CN218369802U

CN218369802U - Storage system and goods shelves

Info

Publication number: CN218369802U
Application number: CN202221548868.1U
Authority: CN
Inventors: 邢志伟; 牛星宇
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2022-06-20
Filing date: 2022-06-20
Publication date: 2023-01-24
Anticipated expiration: 2032-06-20

Abstract

The present disclosure provides a warehousing system and a rack, the rack of the system has a storage position and a temporary storage position which are vertically arranged at intervals, the storage position is positioned above the temporary storage position, and the storage position is configured to store a plurality of containers which are vertically stacked. The first carrying device is configured to drive the upper-layer container taking and placing mechanism to take away other containers stacked on the target container, drive the lower-layer container taking and placing mechanism to take out the target container and place the target container on the temporary storage position, and drive the upper-layer container taking and placing mechanism to place other containers back again. The second handling apparatus is configured to travel below the buffer position and to handle the target container on the buffer position to the work table. The whole stack of containers are densely stored on the goods shelf of the system, and the upper and lower container taking and placing mechanisms are utilized to reverse the target containers and other containers stacked on the target containers, so that the problem of taking and placing the target containers positioned in the middle and at the bottom in the whole stack of containers is solved skillfully. On the basis, a container carrying mode of up-storage and down-picking is formed.

Description

Storage system and goods shelves

Technical Field

The disclosure relates to the technical field of logistics storage, in particular to a storage system and a goods shelf.

Background

The traditional storage system usually adopts two storage modes, wherein one mode is that a plurality of laminates are arranged on a shelf at intervals in sequence along the height direction, each laminate is tiled to place a layer of container, and the containers are taken from the laminates by traditional carrying equipment.

The other type is that a plurality of containers are sequentially stacked and placed on the goods shelf along the vertical direction, namely, a whole pile of containers are placed on one layer of laminate of the goods shelf, but when the goods shelf is used, the traditional carrying equipment cannot take and place the containers located at the middle position or the bottom layer, a platform can only be built on the top of the goods shelf, the containers are taken and placed on the goods shelf in a lifting mode and the like through special carrying equipment advancing on the platform, and the storage system is complex in structure and high in cost.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a storage system and a rack for solving the problem of picking and placing a target container located at the middle or bottom of a stack of containers.

A first aspect of the present disclosure provides a warehousing system, including:

the storage rack is provided with a storage position and a temporary storage position which are vertically arranged at intervals, the storage position is positioned above the temporary storage position, and the storage position is configured to store a plurality of containers which are vertically stacked;

the first carrying equipment is provided with two container taking and placing mechanisms which are vertically and sequentially arranged; and the number of the first and second electrodes,

the first handling equipment is configured to drive the container taking and placing mechanism on the upper layer to take other containers stacked on the target container away, drive the container taking and placing mechanism on the lower layer to take the target container out and place the target container in the temporary storage position, and drive the container taking and placing mechanism on the upper layer again to place other containers back on the storage position;

and the second carrying equipment is configured to run below the temporary storage position and carry the target container on the temporary storage position to a workbench for picking treatment.

In one embodiment of the present disclosure, the second handling apparatus is further configured to handle a target container from the work bench to the staging position;

the first handling device is also configured to drive the container taking and placing mechanism to convey the target container from the temporary storage position to the storage position.

In one embodiment of the present disclosure, the shelf includes:

two groups of supporting leg components which are horizontally arranged at intervals;

the first horizontal cross beam is used for connecting the two groups of the supporting leg components to form a support structure placed on the bearing surface;

a plurality of support members disposed on the first horizontal cross member at intervals in order along an extending direction of the first horizontal cross member and configured to carry a container;

the gap between two adjacent support members is configured for the first handling apparatus and/or the second handling apparatus to take out or place a container on the support member.

In one embodiment of the present disclosure, a plurality of the supporting members are disposed on both sides of the first horizontal cross member.

In one embodiment of the present disclosure, the plurality of support members are configured to store only a plurality of containers arranged in sequence along the extending direction of the first horizontal beam; or,

the plurality of support members are configured to store only a plurality of containers arranged in a direction perpendicular to an extending direction of the first horizontal beam; or,

the plurality of support members are configured as a plurality of containers arranged in sequence along the extending direction of the first horizontal beam, and a plurality of containers arranged in sequence along a direction perpendicular to the extending direction of the first horizontal beam.

In one embodiment of the present disclosure, the support member includes:

the two support rods are sequentially arranged on the first horizontal beam at intervals along the extension direction of the first horizontal beam; and (c) and (d),

the second connecting rod is connected with the two supporting rods; alternatively, the support member includes:

and the two support rods are sequentially arranged on the first horizontal beam at intervals along the extending direction of the first horizontal beam.

In one embodiment of the present disclosure, the leg member includes at least two legs which are sequentially disposed at intervals perpendicular to the first horizontal beam, and two adjacent legs are connected by a first connecting rod.

In one embodiment of the disclosure, the height gap between the first connecting rod and the bearing surface and the horizontal gap between two adjacent supporting legs are sufficient for the second handling equipment to pass through from the lower part of the first connecting rod.

In one embodiment of the present disclosure, the warehousing system includes at least two shelves, at least two shelves are spliced along the extending direction of the first horizontal beam, and two adjacent shelves share one supporting member at the splicing position.

In one embodiment of the disclosure, the shelf comprises at least two layers of the storage bits which are vertically arranged in sequence.

In one embodiment of the present disclosure, the shelf further includes at least two second horizontal beams sequentially fixed on the two sets of leg members at intervals, and a plurality of third connecting rods sequentially connected to two adjacent second horizontal beams at intervals.

In one embodiment of the present disclosure, the pick-and-place container mechanism includes:

a substrate configured to be liftably and lowerably disposed on a gantry of the first conveyance apparatus by a first lifting mechanism;

a telescopic frame configured to be telescopically disposed on the base plate by a first stage telescopic mechanism;

two telescopic arms configured to be telescopically disposed at the telescopic frame by a second stage telescopic mechanism, and the two telescopic arms are controlled by a grabbing driving mechanism to move towards or away from each other so as to grab or release the container.

In one embodiment of the present disclosure, the first stage telescoping mechanism comprises:

a first stage telescoping motor;

the two first-stage telescopic chain wheels are rotatably arranged on the base plate, and the first-stage telescopic motor drives one first-stage telescopic chain wheel to rotate;

the first-stage telescopic chain is configured to be in tensioning engagement between the two first-stage telescopic chain wheels and drive the telescopic frame to stretch relative to the base plate.

In one embodiment of the present disclosure, the second stage telescoping mechanism comprises:

the second-stage telescopic motor is configured to drive the second-stage telescopic transmission shaft to rotate;

two second-stage telescopic chain transmission mechanisms are respectively arranged on two sides of the telescopic frame, the second-stage telescopic motor drives the second-stage telescopic chain to rotate through the second-stage telescopic transmission shaft, and the second-stage telescopic chain drives two telescopic arms to stretch and retract relative to the telescopic frame.

In one embodiment of the present disclosure, the grasping drive mechanism includes:

a grabbing motor;

the screw rods of the two screw rod nut transmission mechanisms are coaxial and have opposite rotation directions, and the nut block is provided with the telescopic arm;

the grabbing motor drives the two lead screws to rotate.

In one embodiment of the present disclosure, the first handling apparatus further includes:

the auxiliary supporting mechanism is arranged on the first travelling mechanism of the first carrying device in a telescopic mode and is configured to be retracted to the first travelling mechanism when the first travelling mechanism travels, and extend to the direction close to the shelf and support on the bearing surface when the container taking and placing mechanism takes and places the containers from the shelf.

