CN219362155U - Warehouse system - Google Patents

Abstract

The disclosure relates to a warehousing system, which comprises a supporting platform, a first picking and placing mechanism and a second picking and placing mechanism. The bottom of the support platform forms a first storage area for storing objects, and the top of the support platform forms a second storage area for storing objects. The first picking and placing mechanism and the second picking and placing mechanism are respectively used for picking and placing the target object in the first storage area and the target object in the second storage area. When the target object moves to a preset position, the target object is transferred between the first picking and placing mechanism and the second picking and placing mechanism. The warehousing system of the present disclosure divides the storage area into a plurality of areas in the height direction to get through first getting and putting mechanism, second and put the mechanism and make the target object transfer in the storage area on the different height, the storage area sets up in the height direction is concentrated, can reduce its space size that occupies, is favorable to equipment integration, miniaturized setting, is favorable to improving the transfer efficiency of target object yet.

Description

Warehouse system

Technical Field

The present disclosure relates to the field of logistics transportation, and more particularly, to a warehousing system.

Background

At present, an automatic warehousing system is increasingly applied to various civil and industrial warehousing fields. With the continuous development of the logistics transportation industry, the articles to be transported and stored are increasingly more and more, and the space requirement on the storage sites is also continuously increased. However, the storage sites have high cost and cannot realize infinite expansion, and based on the infinite expansion, dense storage becomes a new storage mode so as to adapt to the development requirement of the warehouse system.

Ex-warehouse and in-warehouse are the two most common operations in a logistics warehouse, representing the "ex" and "in" of the goods in the warehouse, respectively. In the existing solutions, the ex-warehouse service and the in-warehouse service can be processed respectively in different time periods through the workstation, so as to maximize the use efficiency of the workstation. However, after the movable goods shelf reaches the appointed place, the goods are transferred and taken and placed through the box taking mechanism, the quantity of the goods taken and placed by the box taking mechanism is limited, and the task of entering and exiting can be completed only by repeated taking and placing operations for many times. The visual positioning is needed once for each taking and placing, and the resources of the goods shelf and the robot are occupied for a long time by virtue of multiple times of positioning, so that the resource waste is caused. In addition, the storage space is large, the storage positions of the shelves are concentrated, and the utilization rate of the upper space in the warehouse storage space is always low. How to optimize the storage and taking of goods shelf containers and fully utilize the storage resources of the upper space is one of the problems to be solved in the prior art.

Disclosure of Invention

The present disclosure provides a warehousing system for solving the problems existing in the prior art.

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

the support platform is provided with a first storage area for storing objects at the bottom and a second storage area for storing objects at the top;

the first picking and placing mechanism and the second picking and placing mechanism are respectively used for picking and placing the target object in the first storage area and the target object in the second storage area;

when the first picking and placing mechanism and the second picking and placing mechanism are configured to move to the preset positions, the target object is transferred between the first picking and placing mechanism and the second picking and placing mechanism.

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

a first motion assembly configured to move within a first storage region;

a first picking and placing assembly connected below the first moving assembly and configured to move in a height direction to hoist a target object stored in a first storage area; or placing the target object on the first picking and placing component in the first storage area.

In one embodiment of the disclosure, the first picking and placing assembly is configured to carry the object located at the first position after being driven by the first moving assembly to move to the first position of the first storage area; the first picking and placing component is configured to place the target object at a second position after being driven by the first moving component to move to the second position of the first storage area.

In one embodiment of the present disclosure, the first motion assembly includes an X-axis motion unit and a Y-axis motion unit; the first picking and placing component is configured to move along the X-axis direction under the drive of the X-axis moving unit and move along the Y-axis direction under the drive of the Y-axis moving unit.

In one embodiment of the disclosure, the first picking and placing assembly is connected to the first moving assembly through a Z-axis moving unit and is driven by the Z-axis moving unit to move along the Z-axis direction.

In one embodiment of the present disclosure, the first pick-and-place assembly includes a protective frame having a lower end opening; the protective frame is configured to be sleeved outside the target object.

In one embodiment of the present disclosure, the first pick-and-place assembly is configured to pick and place the target object by means of a clamping, 5-grip, clasping, magnetic attraction, negative pressure attraction, or snap fit.

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

a second motion assembly configured to move within a second storage region;

a second picking and placing component connected below the second moving component and configured to move in the height direction so as to store the target objects in the second storage area

Lifting; or placing the target object on the second picking and placing component in the second storage area.

In one embodiment of the present disclosure, the first pick-and-place mechanism has the same or different structure as the second pick-and-place mechanism.

In one embodiment of the disclosure, the second picking and placing assembly is configured to bring up the object located at the first position after being driven by the second moving assembly 5 to move to the first position of the second storage area; the second picking and placing component is configured to place the target object at a second position after being driven by the second moving component to move to the second position of the second storage area.

