the temporary storage bracket 62, lift the second movable carrier 221 located on the temporary storage bracket 62, and then transfer to the transfer line 43; alternatively, the first movable robot 31 may transfer the second movable carrier 221 from the conveyor line 43 to the upper side of the temporary storage rack 62, and place the second movable carrier 221 on the temporary storage rack 62, after which the first movable robot 31 may 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 comprises a third movable robot that can transfer the second movable carrier onto the first movable robot 31 by clamping, telescoping forks, etc., or to transfer the second movable carrier 221 located on the first movable robot 31 to a corresponding placement location.

In one embodiment of the present disclosure, the warehousing system includes a control server configured to send control instructions to the first mobile robot 31, the second mobile robot 32, and the lifting mechanism 40 to facilitate centralized control of the various mobile units in the warehousing system.

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

In another embodiment, the first mobile robot 31 transfers the second mobile carrier 221 from the workstation 6 to the second docking station 42 in response to a storage command issued by the control server, the lifting mechanism 40 transfers the second mobile carrier 221 from the second docking station 42 to the first docking station 41 in response to a storage command, and the second mobile robot 32 transfers the second mobile carrier 221 from the first docking station 41 to the second storage area 22 in response to a storage command.

The specific transfer process in the response order scenario and the response storage scenario is identical to the transfer process of the first movable robot 31, the second movable robot 32, and the lifting mechanism 40 to the second movable carrier 221, which is not described herein, and the control server may select a suitable storage location according to the storage condition to store the second movable carrier 221, which is not described herein in detail.

Referring to fig. 2, in one embodiment of the present disclosure, a support platform is provided that includes edge support posts 11, support beams (not shown), and brackets 14. The edge support post 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, a first storage area 21 for storing a first movable carrier 211 is enclosed between the support beam, the edge support column 11 and the support surface 13; a plurality of brackets 14 are provided on the support beam at intervals; a second storage area 22 for storing a second movable carrier 221 is enclosed between two adjacent holders 14.

The supporting platform can be applied to the warehousing system above, or other application scenes requiring dense storage of carriers, containers, cargoes and the like, the supporting platform is utilized to divide the warehousing space into different storage areas for storing the movable carriers, the reasonable utilization of the warehousing height space is facilitated, in addition, the supporting platform can be matched with the movable robots, the lifting mechanisms and the workstations for use, the movable carriers stored on the supporting platform are transported, the structural composition and the connection mode of the supporting platform and the warehousing system above are completely the same, and the matching mode of the supporting platform and the movable robots, the lifting mechanisms and the workstations is completely the same, and therefore the supporting platform is not described in detail.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims (18)

1. A warehousing system, comprising:

a support beam;

an edge support column (11), the edge support column (11) being located at an edge position below the support beam and being configured for supporting the support beam at a predetermined height from a support surface;

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

the brackets (14) are arranged on the supporting beam at intervals, and a second storage area (22) for storing a second movable carrier (221) is defined between two adjacent brackets (14);

A first mobile robot (31), the first mobile robot (31) being configured to walk on a support surface (13) to transport a first mobile carrier (211) located in a first storage area (21);

-a second mobile robot (32), the second mobile robot (32) being configured to move in the second storage area (22) for transferring a second mobile carrier (221) located in the second storage area (22).

2. Warehousing system according to claim 1, characterized in that a guide rail (15) is provided on the rack (14), which guide rail (15) encloses a walking area; the walking area is provided with a first connection position (41), the supporting surface (13) is provided with a second connection position (42), and the walking area further comprises a lifting mechanism (40) positioned between the first connection position (41) and the second connection position (42); the lifting mechanism (40) is configured to transfer the second movable carrier (221) between the first docking station (41) and the second docking station (42).

3. The warehousing system according to claim 2, characterized in that the second storage area (22) is located above the walking area, the second storage area (22) comprising storage bits (222) arranged in a matrix; the walking area comprises a storage channel (51) corresponding to the storage position (222); the device also comprises a steering channel (52) communicated with the storage channel (51), and a special channel (53) communicated with the steering channel (52) and the first connection position (41); the second mobile robot (32) is configured to transfer the second mobile vehicle (221) between a storage location (222) and a first docking location (41) through a storage channel (51), a turning channel (52), a dedicated channel (53).