In one embodiment of the present disclosure, the auxiliary support mechanism includes:

the telescopic rod is arranged on the first travelling mechanism in a telescopic mode;

the supporting block is arranged at the free end of the telescopic rod;

the universal wheel is rotatably arranged on the supporting block and is configured to be supported on the bearing surface.

two telescopic arm subassemblies are established respectively on two stands of first haulage equipment's portal, just telescopic arm subassembly includes:

the base plate is arranged on the upright post in a lifting manner;

a first telescopic arm which is arranged on the base plate in a horizontally telescopic manner;

a second telescopic arm which is arranged on the first telescopic arm in a manner of being telescopic along the horizontal direction;

the telescopic driving mechanism is configured to drive the first telescopic arm to stretch and retract relative to the base plate and enable the second telescopic arm to stretch and retract relative to the first telescopic arm synchronously;

a lift lever configured to rotate relative to the second telescoping arm to extend from an inner side of the second telescoping arm and to ascend with the substrate to lift a container.

In one embodiment of the present disclosure, the second handling apparatus includes:

a second traveling mechanism;

the lifting frame is fixedly arranged on the second travelling mechanism;

a carrying tray disposed at a top end of the lifting frame and configured to place a container;

the second carrying equipment is configured to drive the lifting frame to drive the bearing plate to ascend to penetrate through a gap between the two supporting members, lift the container on the supporting members, and drive the second travelling mechanism to travel until the container is carried off the shelf and reaches a workstation.

In an embodiment of the disclosure, the second handling device is further configured to drive the second traveling mechanism to drive the carrier tray on which the container is placed to enter a gap between two adjacent support members, and drive the lifting frame to drive the carrier tray to descend until the container is placed on two adjacent support members.

A second aspect of the present disclosure provides a pallet, the pallet of the present disclosure comprising:

the gap between two adjacent support members is configured for the first handling device and/or the second handling device to take out the container on the support member or place the container on the support member;

the support member includes:

the two support rods are sequentially arranged on the first horizontal beam at intervals along the extension direction of the first horizontal beam;

and the second connecting rod is connected with the two supporting rods.

The storage system has the advantages that the whole stack of containers are densely stored on the goods shelf of the storage system, the target containers and other containers stacked on the target containers are switched by the upper and lower container taking and placing mechanisms, and the problem of taking and placing the target containers in the middle and at the bottom of the whole stack of containers is solved ingeniously. On the basis, the goods shelf is divided into an upper storage position and a lower temporary storage position, so that a container carrying mode of picking up the containers from the upper storage position and the lower temporary storage position is formed, and the goods shelf has the characteristic of flexible carrying form.

In addition, according to the shelf, the supporting members for placing the containers are spliced by the plurality of rod-shaped members, the gap between every two adjacent supporting members can be used for the carrying equipment to take and place the containers on the supporting members, and the single supporting member is of a hollow structure, so that the shelf has the characteristics of light weight, simple structure and convenience in assembly.

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

Drawings

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

FIG. 1 is a schematic view of a first embodiment of a warehousing system according to the present disclosure;

FIG. 2 is a schematic view of another perspective of the warehousing system of the disclosure in the first embodiment;

FIG. 3 is a schematic view of the structure of a pallet of the present disclosure in a first embodiment;

fig. 4 is a schematic configuration diagram of a first handling apparatus of the present disclosure in the first embodiment;

FIG. 5 is a schematic structural view of a first pick-and-place container mechanism of the present disclosure in a first embodiment;

FIG. 6 is a schematic structural view of one embodiment of a second handling apparatus of the present disclosure;

FIG. 7 is a schematic diagram of a warehousing system of the present disclosure in a second embodiment;

FIG. 8 is a schematic view of the structure of a pallet of the present disclosure in a second embodiment;

FIG. 9 is a schematic view of a warehousing system of the present disclosure in a third embodiment;

fig. 10 and 11 are schematic structural views of the first carrying apparatus in two states of use in the third embodiment;

fig. 12 is a schematic structural view of a first handling apparatus of the present disclosure in a fourth embodiment;

figures 13 and 14 are perspective views of the single telescopic arm assembly of figure 12 from two different perspectives, respectively;

figures 15-17 are front, rear and side views, respectively, of the single telescopic arm assembly of figure 12.

The one-to-one correspondence between component names and reference numbers in fig. 1 to 17 is as follows:

1, shelf: the support structure comprises 10 legs, 11 first connecting rods, 12 first horizontal cross beams, 13 supporting rods, 14 second connecting rods, 15 end supporting rods, 16 end connecting rods, 17 second horizontal cross beams and 18 third connecting rods;

2 first handling equipment: 20 door frames, 200 upright posts, 201 cross beams, 203 upright post frames, 204 top frames, 21 first traveling mechanisms, 22 container taking and placing mechanisms, 220 base plates, 221 telescopic frames, 2210 first-stage telescopic motors, 2211 first-stage telescopic chain wheels, 2212 first-stage telescopic chains, 2213 tracks, 2214 sliding blocks, 222 telescopic arms, 2220 second-stage telescopic motors, 2221 second-stage telescopic transmission shafts, 2222 second-stage telescopic chain wheels, 2223 second-stage telescopic chains, 223 fixing plates, 224 clamping arms, 225 driving shafts, 226 driven shafts, 227 conveyor belts, 2280 first telescopic arms, 227 driven shafts, 227 conveyor belts, 24 clamping arms, 225 driving shafts, 226 driven shafts, 227 conveyor belts, 2280 first telescopic arms, 220 base plates, 221 telescopic frames, 2210 first-stage telescopic motors, 2211 first-stage telescopic chain wheels, 2213 second-stage telescopic chains, 24 clamping arms, 227 driving shafts, and 227 driving shafts 2281 telescopic motor, 2282 driving synchronous pulley, 2283 first driven synchronous pulley, 2284 first synchronous belt, 2285 first linear guide rail, 2286 first slide block, 2287 second driven synchronous pulley, 2288 second synchronous belt, 2290 second telescopic fork, 2291 third driven synchronous pulley, 2292 third synchronous belt, 2293 second linear guide rail, 2294 second slide block, 2295 lifting rod, 2296 lifting rod motor, 23 rack, 24 gear, 2250 grabbing motor, 2251 lead screw, 2252 nut block, 26 telescopic rod, 27 supporting block;

3, second carrying equipment: 30 second running gear, 31 erector, 32 bearing plate;

4, and (4) containers.

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, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless 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 those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Additionally, the use of the ordinal numbers "first", "second", etc., to distinguish between components or regions of a same name does not limit the importance or existing sequence of such components or regions.

The warehousing system of the present disclosure includes a rack, a first handling apparatus and a second handling apparatus. The storage rack is provided with a storage position and a temporary storage position which are vertically arranged at intervals, the storage position is positioned above the temporary storage position, and the storage position is configured to store a plurality of containers which are vertically stacked. The first carrying device is provided with two container taking and placing mechanisms which are vertically and sequentially arranged, and is configured to drive the container taking and placing mechanism on the upper layer to take other containers stacked on the target container away, drive the container taking and placing mechanism on the lower layer to take the target container out and place the target container on the temporary storage position, and drive the container taking and placing mechanism on the upper layer again to place the other containers back. The second handling apparatus is configured to travel below the staging position and to handle the target container on the staging position to the work bench for pick processing.