In one embodiment of the disclosure, the support platform is provided with an opposite interface; a second pick-and-place assembly located above the docking port is configured to descend through the docking port to dock with the first pick-and-place assembly located below the docking port 0.

In one embodiment of the present disclosure, a treatment station is provided on the support platform, and the second pick-and-place mechanism is configured to place the target object on the treatment station for treatment, and to pick up and place the treated target object in the second storage area, or in the first storage area via the first pick-and-place mechanism.

5 in one embodiment of the present disclosure, the target is at least one layer of a rack on which at least one container is stored; the brackets are configured to be stacked together to form a carrier; the first storage area and the second storage area are respectively configured for storing at least one carrier and/or at least one bracket.

The beneficial effects of the present disclosure lie in that, divide into a plurality of storage areas with supporting platform in the direction of height, get through first getting respectively and put mechanism, second get respectively put the mechanism and make the target object can shift in a plurality of storage areas, so realized optimizing supporting platform to the utilization ratio of upper space, reduced the space size that the goods occupy in the transportation, made the storage place can store more goods. In addition, the direct transfer of the target objects in the height direction is beneficial to shortening the path length of the transfer of the goods, reducing the time for transporting the target objects and accelerating the storage efficiency. Therefore, the warehousing system improves the storage capacity of the storage field and the transportation efficiency while improving the utilization rate of the upper space, and can be suitable for more application scenes.

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 schematic view of a part of a warehouse system according to an embodiment of the disclosure;

FIG. 2 is a schematic view of a portion of a warehousing system according to another embodiment of the disclosure;

FIG. 3 is a schematic view of a portion of a warehousing system according to another embodiment of the disclosure;

FIG. 4 is a schematic view of a part of the first pick-and-place mechanism and a rack according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a portion of a first pick-and-place mechanism and a dual-layer rack according to an embodiment of the present disclosure;

fig. 6 is a schematic view of a part of the structure of the first pick-and-place mechanism and the three-layer bracket according to an embodiment of the disclosure;

FIG. 7 is a schematic view of a portion of a carrier according to an embodiment of the disclosure;

FIG. 8 is a schematic view of a portion of a first pick-and-place mechanism and a carrier according to an embodiment of the disclosure;

fig. 9 is a schematic view of a part of a first pick-and-place mechanism and a carrier according to another embodiment of the disclosure;

fig. 10 is a schematic view of a part of a first pick-and-place mechanism and a carrier according to another embodiment of the disclosure;

FIG. 11 is a schematic view of a part of a first pick-and-place mechanism according to an embodiment of the present disclosure;

FIG. 12 is a schematic view of a portion of a first pick-and-place mechanism according to an embodiment of the present disclosure in another angle;

FIG. 13 is a flowchart of a warehousing method applied to a warehousing system according to one embodiment of the disclosure;

fig. 14 is a flowchart of a warehousing method applied to a warehousing system according to another embodiment of the disclosure;

fig. 15 is a flowchart of a warehousing method applied to a warehousing system according to another embodiment of the disclosure;

fig. 16 is a flowchart of a warehousing method applied to a warehousing system according to another embodiment of the disclosure.

The one-to-one correspondence between the component names and the reference numerals in fig. 1 to 16 is as follows:

1. a support platform; 11. a first storage area; 111. a first position; 112. a second position; 12. a second storage area; 13. an interface;

2. a first pick-and-place mechanism; 21. a first motion assembly; 211. an X-axis movement unit; 212. a Y-axis movement unit; 22. a first pick-and-place assembly; 221. a protective frame;

3. a container; 31. a bracket; 32. a carrier;

4. a second picking and placing mechanism; 41. a second motion assembly; 42. and a second picking and placing component.

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 disclosure provides a warehouse system, including supporting platform, first getting and putting mechanism, second get and put mechanism. The bottom of the supporting platform forms a first storage area for storing the target objects, and the top of the supporting platform forms a second storage area for storing the target objects. The first picking and placing mechanism and the second picking and placing mechanism are respectively used for picking and placing the target object in the first storage area and the target object in the second storage area. When the first picking and placing mechanism and the second picking and placing mechanism are configured to move to the preset positions, the target object is transferred between the first picking and placing mechanism and the second picking and placing mechanism.

The supporting platform is divided into a first storage area and a second storage area in the height direction, and the target object is transferred in the first storage area and the second storage area through the first picking and placing mechanism and the second picking and placing mechanism respectively, so that the transfer efficiency of the target object is improved. The warehousing system optimizes the utilization of the supporting platform to the upper space, improves the utilization rate of the supporting platform to the upper space, reduces the space occupied by the target in the transportation process, and enables the storage site to store more cargoes. In addition, the direct transfer of the target object in the height direction is also beneficial to shortening the path length of the goods transfer, reducing the time for transporting the target object, accelerating the storage efficiency, and enabling the warehousing system of the present disclosure to have the characteristics of high integration and high-efficiency transportation.