4. A warehousing system according to claim 3, characterized in that the extension direction of the storage channel (51) and the dedicated channel (53) is the same, and the extension direction of the diverting channel (52) is perpendicular to the extension direction of the storage channel (51) and the dedicated channel (53), respectively.

5. The warehousing system according to claim 4, characterized in that the second movable carrier (221) is configured to be placed on an upper end face (151) of a rail (15) corresponding to the storage location (222); the second movable robot (32) is configured to lift the second movable carrier (221) from the guide rail (15) or drop on the guide rail (15) by lifting.

6. The warehousing system according to claim 4, characterized in that a connecting beam (16) is also provided between two adjacent brackets (14), the connecting beam (16) being configured to be located in a position below the guide rail (15).

7. The warehousing system according to claim 5, characterized in that at least two through-going storage locations (222) are formed in the extension direction of the guide rail (15).

8. The warehousing system according to claim 1, characterized in that the support beam comprises a load-bearing area surrounded by edges, and further comprises a central support column (17) located below the load-bearing area, the distance between two adjacent central support columns (17) being greater than the distance between two adjacent brackets (14).

9. A warehousing system according to claim 1, characterized in that the support beam is connected to the upper ends of the edge support posts (11) and is configured to be supported at a predetermined height from the support surface (13) by at least four edge support posts (11); the support beam comprises at least two beams (121), each beam (121) being configured to be connected to the upper ends of at least two edge support posts (11); the device also comprises longitudinal beams (122) arranged on at least two cross beams (121); the bracket (14) is connected to the longitudinal beam (122).

10. The warehousing system according to claim 9, characterized in that the longitudinal beams (122) are i-beams connected to the upper end face (151) of the transverse beam (121).

11. The warehousing system according to claim 2, characterized by comprising a workstation (6), the workstation (6) being located on a support surface (13), the first movable robot (31) being configured to complete the transfer of a first movable carrier (211) between the first storage area (21) and the workstation (6); the first mobile robot (31) is further configured to complete the transfer of the second mobile carrier (221) between the second docking station (42) and the workstation (6).

12. The warehousing system according to claim 11, further comprising a conveyor line (43), the second docking station (42) being disposed 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).

13. The warehousing system according to claim 12, characterized in that a lifting mechanism is provided on the conveyor line (43) at the location of the second docking station (42), said lifting mechanism being configured to lift the second movable carrier (221) located on the second docking station (42) into abutment with the lifting mechanism (40) or to descend into abutment with the conveyor line (43).

14. The warehousing system according to claim 13, characterized in that the workstation (6) comprises a container handling mechanism (61), the container handling mechanism (61) being configured to handle containers located on the first movable carrier (211) and/or the second movable carrier (221) of the workstation (6).

15. The warehouse system according to claim 14, characterized in that a temporary storage rack (62) is further provided at the workstation (6), the first movable robot (31) being configured to perform a transfer of the second movable carrier (221) between the temporary storage rack (62) and the conveyor line (43).

16. The warehousing system according to claim 15, characterized in that the second movable carrier (221) is a legless rack; the first movable carrier (211) is a legged shelf.

17. The warehousing system according to claim 2, characterized in that it comprises a control server configured to send control instructions to the first mobile robot (31), the second mobile robot (32), the lifting mechanism (40);

-the second mobile robot (32) transferring a second mobile carrier (221) in the second storage area (22) to the first docking station (41) in response to an order instruction issued by the control server, -the lifting mechanism (40) transferring the second mobile carrier (221) located in the first docking station (41) to the second docking station (42) in response to the order instruction, -the first mobile robot (31) transferring the second mobile carrier (221) from the second docking station (42) to a workstation (6) in response to the order instruction; and/or the number of the groups of groups,

the first movable robot (31) responds to a storage instruction sent by the control server to transfer a second movable carrier (221) from a workstation (6) to the second connection position (42), the lifting mechanism (40) responds to the storage instruction to transfer the second movable carrier (221) from the second connection position (42) to the first connection position (41), and the second movable robot (32) responds to the storage instruction to transfer the second movable carrier (221) from the first connection position (41) to the second storage area (22) for storage.

18. A support platform, comprising:

A support beam;

an edge support column (11), the edge support column (11) being located at an edge position below the support beam and being configured for supporting the support beam at a predetermined height from a support surface;

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

and the brackets (14) are arranged on the supporting beam at intervals, and a second storage area (22) for storing a second movable carrier (221) is defined between two adjacent brackets (14).