The storage system disclosed by the invention has the advantages that the whole stack of containers are densely stored on the goods shelf, and the target containers and other containers stacked on the target containers are switched by utilizing the upper and lower container taking and placing mechanisms, so that the problem of taking and placing the target containers positioned in the middle and at the bottom in the whole stack of containers is skillfully solved. On the basis, the goods shelf is divided into an upper storage position and a lower temporary storage position, a container carrying mode of upper storage and lower picking is formed, and the goods shelf has the characteristic of flexible carrying form.

For better understanding, the specific structure of the warehousing system of the present disclosure and its operating principles are described in detail below with reference to fig. 1-7 in conjunction with two specific embodiments. In order to keep the text concise, the specific structure of the rack will be described in the following description of the warehousing system, and will not be described separately.

First embodiment

Referring to fig. 1 and 3, the warehousing system of the present disclosure includes a rack 1, the rack 1 having a storage location and a temporary storage location vertically sequentially spaced, the storage location being located above the temporary storage location, and the storage location being configured to store a plurality of containers 4 vertically stacked. For a better understanding of the warehousing system, reference is also made to FIG. 2.

In detail, the pallet 1 comprises two sets of leg members and a first horizontal cross member 12. The two groups of leg members are horizontally arranged at intervals, the first horizontal beam 12 is connected with the two groups of leg members to form a support structure which can be placed on bearing surfaces such as the ground, and a height gap between the first horizontal beam 12 and the bearing surfaces can be used for the second carrying equipment 3 to pass under the first horizontal beam 12.

In more detail, the leg member includes three legs 10 sequentially spaced apart perpendicular to the first horizontal beam 12, and adjacent two legs 10 are connected by a first connecting rod 11. The height clearance between the first connecting rod 11 and the carrying surface and the horizontal clearance between two adjacent legs 10 are enough for the second handling device 2 to pass under the first connecting rod 11.

With continued reference to fig. 3, the three legs 10 of the leg members are arranged at equal intervals, and the two ends of the first horizontal beam 12 are respectively connected to the legs 10 at the middle position of the two sets of leg members.

A plurality of support members for carrying containers are provided on both sides of the first horizontal cross member 12, and the gap between two adjacent support members is configured for the first handling apparatus 2 and/or the second handling apparatus 3 to take out a container 4 on a support member or to place a container 4 on a support member.

So, this disclosed goods shelves 1 all forms the position of keeping in that is used for keeping in container 4 in first horizontal beam 12's both sides to make first haulage equipment 2 and second haulage equipment 3 homoenergetic get from the both sides homoenergetic of first horizontal beam 12 and put container 4, get the form of putting the container nimble, swift.

Of course, the rack 1 of the present disclosure may also be provided with a plurality of support members only on one side of the first horizontal beam 12, so that the first handling apparatus 2 and/or the second handling apparatus 3 can pick and place the containers 4 only from one side of the rack 1.

It is understood that the first horizontal beam 12 of the present disclosure may also be connected to the support leg 10 at the outermost edge, and a plurality of support members are disposed at a single side of the first horizontal beam 12, and these support members may only store a plurality of containers 4 arranged in sequence along the extending direction of the first horizontal beam 12, or may only store a plurality of containers 4 arranged in sequence perpendicular to the extending direction of the horizontal beam, or may be a combination of two ways of a plurality of containers 4 arranged in sequence along the extending direction of the first horizontal beam 12 and a plurality of containers 4 arranged in sequence perpendicular to the extending direction of the first horizontal beam 12.

Referring to fig. 1, in the embodiment, in order to facilitate the first and

second handling apparatuses

2 and 3 to pick and place the containers 4 from the supporting members, the warehousing system of the present disclosure preferably adopts a mode that the supporting members only store a plurality of containers 4 sequentially arranged along the extending direction of the first horizontal beam 12.

Thus, there is no other container in front of the target container to shield the target container from being picked and placed, and the first conveyance device 2 can directly pick and place the container 4 from the support member without changing the position between the target container and the other container.

With continued reference to fig. 2, the support member includes two support rods 13 disposed at intervals in sequence on the first horizontal beam 12 and a second connecting rod 14 connecting the two support rods.

The support member with the hollow structure has the characteristics of light weight and strong bearing capacity, and the support rod 13 and the second connecting rod 14 can be both made of standard sectional materials and can be quickly assembled on site in a welding or bolt connection mode.

In practical use, the two support rods 13 may be respectively matched with the support rods 13 of the adjacent support members to jointly carry a container, and a gap between the two support rods 13 of one support member may be used for inserting the telescopic arm of the first transporting apparatus 2.

In another embodiment, the supporting member may also include only two supporting rods 13 sequentially spaced apart from each other at the first horizontal beam 12 to form a comb-like structure.

With continued reference to fig. 2, the storage system of the present disclosure comprises two shelves 1, the two shelves 1 are spliced along the extending direction of the first horizontal beam 12, and the two shelves 1 share one supporting member at the splice.

It can be understood that compared with the configuration of independent supporting members at the splicing part of the two shelves 1, the structure of the present disclosure has the advantages of small occupied installation space, material saving, short assembly time and the like.

As mentioned above, two adjacent legs 10 of the shelf 1 are fixed by the first connecting rods 11, and in order to fully utilize the shelf space for storing more containers, the shelf 1 further comprises end support members, which are arranged on the first horizontal beam 12 and the leg members and together with the adjacent support members carry the containers, and the length of the end support members in the extending direction of the first horizontal beam 12 is half of the length of the support members.

In this way, the space of the shelf 1 near the leg 10 can also be used for placing the containers 4, and the structural characteristics are fully utilized to store more containers as much as possible.

It should be noted that the number of the legs 10 of the leg member is three in this embodiment, and it is understood that a person skilled in the art can select a suitable number of legs, such as two, four, etc. integers, based on the actual size of the shelf and the weighing capacity required.

As previously described, the pallet 1 comprises a storage position at the upper level and a buffer position at the lowermost level, and in detail, with continued reference to fig. 2, each leg 10 extends up to a level above the buffer position at the lower level at which at least one container 4 can be stored, and then is configured in the same manner as the implementation of the buffer position at the lowermost level to store a plurality of containers 4 in a vertical stack.

In the present embodiment, the specific components forming the storage and temporary storage positions on the shelf 1 have the same structural form, and the whole shelf can be assembled on site by welding or fastening with various standard profiles.

It will be appreciated that the pallet 1 may also comprise a layer secured to the leg members for vertically stacking a plurality of containers, i.e. the storage position of the pallet 1 is realized by a layer structure.

Referring to fig. 3, the first handling apparatus 2 comprises a gantry 20, a first travelling mechanism 21 and two pick-and-place container mechanisms 22.

Wherein, the gantry 20 is fixedly provided with a first travelling mechanism 21, the first travelling mechanism 21 is configured to drive the gantry 20 to travel on the ground, and one of the two container taking and placing mechanisms 22 is located above the other container taking and placing mechanism 22.

The first conveyance device 2 is configured to drive the upper pick-and-place container mechanism 22 to pick up another container stacked above the target container from the shelf 1, drive the lower pick-and-place container mechanism 22 to pick up the target container, and drive the upper pick-and-place container mechanism 22 again to return the other container to the shelf 1.

In detail, with continued reference to fig. 3, the mast 20 comprises two uprights 200 arranged in relative parallel and a cross-member 201 connecting the two uprights 200.

The first travel mechanism 21 may be an AGV cart.

Of course, the first traveling mechanism 21 may be any other cart capable of moving the gantry 20 and the pick-and-place container mechanism 22 thereon from the current position to the target position based on the transporting instruction.