For ease of understanding, the specific structure of the warehousing system of the present disclosure and its principles of operation will be described in detail below in connection with one embodiment with reference to fig. 1-16.

For a clearer description of the warehousing system of the present disclosure, referring to the directions illustrated in fig. 1, in a three-axis rectangular coordinate system, two axis directions which are located in a horizontal plane and are perpendicular to each other are respectively referred to as an X-axis direction and a Y-axis direction, and a direction perpendicular to the horizontal plane is referred to as a Z-axis direction, which may also be understood as a height direction.

Referring to fig. 1-2, a warehousing system is provided in one embodiment of the present disclosure. The warehouse system comprises a supporting platform 1 with a storage function, a first picking and placing mechanism 2 and a second picking and placing mechanism 4 for transferring objects.

Wherein the bottom of the support platform 1 forms a first storage area 11 for storing objects and the top of the support platform forms a second storage area 12 for storing objects.

In one embodiment, referring to fig. 1 to 3, the support platform 1 may be a flat plate or steel frame structure supported by a plurality of legs in cooperation with reinforcing beams, and a protective fence is formed at the top of the support platform 1 along the edges thereof to prevent the articles of the second storage area 12 or the second picking and placing mechanism 4 moving within the second storage area 12 from falling.

Obviously, the warehousing system of the present disclosure divides the supporting platform 1 into the first storage area 11 and the second storage area 12 in the height direction, so as to provide the capability of storing energy for the upper space warehouse for the supporting platform 1, thereby realizing the utilization of the upper space, and being beneficial to the warehousing system to store more targets.

In addition, in the present disclosure, the objects to be handled by the first picking and placing mechanism 2 and the second picking and placing mechanism 4 may be goods, the container 3 for accommodating the goods, or the carrier 32 for storing the container 3. Those skilled in the art can determine based on the actual application scenario, and are not limited herein.

When the target object is the container 3, the container 3 may be directly stored in the first storage area 11 or the second storage area 12, or may be stored on the carrier 32, and the carrier 32 may be a fixed carrier, a mobile carrier, or a tray. The container 3 includes, but is not limited to, a container 3, a tray, a package, etc., without limitation.

The first and second picking and placing mechanisms 2 and 4 are configured to pick and place the target object in the first and second storage areas 11 and 12, respectively.

In one embodiment of the present disclosure, referring to fig. 4 and 8, the first pick-and-place mechanism 2 includes a first motion assembly 21 and a first pick-and-place assembly 22. Wherein the first moving assembly 21 is configured to move within the first storage area 11, and the first pick-and-place assembly 22 is connected below the first moving assembly 21 and configured to move in a height direction to hoist an object stored in the first storage area 11.

In detail, in one embodiment of the present disclosure, referring to fig. 5 and 6, the first moving assembly 21 includes an X-axis moving unit 211 and a Y-axis moving unit 212. The first pick-and-place assembly 22 is configured to move in the X-axis direction under the drive of the X-axis moving unit 211 and move in the Y-axis direction under the drive of the Y-axis moving unit 212.

In the present embodiment, the first movement assembly 21 is moved and transported in the first storage area 11 by the X-axis movement unit 211 and the Y-axis movement unit 212.

Specifically, in connection with fig. 2, the x-axis movement unit 211 and the Y-axis movement unit 212 are disposed at the ceiling in the bottom region of the support platform 1, so that the size of the first movement assembly 21 occupying the storage space in the first storage area 11 can be reduced, so that the first storage area 11 can store more objects. The first moving assembly 21 can move to any place in the first storage area by moving the first moving assembly 21 in the directions of the X axis and the Y axis so as to fully cover the first storage area 11, and the transfer dead angle is reduced.

In one embodiment of the present disclosure, the first pick-and-place assembly 22 is configured to be connected to the first moving assembly 21 through a Z-axis moving unit, and configured to move in a Z-axis direction under the driving of the Z-axis moving unit. Referring to fig. 6 and 8, the Z-axis movement unit can move the first pick-and-place assembly 22 up and down relative to the first movement assembly 21, so that the movement direction of the first pick-and-place assembly 22 can be limited, and after the first movement assembly 21 moves to a designated position, a target object below the position can be more accurately acquired, and the situation that the target object is offset in the moving process, so that the wrong target object is taken is avoided.

The X-axis movement unit 211 and the Y-axis movement unit 212 of the first movement assembly 21 are of a sliding rail structure laid on a plane on which the X-axis and the Y-axis lie, so that the first movement assembly 21 can move along the direction in which the rails are laid. Correspondingly, the Z-axis moving unit is a sliding rail laid on a plane on which the Z-axis lies, so that the first pick-and-place assembly 22 can move along the Z-axis moving unit in the Z-axis direction relative to the first moving assembly 21. Wherein, the X axis can be defined as extending along the horizontal direction, the Y axis can be defined as extending along the vertical direction, the Z axis can be defined as extending along the direction perpendicular to the vertical plane where the X axis and the Y axis are located, and the Z axis, the Y axis and the Z axis are mutually perpendicular coordinate systems to form a space three-dimensional coordinate system. This allows the first pick-and-place mechanism 2 to move in space in three directions, X-axis, Y-axis and Z-axis, to effect picking and placing of objects in the first storage area 11.

The slide rail structure of the present disclosure may be a conventional slide rail structure of a guide plate, a guide rod, a rail, or the like. Referring to fig. 11 and 12, the x-axis movement unit 211 and the Y-axis movement unit 212 may be rails installed in the first storage area 11 or two guide bars having different directions and connected to each other at ends. The Z-axis moving unit may be a chute or a guide hole formed on the first moving assembly 21, and the above-mentioned sliding rail structure is merely an example, and those skilled in the art may select design according to actual requirements.

In one embodiment of the present disclosure, referring to fig. 9 and 10, the first pick-and-place assembly 22 is configured to pick and place a target object by clamping, grabbing, clasping, magnetically attracting, negative pressure attracting, or snap-fit. Of course, the first picking and placing component 22 may also use other manners to pick and place the target object, and the specific manner of picking and placing the container by the first picking and placing component 22 is not limited in this disclosure. Referring to fig. 8 and 9, when the first picking and placing component 22 is located above the target object, the first picking and placing component 22 can extend or retract along the Z-axis direction, so as to pick and place the target object by hooking or unhooking the target object. Of course, the first pick-and-place assembly 22 may be configured to grasp the object in other ways.

The first pick-and-place assembly 22 is configured to carry the object located at the first position 111 after being moved to the first position of the first storage area 11 by the first moving assembly 21. The first pick-and-place assembly 22 is configured to place the object at the second position 112 after being moved to the second position 112 of the first storage area 11 by the first moving assembly 21.

In detail, referring to fig. 1 and 4, in the present embodiment, after the first moving component 21 moves above the first position 111, the first pick-and-place component 22 moves in the height direction relative to the first moving component 21, so as to grasp and bring up the object located below the first moving component 21, so that the object moves relative to the original storage position. At this time, the object moves along with the first pick-and-place mechanism 2, specifically, the first moving component 21 drives the object to move to a predetermined position, such as above the second position 112, at this time, the first pick-and-place component 22 moves relative to the first moving component 21, so as to place the object located thereon on the shelf at the second position, thereby completing the transfer of the object in the first storage area 11. In the process of transferring the target object, the warehousing system disclosed by the disclosure can fully utilize the upper space in the first storage area 11 by changing the relative position of the first pick-and-place assembly 22 relative to the first motion assembly 21, so that the interference to other target objects in the transportation process is reduced.

Obviously, the warehouse system of the present disclosure adjusts the working state of the first picking and placing mechanism 2 in the height direction, so that the warehouse system can acquire and transfer and convey the target object, which is favorable for reducing the space occupied by the first picking and placing mechanism 2 on the storage field, and is favorable for shortening the path when transferring the target object by fully utilizing the upper space in the height direction, thereby improving the transfer efficiency of the target object and enabling the equipment to be set more intensively.

Also, referring to fig. 2, the second pick-and-place mechanism 4 includes a second motion assembly 41, a second pick-and-place assembly 42. Wherein the second movement assembly 41 is configured to move within the second storage area. The second picking and placing assembly 42 is connected below the second moving assembly 41 and is configured to move in a height direction to lift the object stored in the second storage area or to place the object on the second picking and placing assembly 42 in the second storage area.

It should be noted that the structure of the second picking and placing mechanism 4 may be the same as that of the first picking and placing mechanism, that is, the second moving component 41 and the second picking and placing component 42 in the second picking and placing mechanism 4 are similar to the first moving component 21 and the first picking and placing component 22 in the first picking and placing mechanism 2, which are not described in detail herein.

In one embodiment, the second pick-and-place assembly 42 is configured to bring up the object located at the first position after moving to the first position of the second storage area under the driving of the second moving assembly 41; the second picking and placing assembly 42 is configured to place the object at the second position after being moved to the second position of the second storage area by the second moving assembly 41.

In detail, when the second picking and placing component 42 located in the second storage area 12 of the top space of the supporting platform 1 is used, the second picking and placing component 42 is driven by the second moving component 41 to move above the area where the target object is located, at this time, the second picking and placing component 42 moves downwards relative to the second moving component 41 to acquire the target object and moves upwards again, the second moving component 41 moves the target object from the first position to the second position, and after the second moving component 41 moves to the second position, the second picking and placing component 42 stores the target object in the second position in the second storage area 12, so as to complete the transferring work of the target object.