In this embodiment, the two container taking and placing mechanisms 22 have substantially the same structure, and of course, the two container taking and placing mechanisms may also be implemented in different manners as long as the container taking and placing functions are satisfied.

In detail, referring to fig. 4 and 5, the pick-and-place container mechanism 22 includes a base plate 220, a telescopic frame 221, and two telescopic arms 222. The base plate 220 is arranged on the two upright posts 200 of the gantry in a liftable manner through the first lifting mechanism, the telescopic frame 221 is arranged on the base plate 220 in a telescopic manner through the first-stage telescopic mechanism, the two telescopic arms 222 are arranged on the telescopic frame 221 in a telescopic manner through the second-stage telescopic mechanism, and the two telescopic arms 222 are controlled by the grabbing driving mechanism to move towards or away from each other so as to grab the container.

The first lifting driving mechanism drives the substrate 220 to lift relative to the gantry 20, so as to drive the telescopic frame 221 thereon to lift relative to the gantry 20 to reach the vertical coordinate of the target container.

The first elevation drive mechanism includes a motor (not shown in the drawings), a rack 23 and a pinion 24 that mesh with each other. Wherein the rack 23 extends along the vertical direction and is fixedly disposed on the upright 200, the gear 24 is rotatably disposed on the base plate 220, and the motor is configured to drive the gear 24 to move along the rack 23 so as to drive the base plate 220 to lift and lower relative to the gantry 20.

In order to ensure the stability of the lifting movement of the container taking and placing mechanism 22, in this embodiment, two linear guide rails respectively disposed on two sides of the substrate 220 are disposed on the upright column 200, a rail of the linear guide rail is fixedly disposed on the upright column 200 and extends along the vertical direction, and a sliding block slidably engaged with the rail is fixedly disposed on the substrate 220.

When the lifting driving mechanism drives the base plate 220 to lift, the linear guide rail has a guiding function so as to ensure the stability of lifting movement.

Note that the two pick-and-place container mechanisms 22 of the first conveyance device 2 share the same lifting mechanism, or an independent lifting mechanism is provided for each pick-and-place container mechanism 22.

Of course, the first lifting mechanism may be a synchronous belt transmission mechanism, a synchronous sprocket transmission mechanism, or the like.

The first stage telescoping mechanism includes a first stage telescoping motor 2210, two first stage telescoping sprockets 2211 and a first stage telescoping chain 2212. Wherein, two first order flexible sprocket 2211 set up on base plate 220 with rotatable mode, and first order flexible chain 2212 tensioning meshes between two first order flexible sprocket 2211, and base plate 220 links firmly on first order flexible chain 2212, and first order flexible motor 2210 drives one of them first order flexible sprocket 2211 and rotates.

When the first stage telescoping motor 2210 is started to rotate forward or backward, the first telescoping chain 2212 is driven to drive the telescoping frame 221 to telescope in a first direction relative to the substrate 220. In detail, the expansion frame 221 has a U-shaped frame structure.

The second stage telescopic mechanism comprises a second stage telescopic motor 2220, a second stage telescopic transmission shaft 2221 and two second stage telescopic chain transmission mechanisms. The second stage telescopic motor 2220 is configured to drive the second stage telescopic transmission shafts 2221 to rotate, one second stage telescopic chain wheel 2222 of each second stage telescopic chain transmission mechanism is fixedly arranged at two ends of the second stage telescopic transmission shaft 2221, the other second stage telescopic chain wheel 2222 of each second stage telescopic chain transmission mechanism is rotatably arranged on the telescopic frame 221, and the chain of each second stage telescopic chain transmission mechanism is engaged with the second stage telescopic chain 2223 of the two second stage telescopic chain wheels 2222 in a tensioning manner to drive the two telescopic arms 222 to extend and retract along the first direction.

The grabbing driving mechanism comprises a grabbing motor 2250 and two screw nut transmission mechanisms, screws 2251 of the two screw nut transmission mechanisms are coaxial and opposite in rotating direction, and a nut block 2252 between the two screw nut transmission mechanisms is provided with a telescopic arm 222. One end parts of the two screws are connected through a coupler and driven to rotate by the grabbing motor 2250, and the other end parts of the two screws are respectively and fixedly connected to the second telescopic chains 2223 of the two second-stage telescopic chain transmission mechanisms through fixing blocks.

The grabbing motor 2250 is activated to rotate in forward or reverse direction to drive the two lead screws to rotate synchronously, and since the two lead screws are coaxial and rotate in opposite directions, the nut blocks thereon will move toward or away from each other to drive the respective telescopic arms 222 to move toward or away from each other to grab or release the container.

It should be noted that linear guide rails are disposed on the first stage telescopic mechanism, the second stage telescopic mechanism and the grasping drive mechanism, so that the telescopic frame 221 is telescopic relative to the base plate 220 along the rail of the linear guide rail, the two telescopic arms 222 are telescopic relative to the telescopic frame 221 along the rail of the linear guide rail, and the two telescopic arms 222 move in directions approaching to or departing from each other along the rail of the linear guide rail. The linear guide rail includes a rail and a slider that slides in an extending direction of the rail under an external force.

For example, the track 2213 of the linear guide of the first stage telescopic mechanism is disposed on the base plate 220, and the slider 2214 is fixedly disposed on the telescopic frame 221. The arrangement mode and the guiding principle of the linear guide rail on the second-stage telescopic mechanism and the grabbing driving mechanism are similar to those of the linear guide rail of the first telescopic mechanism, and the description is omitted herein again.

Based on such a structure, the working principle of the first handling device 2 is as follows:

after receiving the conveying instruction, firstly, the first traveling mechanism 21 of the first conveying device 2 travels from the current position to the horizontal coordinate position of the target container on the shelf 1, the first lifting mechanism drives the lower container taking and placing mechanism 22 to reach the vertical coordinate position of the target container, and the upper container taking and placing mechanism 22 reaches above the target container.

Secondly, the first-stage telescoping mechanism of the upper-layer container taking and placing mechanism 22 drives the telescoping frame 221 to extend out a first distance relative to the base plate 220 in the direction close to the shelf 1, then the second telescoping mechanism drives the two telescoping arms 222 to extend out a second distance relative to the telescoping frame 221 in the direction close to the shelf 1 so as to enable the two telescoping arms 222 to be located at two sides of the target container, then the grabbing driving mechanism drives the two telescoping arms 222 to move in the direction close to each other to clamp the container above the target container, and finally the first-stage telescoping mechanism and the second-stage telescoping mechanism sequentially or simultaneously drive the telescoping frame 221 and the two telescoping arms 222 to retract in the direction far from the shelf 1 to place the container on the base plate 220 or keep the current state.

Again, the lower pick-and-place container mechanism 22 repeats the operation of the upper pick-and-place container mechanism to place the target container on its own substrate 220.

Then, the upper pick-and-place container mechanism 22 reversely executes the step of taking out the container from the shelf 1, and directly puts the container clamped by the upper pick-and-place container mechanism back to the shelf 1, or the first lifting mechanism drives the upper pick-and-place container mechanism 22 to lower the height dimension of the target container and then puts other containers back to the shelf 1.

Meanwhile, the first lifting mechanism drives the lower container taking and placing mechanism 22 to descend to the temporary storage position of the shelf 1, the first-stage telescopic mechanism and the second-stage telescopic mechanism drive the telescopic frame 221 and the two telescopic arms 222 to extend to the temporary storage position where the target container reaches the shelf 1 in the direction close to the shelf, then the grabbing driving mechanism drives the two telescopic arms 222 to move oppositely along the directions far away from each other to place the target container on the temporary storage position, and finally the first-stage telescopic mechanism and the second-stage telescopic mechanism drive the telescopic frame 221 and the two telescopic arms 222 to retract to the initial position in the direction far away from the shelf 1.