Of course, in one embodiment of the present disclosure, the structure of the first pick-and-place mechanism 2 and the structure of the second pick-and-place mechanism 4 may also be different. As long as the second pick-and-place mechanism 4 has a function of picking and placing the target object in the second storage area 12 and carrying it to a predetermined position, the present disclosure is not limited thereto.

As described above, the first picking and placing mechanism 2 and the second picking and placing mechanism 4 of the present disclosure move in the first storage area 11 and the second storage area 12, respectively, and can pick and place the target object. In addition, when the first picking and placing mechanism 2 and the second picking and placing mechanism 4 are configured to move to the preset positions, the target objects are transferred between the first picking and placing mechanism 2 and the second picking and placing mechanism 4, so that the purpose of transferring the target objects between the first storage area 11 and the second storage area 12 can be achieved while the storage area height space is fully utilized and the target objects are stored and transported in the storage areas with different heights.

In order to improve the accuracy of the transfer of the target in the height direction and avoid the influence of excessive transfer work on the storage space sizes of the first storage area 11 and the second storage area 12. In one embodiment of the present disclosure, referring to fig. 2 and 3, the docking port 13 is provided on the support platform 1, and the second pick-and-place assembly 42 located above the docking port 13 is configured to descend through the docking port 13 to interface with the first pick-and-place assembly 22 located below the docking port 13.

When in use, after the first pick-and-place component 22 of the first pick-and-place mechanism acquires the target object, the first moving component 21 moves to the area where the docking port 13 is located. At the same time, the second pick-and-place assembly 42 located in the second storage area 12 is also moved to the area of the docking port 13 by the second moving assembly 41, and the second pick-and-place assembly 42 descends until passing through the docking port 13 to dock with the first pick-and-place assembly 22 located therebelow. After docking, the second pick-and-place assembly 42 obtains the object from the first pick-and-place assembly. After the object is obtained, the second pick-and-place assembly 42 moves up and back to the second storage area, and then moves the object to a predetermined place under the driving of the second moving assembly 41, so as to complete the task of transferring and storing the object from the first storage area 11 to the second storage area 12.

On the contrary, when the second pick-and-place assembly 42 of the second pick-and-place mechanism 4 obtains the target object in the second storage area 12, the second moving assembly 41 moves to the area of the docking port 13 based on the handling instruction. At the same time, the first pick-and-place assembly 22 located in the first storage area 11 will be moved to the area of the docking port 13 by the first moving assembly 21, and the second pick-and-place assembly 42 will descend until passing through the docking port 13 to dock with the first pick-and-place assembly 22 located therebelow. After docking, the first pick-and-place assembly 22 retrieves the target from the second pick-and-place assembly 42. After the object is acquired, the first pick-and-place assembly 22 moves down and back into the first storage area 11, and then moves the object to a predetermined place under the driving of the first moving assembly 21, so as to complete the task of transferring and storing the object from the second storage area 12 to the first storage area 11.

Obviously, in this embodiment, the opposite interface 13 is formed on the supporting platform 1, the first picking and placing mechanism 2 and the second picking and placing mechanism 4 complete the task of transferring the target object between the first storage area 11 and the second storage area 12 through the opposite interface 13, fully utilize the height space in the storage area, and complete the purpose of transferring the target object in different storage areas in the area where the supporting platform 1 is located.

Of course, in other embodiments, the first pick-and-place mechanism 2 and the second pick-and-place mechanism 4 may perform the task of docking and transferring the object around the periphery of the area where the support platform 1 is located. For example, the first picking and placing mechanism 2 and the second picking and placing mechanism 4 are mechanical arms, and when the target object needs to be transferred, the first picking and placing mechanism 2 and the second picking and placing mechanism 4 extend out from the horizontal area where the supporting platform 1 is located to butt-joint and transfer the target object.

In one embodiment of the present disclosure, referring to fig. 10 and 11, the safety of the object during the transfer is improved. The first pick-and-place assembly 22 includes a protective frame 221 having a lower end opening. The protective frame 221 is configured to be fitted over the outside of the object. To realize the fixed setting of the object and the first picking and placing component 22, avoid jolting in the moving process, and lead the object to drop, and accidents occur. In addition, the protection frame 221 is further beneficial to the first picking and placing assembly 22 to grasp the target object more firmly. The weight of the target object transferred by the first picking and placing component 22 is improved, and the application range of the first picking and placing component 22 is enlarged.

Referring to fig. 9 and 10, in order to prevent the object from falling from the periphery after being grasped by the first pick-and-place unit 22, a protection frame 221 having a circumferential shape is provided at the lower end of the first pick-and-place unit 22. The size of the protection frame 221 is adapted to the size of the target object, so that when the first picking and placing assembly 22 picks the target object, the protection frame 221 can be sleeved outside the target object and fix the target object to prevent falling.