It should be noted that, the first-stage telescoping mechanism and the second-stage telescoping mechanism of the present disclosure both adopt a structure in which a telescoping motor is matched with a chain transmission mechanism, and it can be understood that the first-stage telescoping mechanism and the second-stage telescoping mechanism also can adopt a structure in which a driving motor is matched with a belt transmission mechanism or a rack-and-pinion transmission mechanism.

Obviously, the container taking and placing mechanism 22 of the present embodiment has a two-stage telescopic structure, on one hand, the telescopic stroke of the mechanism can be increased, and a double-extension container taking and placing mechanism is formed, that is, two containers sequentially placed on the same layer of the storage rack 1 along the telescopic direction can be taken and placed, so that the application range of the container taking and placing mechanism is expanded.

On the other hand, if the container taking and placing mechanism 11 is a single-extension container taking and placing mechanism, the two-stage telescoping mechanism is used to achieve the extension length, that is, the telescoping frame 221 is telescoped relative to the base plate 220, and the two telescoping arms 222 are telescoped relative to the telescoping frame 221, so as to avoid the problem of deformation caused by an excessively long relative extension stroke of the two components.

During the process of taking and placing the container or extending and retracting the container carried by the container taking and placing mechanism 22, the first carrying device 2 may tilt to the side close to the shelf 1 due to the shift of the center of gravity, and there is a risk of tipping.

To this end, the first handling device 2 further comprises an auxiliary support mechanism telescopically arranged on the first travelling mechanism 21 and configured to be retracted onto the first travelling mechanism 21 when the first travelling mechanism 21 is travelling and to be extended in a direction close to the pallet 1 and supported on the ground when the pick-and-place container mechanism 22 picks and places containers from the pallet 1.

In detail, the auxiliary support mechanism includes a telescopic bar 26, a support block 27 provided at a free end of the telescopic bar 26, and a universal wheel (not shown in the drawings) rotatably provided on the support block 27.

The telescopic rod 26 is telescopically disposed on the first traveling mechanism 21, the telescopic rod 26 may be a piston rod of an air cylinder or a hydraulic cylinder, and a cylinder body of the air cylinder or the hydraulic cylinder is embedded in the first traveling mechanism 21.

When the cylinder or the hydraulic cylinder is started, the telescopic rod 26 drives the supporting block 27 to extend towards the direction close to the shelf 1, the supporting block 27 is supported on the ground through the universal wheel, and the universal wheel provides a supporting point for the gantry structure, so that the problem that the second carrying device 2 turns on one side in the process of taking and placing containers is prevented, and the working stability and the reliability of the second carrying device 2 are ensured.

At this time, the first conveyance device 2 conveys the target container from the storage position of the rack 1 to the temporary storage position, and when receiving the conveyance instruction, the second conveyance device 3 conveys the container on the temporary storage position to the table for the worker or the sorting device to sort.

In detail, referring to fig. 5, the second transfer apparatus 3 includes a second traveling mechanism 30, a crane 31, and a carrier tray 32. Wherein the crane 31 is fixed on the second running gear 30, and a carrying tray 32 is provided at the top end thereof, and the carrying tray 32 is configured to place the container.

The second handling device 3 is configured to drive the crane 31 to lift the carrier tray 32 to pass through the gap between the two support members and lift the container on the support members, and then drive the second traveling mechanism 30 to travel until the container is moved off the shelf and to the workstation for the picking process.

After the picking is completed, the second transporting device 3 is further configured to receive the picked container at the workbench, and is driven to the storage rack 1 by the second traveling mechanism 30, and then passes through the gap between the two supporting members until the container completely reaches the position above the temporary storage position, and then the crane 31 is driven to drive the carrier tray 32 to descend until the container is placed on the two supporting members, and finally leaves the storage rack 1 to return to the initial position for the next transporting task.

Wherein the second running gear 30 may be an AGV cart.

The lifting frame 31 can be a piston rod of an air cylinder or a hydraulic cylinder, a cylinder body of the lifting frame is fixedly arranged on the second walking mechanism 30, the bearing disc 32 is fixedly arranged at the free end of the piston rod, and the piston rod drives the bearing disc 32 to lift along with the hydraulic oil or gas entering and exiting the respective cylinder body so as to lift the container.

The lifting frame 31 can also be a telescopic connecting rod mechanism which is hinged and combined by a plurality of rod pieces to bear.

Of course, the crane may also comprise a support, a motor and a power transmission mechanism, which functions as a transmission mechanism for converting the rotation of the motor into a linear motion, such as a rack and pinion transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, etc.

In detail, when the lifting frame adopts a rack-and-pinion transmission mechanism, the rack extends along the vertical direction and is fixedly connected to the bracket, and the pinion meshed with the rack is rotatably arranged on the bearing tray 32.

After the motor is started, the driving gear drives the bearing plate 32 to lift along the extending direction of the rack.

When the lifting frame adopts a belt transmission mechanism, two transmission wheels of the lifting frame are vertically arranged on the bracket at intervals in a rotatable mode, a transmission belt of the lifting frame is tensioned on the two transmission wheels, and the bearing disc 32 is fixedly arranged on the transmission belt.

After the motor is started, it drives one of the driving wheels to rotate, and then the driving belt drives the bearing plate 32 to lift.

When the lifting frame adopts a chain transmission mechanism, two chain wheels of the lifting frame are vertically arranged on the bracket at intervals in a rotatable mode, the chain of the lifting frame is tensioned on the two chain wheels, and the bearing disc 32 is fixedly arranged on the chain.

After the motor is started, it drives one of the chain wheels to rotate, and then the chain drives the bearing plate 32 to lift.

Second embodiment

Compared with the first embodiment, the largest difference of the storage system in this embodiment is the shelf structure, specifically, the shelf in this embodiment includes a plurality of storage positions vertically arranged in sequence at intervals. Here, different points between the shelf of the present embodiment and the shelf of the first embodiment are described in detail with reference to fig. 7 and 8, and the same points between the two will not be described again in order to keep the text concise.

In addition, the reference numerals of the first embodiment are used along with those of the same components in the present embodiment.

Referring to fig. 8, in the present embodiment, the shelf 1 includes a plurality of storage locations vertically arranged in sequence at intervals, and each storage location is configured to store a plurality of containers vertically stacked. For a better understanding, please refer to fig. 7 together.

In detail, on the basis of the first embodiment, the leg members forming the temporary storage position in the shelf 1 in this embodiment extend in the vertical direction, and the shelf 1 further includes three second horizontal beams 17 sequentially fixed on two sets of leg members at intervals and a plurality of third connecting rods 18 sequentially connected to two adjacent second horizontal beams 17 at intervals.

It should be noted that the number of the second horizontal beams 17 may be selected based on the actual size of the shelf 1, and may be an integer number of two, four, etc., and is not limited herein.

So, goods shelves overall structure all forms by the combination of modes such as member such as welding or fastener connection are assembled by members such as standard shaped steel in this embodiment, simple structure, the realization of being convenient for.

Of course, the pallet of the present disclosure may also include a plate structure, such as a deck, secured directly to both sets of leg members and configured for vertically stacking a plurality of containers.

Third embodiment

Compared with the first embodiment, the most important difference of the storage system in this embodiment lies in the specific structure of the first conveying device, especially the specific structure and operation principle of the door frame and the first pick-and-place container mechanism, and only these two differences will be described in detail with reference to fig. 9 to 11.

In detail, the gantry 20 includes two stand frames 203 disposed in parallel with each other and a top frame 201 connecting the two stand frames 203.

The upright frame 203 is a square frame structure formed by connecting and enclosing a bottom frame, a top frame, a left frame and a right frame, and the top frame 201 is a square frame structure formed by connecting and enclosing four top frames.

Obviously, compare with two first embodiments, the portal of this implementation is two portal structures, supports powerful height, very big improvement first haulage equipment get put and transport stability and reliability of container in-process.

In detail, the pick-and-place receptacle mechanism 22 of the present embodiment includes two fixing plates 223 respectively provided on the two column frames 203 of the gantry in a liftable and lowerable manner, and two clamp arms 224 respectively provided on the fixing plates 223 in a retractable manner, and the two clamp arms 224 respectively provided on the two fixing plates 223 are movable toward each other with respect to the respective fixing plates 223 to clamp or release the receptacle.

More specifically, the pick-and-place mechanism 22 includes two lifting driving mechanisms respectively disposed on the two upright frames 203, and the lifting driving mechanisms drive the fixing plate 223 to lift relative to the gantry 20 so as to drive the holding arm 224 thereon to lift relative to the gantry 20 to the vertical coordinate of the target container.

The elevating drive mechanism includes a motor (not shown), a driving shaft 225, a driven shaft 226, and a belt 227. Wherein, a driving shaft 225 and a driven shaft 226 are rotatably provided on the column frame 203, the motor is configured to drive the driving shaft 225 to rotate, the transmission belt 227 is tensionally provided on the driving shaft 225 and the driven shaft 226, and the fixing plate 223 is fixedly provided on the transmission belt 227.

When the motor is activated, the belt 227 moves around the driving shaft 225 and the driven shaft 226 to lift the fixing plate 223 relative to the gantry 20.

The conveyor belt 227 moves between the two shafts, and the moving process has the risk of shaking left and right, so that the moving stability of the clamping arm 224 is influenced.

For this reason, in this embodiment, set up two linear guide that set up respectively in fixed plate 223 both sides on the stand frame 203, linear guide's track sets firmly on stand frame 203 and extends along vertical direction, sets firmly on fixed plate 223 with track sliding fit's slider.

When the lifting driving mechanism drives the fixing plate 223 to lift, the linear guide rail plays a guiding role to ensure the stability of the lifting movement.

It should be noted that the two container taking and placing mechanisms 22 of the first handling apparatus 2 share the same lifting mechanism,

the two clamping arms 224 are telescopically arranged on the fixing plate 223 by a set of screw nut transmission mechanisms, specifically, the screw is rotatably arranged on the fixing plate 223, and is driven by a motor to rotate so as to drive the nut block to move towards or away from the telescopic motion of the shelf 1, see fig. 4, so as to be inserted into the left and right sides of the container on the shelf 1.

Likewise, the two gripper arms 224 can be moved toward and away from each other by another set of spindle nut drives to hold a container on the shelf or release a container held by it.

Based on such a structure, the working principle of the first handling device 2 is as follows: after receiving the conveying instruction, the first traveling mechanism 21 of the first conveying apparatus 2 travels from the current position to the horizontal coordinate position of the target container on the shelf 1, the motor drives the driving shaft 225 to rotate, and the conveyor belt 227 goes up and down around the driving shaft 225 and the driven shaft 226, so that the fixing plates 223 and the upper clamping arms 224 of the two container taking and placing mechanisms 22 go up and down until the container taking and placing mechanisms 22 on the lower layer reach the vertical coordinate position of the target container.

Then, the two gripper arms 224 of the upper stage drive pick-and-place container mechanism 22 are extended from the respective fixing plates 223 to insert other containers stacked on the target container, and the two gripper arms 224 are moved toward each other to grip the containers.

The two holding arms 224 of the lower pick-and-place container mechanism 22 perform the same operation to hold and retract the target container onto their respective fixing plates 223, and then the upper pick-and-place container mechanism 22 is driven to directly place the held container back onto the shelf 1, or the upper pick-and-place container mechanism 22 is driven to lower the height dimension of the target container and then place the other containers back onto the shelf 1.

At the same time, the lower pick-and-place mechanism 22 is lowered to the temporary storage position of the shelf 1, and the two gripping arms 224 thereof extend from the gantry 20 to the temporary storage position of the shelf 1, and then the two gripping arms 224 are driven to move in the direction away from each other to place the target container on the temporary storage position, and finally retract into the gantry 20.

When the gripping arm 224 is used to pick up or take down a container or to extend or retract a container, the first carrier 2 may tilt toward the side close to the shelf 1 due to the shift of the center of gravity, which may cause a risk of tipping.

To this end, the first handling device 2 further comprises an auxiliary support mechanism which is telescopically arranged on the first travelling mechanism 21 and is configured to be retracted onto the first travelling mechanism 21 when the first travelling mechanism 21 is travelling and to be extended in a direction close to the shelf 1 and supported on the ground when the pick-and-place container mechanism picks and places containers from the shelf 1.

It should be noted that the specific structure and the operation principle of the auxiliary supporting mechanism are the same as those of the auxiliary supporting mechanism in the first embodiment, and those skilled in the art can fully understand based on the contents described in the first embodiment, and therefore, the detailed description is omitted here.

The first transfer device 2 in the present embodiment may be used in combination with the rack in the second embodiment.

Fourth embodiment

The present embodiment is different from the first embodiment in the first conveyance apparatus. In order to keep the text simple, the following only describes the specific structure and the operation principle of the first handling apparatus in the present embodiment with reference to fig. 12 to 17, and it is understood that the first handling apparatus can be used with the rack and the second handling apparatus in the first and second embodiments.

Referring to fig. 12, in the present embodiment, the first carrying device 2 includes a gantry 20 and a first traveling mechanism 21, and the structures of the two parts are substantially the same as those of the previous embodiments, and are not described herein again. The first handling device 2 comprises two pick-and-place container mechanisms 22 vertically arranged in sequence, and each pick-and-place container mechanism 22 comprises two telescopic arm assemblies respectively arranged on two upright posts 200 of the gantry 20, and the two telescopic arm assemblies can synchronously lift relative to the gantry 20 through a lifting driving mechanism and can synchronously horizontally telescope relative to the gantry 20 so as to pick up a container on the shelf or place the container on the shelf.

In detail, referring to fig. 13 and 14, each telescopic arm assembly includes a base plate 220, a first telescopic arm 2280 and a second telescopic arm 2290. To facilitate a better understanding of the specific structure of the telescopic arm assembly, please also refer to fig. 15-17, which are front, rear and side views, respectively, of the single telescopic arm assembly of fig. 12.

The base 220 is a square plate, and is disposed on the column 200 in a liftable manner by a lifting driving mechanism.

The lifting driving mechanism comprises a lifting motor fixedly arranged on the first travelling mechanism 21 and a synchronous belt transmission mechanism arranged on the stand column, the lifting motor drives a synchronous belt of the synchronous transmission mechanism to move up and down along the extending direction of the stand column, and the substrate 220 is arranged on a single-side belt of the synchronous belt so as to lift along with the extension of the stand column along with the synchronous belt.

In this embodiment, the two telescopic arm assemblies of the container taking and placing mechanism 22 are lifted and lowered synchronously by using the same lifting motor, so that the two telescopic arm assemblies are lifted and lowered synchronously by using the simplest structure.