In the actual storage environment, factors such as uneven ground or installation errors of the target objects exist, and in order to achieve the accuracy of the first picking and placing mechanism 2 and the second picking and placing mechanism 4 in picking and placing the target objects, the problem of picking and placing the target objects caused by overlarge deviation between the picking and placing positions and the target positions of the target objects is avoided. The first 2, second 4 pick-and-place mechanisms further comprise a positioning system configured for positioning the relative position between the pick-and-place container assembly and the target object. When the positioning system detects that the position deviation between the first picking and placing mechanism 2 and the second picking and placing mechanism 4 and the target position of the target object reaches the preset range, the positions of the first picking and placing mechanism 2 and the second picking and placing mechanism 4 can be adjusted, so that the target object can be accurately picked and placed.

In one embodiment of the present disclosure, a treatment station is provided on the support platform 1, and the second pick-and-place mechanism 4 is configured to place the target object on the treatment station for treatment, and to remove and place the treated target object in the second storage area 12. Specifically, the processing station can perform operations such as code scanning, weighing, sorting, etc. on the target object, which are well known to those skilled in the art, and this disclosure will not be repeated here.

In one embodiment of the present disclosure, the processed object is placed in the first storage area 11 via the first pick-and-place mechanism 2. Specifically, the object processed at the processing station is again grasped by the second pick-and-place assembly 42 and transferred again through the interface 13 by the second motion assembly 41. When the second moving component 41 moves to the area of the interface 13, the second pick-and-place component 42 passes through the interface 13. Similarly, the first pick-and-place mechanism 2 in the first storage area 11 is moved to the area where the docking port 13 is located under the driving of the first moving component 21, so that the first pick-and-place component 22 is docked with the second pick-and-place component 42 passing through the docking port 13. The first pick-and-place assembly 22 will acquire the object located on the second pick-and-place assembly 42 during the docking process, and after the object is acquired, the first pick-and-place assembly 22 will transfer the object to the predetermined location in the first storage area 11 for storage under the driving of the first moving assembly 21. Thereby completing the task of transferring the processed object in the second storage area 12 to the first storage area 11 again for storage.

In order to improve the picking and placing efficiency of the single picking and placing process of the first picking and placing mechanism 2 and the second picking and placing mechanism 4, in one embodiment, referring to fig. 1 and 3, the object of the present disclosure is at least one layer of rack 31, and the rack 31 is used for storing at least one container 3. The brackets 31 are configured to be stacked together to form a carrier 32. The first storage area 11 and the second storage area 12 are respectively configured to store at least one carrier 32 and at least one rack 31.

Based on this, the first picking and placing mechanism 2 and the second picking and placing mechanism 4 take the container 3 on the whole-layer rack 31 as a unit, and perform single-layer or multi-layer overall picking and placing as required. As shown in fig. 4 to 6, when a work task is issued, the warehouse system uses the first picking and placing mechanism 2 to control the first picking and placing component 22 to pick and place a single-layer, double-layer or multi-layer bracket 31, so that the first picking and placing mechanism 2 and the second picking and placing mechanism 4 can pick and place a plurality of objects at a time, and then the picking and placing efficiency of the single picking and placing process of the first picking and placing mechanism 5 and the second picking and placing mechanism 4 is improved.

In addition, the whole layer of the bracket 31 is regarded as a unit, and the design of taking and placing the unit as a whole can realize more efficient ground-based container 3. Simultaneous replenishment of multiple containers 3 may be achieved when replenishment or racking of containers 3 is desired.

In one embodiment of the present disclosure, referring to fig. 2 and 3, the first storage area 11 and the second 0 storage area 12 are configured to store at least one carrier 32 or at least one rack 31, respectively.

In this way, the first picking and placing mechanism 2 and the second picking and placing mechanism 4 can achieve picking and placing of the support 31 or the multi-layer support 31 forming the carrier 32 so as to perform transfer work.

In one embodiment of the present disclosure, when the object is a container 3, the first pick-and-place mechanism 2, the second pick-and-place mechanism 4 are configured to be able to pick and place a single container 3.

5 in addition, the disclosure also provides a storage method applied to the storage system, and the storage method can control the first picking and placing mechanism 2 and the second picking and placing mechanism 4 to pick and place containers. Referring to fig. 1 and 13, the warehousing method includes the following steps:

s131, the first picking and placing mechanism 2 is controlled to pick up the target object located in the first storage area 11 and move to a preset position.

And 0S132, controlling the second picking and placing mechanism 4 to move to a preset position and butt-joint with the first picking and placing mechanism 2, and transferring the target object on the first picking and placing mechanism 2 to the second picking and placing mechanism 4.

S133, controlling the second picking and placing mechanism 4 to move so as to drive the target object to move to the target position.

In this embodiment, before step S131, the method further includes:

after the storage system receives the task of picking and placing the target object, the first picking and placing mechanism 2 moves to the area where the target object is located under the driving of the first moving component 21 of the first picking and placing mechanism 2 and 5.

When the first pick-and-place mechanism 2 is located in the area where the target object is located, the first pick-and-place component 22 located below the first moving component 21 moves in the Z-axis direction relative to the first moving component 21, and the first pick-and-place component 22 descends to the area where the target object is located and grabs the target object.

After the first pick-and-place assembly 22 grabs the target object, the first pick-and-place assembly 22 moves along the Z-axis direction until reset.

In step S132, in the process of transferring the target object on the first pick-and-place mechanism 2 to the second pick-and-place mechanism 4, the second pick-and-place component 42 in the second pick-and-place mechanism 4 moves in the Z-axis direction, and moves downward relative to the second moving component 41 to the area where the first pick-and-place component 22 is docked, so that the two components perform docking operation, thereby transferring the target object on the first pick-and-place component 22.

In step S133, the second pick-and-place assembly 42 is further included to move upward in the Z-axis direction relative to the second motion assembly 41 until it is reset after the object on the first pick-and-place assembly 22 is acquired.

With continued reference to fig. 13, in this embodiment, the first picking and placing mechanism 2 located in the first storage area 11 and the second picking and placing mechanism 4 located in the second storage area 12 implement a task of docking at a predetermined position to transfer the target object, so as to transfer the target object in the height direction, which is beneficial to reducing the space occupied by the first picking and placing mechanism 2 and the second picking and placing mechanism 4 on the storage field, and is beneficial to shortening the path when transferring the target object and improving the target object transfer efficiency by fully utilizing the upper space in the height direction.

In one embodiment of the present disclosure, referring to fig. 14, the warehousing method further includes the steps of:

s141, controlling the second picking and placing mechanism 4 to place the target object in the processing position of the second storage area;

the processing position can be a procedure commonly involved in the logistics industry such as weighing, sorting and the like.

S142, after the target object is processed at the processing position, the second picking and placing mechanism 4 is controlled to take out the target object from the processing position and move the target object to a preset position.

S143, the first picking and placing mechanism 2 is controlled to move to a preset position and is in butt joint with the second picking and placing mechanism 4, and the target object on the second picking and placing mechanism 4 is transferred to the first picking and placing mechanism 2.

S144, the first picking and placing mechanism 2 is controlled to place the target object in the first storage area 11 for storage.

In one embodiment of the present disclosure, in step S143, the second pick-and-place assembly 42, which is located at the predetermined position, is moved downward in the Z-axis direction until it is adjacent to the region where the first pick-and-place assembly 22 is docked, so as to facilitate the docking operation therebetween.

The step S144 is preceded by the first pick-and-place assembly 22 being reset to the initial position after receiving the object located on the second pick-and-place assembly 42, and being driven by the first moving assembly 21 to move to the target position.

In this embodiment, referring to fig. 1 and 14, the target object may be transferred to the first pick-and-place mechanism 2 located in the first storage area 11 by the second pick-and-place mechanism 4 located in the second storage area 12, and then transferred to the first storage area 11 by the first pick-and-place mechanism 2 for storage. The first picking and placing mechanism 2 and the second picking and placing mechanism 4 can be matched with each other to realize the butt joint of various different modes, so that the modes of picking and placing the target objects of the warehousing system are enriched, the picking and placing mechanism can be applied to more application scenes, and the transfer of the target objects can not be limited by factors such as installation environment, equipment and the like.

In one embodiment of the present disclosure, referring to FIG. 15, to effect the transfer, picking process of the targets within the second storage area 12, the targets in the second storage area 12 include at least an order container; the objects in the first storage area 11 comprise at least picking containers. The transfer of the objects from the second storage area 12 into the first storage area 11 can thus be achieved by the second picking and placing means 4, the first picking and placing means 2.

The step of controlling the second pick-and-place mechanism 4 to move to drive the target object to move to the target position includes:

s151, controlling the second picking and placing mechanism 4 to drive the picking container to move to a position corresponding to the picking container.

S152, after the objects in the picking containers are picked to the corresponding order containers; the second pick-and-place mechanism 4 is controlled to move the picking container to a predetermined position.

And S153, controlling the first picking and placing mechanism 2 to move to a preset position and butt joint with the second picking and placing mechanism 4, and transferring the picking container on the second picking and placing mechanism 4 to the first picking and placing mechanism.

And S154, controlling the first picking and placing mechanism 2 to place the picking container in the first storage area 11 for storage.

In this embodiment, step S151 further includes, driving the second moving component 41 in the second pick-and-place mechanism 4 to move to the target position.