Specifically, all set up synchronous belt drive mechanism on every stand 200, elevator motor passes through shaft coupling or drive mechanism transmission with one of them synchronous belt drive mechanism's synchronous pulley and is connected, be connected through the transmission shaft between this synchronous pulley of being connected with elevator motor transmission and another synchronous belt drive mechanism's the synchronous pulley, when starting elevator motor, driving motor drives two synchronous belt drive mechanism's synchronous belt synchronous motion through this transmission shaft, then drive the base plate 220 synchronous motion that sets up on each synchronous belt, change driving motor's the direction of motion that can switch the hold-in range that turns to, so that drive base plate 220 rises or descends.

With continued reference to fig. 13 and 14, the first telescopic arm 2280 is telescopically disposed on the base plate 220 via a linear guide mechanism, specifically, the first linear guide 2285 of the linear guide mechanism is fixedly disposed on the base plate 220 and extends along a horizontal direction, and the first slider 2286 is fixedly disposed with the first telescopic arm 2280 and is in sliding fit with the first linear guide 2285. The first telescoping arm 2280 is telescoped in a horizontal direction relative to the base plate 220 along the first linear guide 2285 by a telescoping drive mechanism to retrieve or place a container from or on the shelf.

The telescopic driving mechanism includes a telescopic motor 2281 and a synchronous belt transmission mechanism driven by the telescopic motor 2281, the synchronous belt transmission mechanism includes a driving synchronous pulley 2282 and a first driven synchronous pulley 2283 rotatably disposed on the base plate, and a first synchronous belt 2284 tensioned by the two synchronous pulleys, a plurality of teeth are disposed on an outer belt surface of the first synchronous belt 2284 along a length direction thereof, a plurality of teeth are also disposed on an opposite side of the first telescopic arm 2280 to the outer belt surface, and the teeth of the first synchronous belt 2284 and the teeth of the first telescopic arm 2280 are engaged with each other. When the telescopic motor 2281 is activated, the first timing belt 2284 rotates, and then pushes the first telescopic arm 2280 to be horizontally telescopic with respect to the base plate 220.

The flexible arm 2290 of second also sets up on first flexible arm 2280 telescopically through linear guide mechanism, specifically, linear guide mechanism's second linear guide 2293 sets firmly on first flexible arm 2280 and extends along the horizontal direction, and second slider 2294 sets firmly the flexible arm 2290 of second, and with second linear guide 2293 sliding fit.

A second driven timing pulley 2287 and a third driven timing pulley 2291 are rotatably provided on the first telescopic arm 2280, one ends of both of the second timing belt 2288 and the third timing belt 2292 are fixedly connected to the base plate 220, the other ends thereof are fixedly connected to the second telescopic arm 2290, the second timing belt 2288 is tensioned by the second driven timing pulley 2287, the third timing belt 2292 is tensioned by the third driven timing pulley 2291, and the second timing belt 2288 and the third timing belt 2292 are open toward the opposite side after being tensioned.

When the telescopic motor 2281 is started, the first timing belt 2284 pushes the first telescopic arm 2280 to extend out from the base plate 220 side, and meanwhile, the second timing belt 2288 pulls the second telescopic arm 2290 to extend out from the first telescopic arm 2280 side until the limit extension position or the extension position preset by the user, and then the telescopic motor 2281 is controlled to stop.

When starting flexible motor 2281 reverse rotation, first hold-in range 2284 promotes first flexible arm 2280 and contracts to base plate 220 side, and third hold-in range 2292 pulls second flexible arm 2290 and contracts to first flexible arm 2280 side simultaneously, and after the position of drawing in limit or the preset position of drawing in of user, control flexible motor 2281 shut down.

With continued reference to fig. 13 and 14, the third telescopic arm 2290 is further provided with a lift lever motor 2296 and a lift lever 2295 fixed at an output shaft end of the lift lever motor 2296, and the lift lever 2295 is driven by the lift lever motor 2296 to rotate to extend out from the inner side of the third telescopic arm 2290 to abut against the flanged bottom surface of the container and to be lifted up along with the base plate 220, or to rotate to lower the container.

Based on the above-mentioned telescopic arm assembly structure, the container taking and placing process of the container taking and placing mechanism 22 is as follows:

s1, after receiving an instruction of conveying a container, the first conveying equipment 2 moves along with the first travelling mechanism 21 to reach a horizontal position coordinate where a target container on a shelf is located, and two telescopic arm assemblies of an upper layer container taking and placing mechanism 22 lift to the upper side of the target container under the action of a lifting driving mechanism of the telescopic arm assemblies.

S2, starting a telescopic motor 2281, driving a first telescopic arm 2280 to extend out of the base plate 220 side by a first synchronous belt 2284, and driving a second telescopic arm 2290 to extend out of the first telescopic arm 2280 side to a container side inserted above a target container by a second synchronous belt 2288;

s3, starting a lifting rod motor 2296, and enabling two lifting rods 2295 on the two telescopic arm assemblies to rotate to extend out of the inner sides of the respective second telescopic arms 2290 to reach the lower end face of the container flanging or abut against the lower end face;

s4, starting the lifting driving mechanism again to drive the upper layer container taking and placing mechanism 22 to ascend to take the containers away from the target container;

s5, the lower-layer container taking and placing mechanism 22 executes the partial operation, S2 and S3 of the step S1 to take out the target container on the shelf;

s6, starting the telescopic motor 2281 to rotate reversely, enabling the two telescopic arm assemblies to carry the target container, enabling the respective first synchronous belts 2284 to drive the first telescopic arms 2280 to be contracted to the side of the base plate 220, and meanwhile enabling the third synchronous belts 2292 to drive the second telescopic arms 2290 to be contracted to the side of the first telescopic arms 2280, namely, the target container is located between the two base plates 220 or the two upright posts 200, or the target container is directly placed on a shelf located on the other side of the first carrying device 2, or the container taking and placing mechanism 22 carries the target container to a temporary storage position for storage.

And S7, at the same time, the container taking and placing mechanism 22 on the upper layer reversely moves to the container for placing the whole stack of containers below the target container, and finally the telescopic arm assembly is contracted to a folded state for executing the next carrying instruction.

Obviously, the telescopic arm assembly in this embodiment adopts a two-stage telescopic structure, and when the two telescopic arms are in a furled state, the telescopic arm assembly is accommodated between the two upright posts 200 of the gantry 20, so that the horizontal space occupied by the whole structure is small, and the roadway between the shelves can conveniently run.

Furthermore, the telescopic arm assembly may be bi-directionally telescopic, i.e. extending from the left side of the mast 20 or from the right side thereof, so that it may access containers on the racks on the left and right sides of the first handling device 2.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the market, 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

1. A warehousing system, comprising:

a shelf (1) having vertically spaced storage and staging locations, the storage location being located above the staging location and configured to store a plurality of containers in a vertical stack;

the first carrying equipment (2) is provided with two container taking and placing mechanisms (22) which are vertically and sequentially arranged; and the number of the first and second electrodes,

the first handling device (2) is configured to drive the upper pick-and-place container mechanism (22) to remove other containers stacked on the target container, drive the lower pick-and-place container mechanism (22) to take out the target container and place the target container in the temporary storage position, and drive the upper pick-and-place container mechanism (22) to place other containers back on the storage position again;

a second handling device (3) configured to travel below the staging position and to handle the target container on the staging position to a work bench for pick processing.

2. The warehousing system according to claim 1, characterized in that said second handling device (3) is also configured to handle target containers from said work station to said staging position;

the first handling device (2) is further configured to drive the pick-and-place container mechanism (22) to carry the target container from the staging location onto the storage location.

3. The warehousing system of claim 2, wherein the shelf comprises:

a first horizontal beam (12) connecting the two sets of leg members to form a support structure placed on the bearing surface;

a plurality of support members arranged on the first horizontal beam (12) at intervals in sequence along the extension direction of the first horizontal beam (12) and configured for carrying containers;

the gap between two adjacent support members is configured for the first handling device (2) and/or the second handling device (3) to take out or place a container on the support member.

4. The warehouse system according to claim 3, characterized in that a plurality of said support members are configured to store only a plurality of containers arranged in succession along the extension direction of said first horizontal cross-member (12); or,

the plurality of support members being configured to store only a plurality of containers arranged along a direction perpendicular to the extension direction of the first horizontal cross member (12); or,

the plurality of support members is configured as a plurality of containers arranged in sequence along the extension direction of the first horizontal beam (12) and a plurality of containers arranged in sequence perpendicular to the extension direction of the first horizontal beam (12).

5. The warehousing system of claim 3, wherein the support member comprises:

the two supporting rods (13) are sequentially arranged on the first horizontal cross beam (12) at intervals along the extending direction of the first horizontal cross beam (12); and,

a second connecting rod (14) connecting the two support rods (13); alternatively, the support member includes:

and the two support rods (13) are sequentially arranged on the first horizontal beam (12) at intervals along the extension direction of the first horizontal beam (12).

6. The warehousing system according to claim 3, characterized in that said leg means comprise at least two legs (10) spaced in sequence perpendicular to said first horizontal beam (12), and in that two adjacent legs (10) are connected by a first connecting rod (11).

7. Warehouse system according to claim 6, characterized in that the height clearance between said first connecting rod (11) and the load surface and the horizontal clearance between two adjacent legs (10) are sufficient for said second handling device (3) to pass under said first connecting rod (11).

8. Warehouse system according to claim 3, characterized in that it comprises at least two said racks (1), at least two said racks (1) being spliced along the extension of said first horizontal beam (12), and two adjacent said racks (1) sharing one said support member at the splice.

9. Storage system according to claim 1, characterized in that said shelf (1) comprises at least two layers of said storage bits arranged vertically one after the other.

10. Warehouse system according to claim 3, characterized in that said shelf (1) further comprises:

at least two second horizontal cross beams (17) which are fixedly arranged on the two groups of the supporting leg components at intervals in sequence;

and the third connecting rods (18) are sequentially connected to two adjacent second horizontal cross beams (17) at intervals.

11. Warehouse system according to any one of claims 1 to 10, characterized in that said pick-and-place container mechanism (22) comprises:

a base plate (220) configured to be arranged in a liftable manner on a gantry (20) of the first conveyance device (2) by a first lifting mechanism;

a telescopic frame (221) configured to be telescopically disposed on the base plate (220) by a first stage telescopic mechanism;

two telescopic arms (222) configured to be telescopically arranged at the telescopic frame (221) by a second stage telescopic mechanism, and the two telescopic arms (222) are controlled by a grabbing driving mechanism to move towards or away from each other so as to grab or release a container.

12. The warehousing system of claim 11, wherein the first stage telescoping mechanism comprises:

a first stage telescoping motor (2210);

two first-stage telescopic chain wheels (2211) which are rotatably arranged on the base plate (220), wherein the first-stage telescopic motor (2210) drives one first-stage telescopic chain wheel (2211) to rotate;

the first-stage telescopic chain (2212) is configured to be in tensioning engagement between the two first-stage telescopic chain wheels (2211) and drive the telescopic frame (221) to be telescopic relative to the base plate (220).

13. The warehousing system of claim 11, wherein said second stage telescoping mechanism comprises:

a second-stage telescopic motor (2220) configured to drive a second-stage telescopic transmission shaft (2221) to rotate;

the two second-stage telescopic chain transmission mechanisms are respectively arranged on two sides of the telescopic frame (221), the second-stage telescopic chain is driven to rotate by the second-stage telescopic motor (2220) through the second-stage telescopic transmission shaft (2221), and the second-stage telescopic chain drives the two telescopic arms (222) to stretch relative to the telescopic frame (221).

14. The warehousing system of claim 11, wherein said grasping drive mechanism comprises:

a grip motor (2250);

the lead screws (2251) of the two lead screw nut transmission mechanisms are coaxial and have opposite screwing directions, and the nut block (2252) is provided with the telescopic arm (222);

the grabbing motor (2250) drives the two lead screws (2251) to rotate.

15. A warehousing system according to any one of claims 1 to 10, characterized in that said first handling device (2) further comprises:

the auxiliary supporting mechanism is arranged on the first travelling mechanism (21) of the first carrying device (2) in a telescopic mode and is configured to be retracted onto the first travelling mechanism (21) when the first travelling mechanism (21) travels, and extend to the direction close to the shelf (1) and support on a bearing surface when the container taking and placing mechanism (22) takes and places containers from the shelf (1).

16. The warehousing system of claim 15, wherein the secondary support mechanism comprises:

a telescopic rod (26) telescopically arranged on the first travelling mechanism (21);

a support block (27) arranged at the free end of the telescopic rod (26);

the universal wheel is rotatably arranged on the supporting block (27) and is configured to be supported on the bearing surface.

17. Warehouse system according to any one of claims 1 to 10, characterized in that said pick-and-place container mechanism (22) comprises:

two fixing plates (223) respectively arranged at two sides of the gantry of the first carrying equipment in a lifting manner;

two gripping arms (224) telescopically arranged on the two fixing plates (223), and the two gripping arms (224) can move towards each other relative to the respective fixing plates (223) to grip the container or release the container; or, the container taking and placing mechanism (22) comprises:

two telescopic arm assemblies, set up respectively on two stands (200) of portal (20) of first haulage equipment, and telescopic arm assembly includes:

a base plate (220) which is arranged on the upright post (200) in a lifting manner;

a first telescopic arm (2280) which is arranged on the base plate (220) in a horizontally telescopic manner;

a second telescopic arm (2290) provided on the first telescopic arm (2280) in a horizontally telescopic manner;

a telescopic driving mechanism configured to drive the first telescopic arm (2280) to be telescopic relative to the base plate (220) and to enable the second telescopic arm (2290) to be synchronously telescopic relative to the first telescopic arm (2280);

a lift lever (2295) configured to rotate relative to the second telescoping arm (2290) to protrude from the inside of the second telescoping arm (2290) and to ascend with the base plate (220) to lift a container.

18. Warehouse system according to claim 3, characterized in that said second handling device (3) comprises:

a second traveling mechanism (30);

the lifting frame (31) is fixedly arranged on the second travelling mechanism (30);

a carrying tray (32) disposed at a top end of the lifting frame (31), the carrying tray (32) being configured to place a container;

the second carrying device (3) is configured to drive the lifting frame (31) to drive the carrying tray (32) to ascend to pass through the gap between the two support members, lift the container on the support members, and drive the second walking mechanism (30) to walk to carry the container away from the shelf (1) and reach a workstation; or the second travelling mechanism (30) is driven to drive the bearing disc (32) with the container to enter a gap between two adjacent supporting members, and the lifting frame (31) is driven to drive the bearing disc (32) to descend until the container is placed on the two adjacent supporting members.

19. A pallet, characterized in that the pallet comprises:

the gap between two adjacent support members is configured for the first handling device (2) and/or the second handling device (3) to take out or place a container on the support member;

the support member includes:

the two support rods (13) are sequentially arranged on the first horizontal beam (12) at intervals along the extension direction of the first horizontal beam (12);

and the second connecting rod (14) is connected with the two supporting rods (13).