In step S152, the order container may be stored in the second storage area 12 directly, or may be stored on the carrier 32, and the carrier 32 may be a fixed carrier, a mobile carrier, a tray, or the like. The container 3 includes, but is not limited to, a container 3, a tray, a package, etc., without limitation.

Referring to fig. 9 and 10, the order containers may be located on a single-layer rack 31 at the uppermost layer of the carrier 32, or may be located in a multi-layer rack 31, and the picking containers on the second pick-and-place mechanism 4 may be able to grasp the rack 31 containing all the order containers and move it to a predetermined position for picking processing. The order containers in the second storage area 12 are picked, and transferred to the designated area in the first storage area 11 for storage after the picking operation is finished, so that the order containers can be subsequently operated, and the transfer efficiency of the order containers in the warehouse system can be improved by transferring a plurality of order containers at one time. Of course, the second picking and placing mechanism 4 may also grasp a single order container, and the disclosure is not so limited.

In one embodiment of the present disclosure, referring to fig. 16, the warehousing method further includes the steps of:

s161, controlling the second picking and placing mechanism 4 to pick up the target object located in the second storage area 12 and move the target object to a predetermined position.

And S162, controlling the first picking and placing mechanism 2 to move to a preset position and butt-joint with the second picking and placing mechanism 4, and transferring the target object on the second picking and placing mechanism 4 to the first picking and placing mechanism 2.

S163, the first picking and placing mechanism 2 is controlled to place the target object in the first storage area 11, so as to restock the first storage area 11.

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 (13)

1. A warehousing system, comprising:

a support platform (1), wherein a first storage area (11) for storing objects is formed at the bottom of the support platform (1), and a second storage area (12) for storing objects is formed at the top of the support platform (1);

the first picking and placing mechanism (2) and the second picking and placing mechanism (4) are respectively used for picking and placing the target in the first storage area (11) and the target in the second storage area (12);

when the first picking and placing mechanism (2) and the second picking and placing mechanism (4) are configured to move to preset positions, the target object is transferred between the first picking and placing mechanism (2) and the second picking and placing mechanism (4).

2. The warehousing system according to claim 1, characterized in that the first pick-and-place mechanism (2) comprises:

-a first movement assembly (21), the first movement assembly (21) being configured to move within a first storage area (11);

a first pick-and-place assembly (22), the first pick-and-place assembly (22) being connected below the first moving assembly (21) and configured to move in a height direction to hoist an object stored in the first storage area (11); or placing the object on the first pick-and-place assembly (22) in the first storage area (11).

3. The warehousing system according to claim 2, characterized in that the first pick-and-place assembly (22) is configured to bring up the object located in the first position (111) after being moved to the first position (111) of the first storage area (11) by the first movement assembly (21); the first picking and placing component (22) is configured to place the target object at the second position (112) after being driven by the first moving component (21) to move to the second position (112) of the first storage area (11).

4. The warehousing system according to claim 2, wherein the first movement assembly (21) comprises an X-axis movement unit (211) and a Y-axis movement unit (212); the first picking and placing assembly (22) is configured to move along the X-axis direction under the drive of the X-axis moving unit (211) and move along the Y-axis direction under the drive of the Y-axis moving unit (212).

5. The warehousing system according to claim 4, wherein the first pick and place assembly (22) is configured to be connected to the first movement assembly (21) by a Z-axis movement unit and configured to move in a Z-axis direction under the drive of the Z-axis movement unit.

6. The warehousing system according to claim 2, characterized in that the first pick and place assembly (22) comprises a protective frame (221) having a lower end opening; the protective frame (221) is configured to be sleeved outside the target object.

7. The warehousing system according to claim 2, wherein the first pick and place assembly (22) is configured to pick and place objects by clamping, grabbing, holding, magnetically attracting, negative pressure attracting, or snap fit.

8. The warehousing system according to any one of claims 2 to 7, characterized in that the second pick-and-place mechanism (4) comprises:

-a second movement assembly (41), the second movement assembly (41) being configured to move within a second storage area (12);

a second pick-and-place assembly (42), the second pick-and-place assembly (42) being connected below the second movement assembly (41) and configured to move in a height direction to hoist an object stored in the second storage area (12); or placing the object on the second pick-and-place assembly (42) in the second storage area (12).

9. The warehousing system according to claim 8, characterized in that the first pick-and-place mechanism (2) is of the same or different construction than the second pick-and-place mechanism (4).

10. The warehousing system according to claim 8, wherein the second pick-and-place assembly (42) is configured to carry the object located in the first location (111) after being moved to the first location (111) of the second storage area (12) by the second movement assembly (41); the second picking and placing component (42) is configured to place the target object at a second position (112) after being driven by the second moving component (41) to move to the second position (112) of the second storage area (12).

11. Warehousing system according to claim 8, characterized in that the support platform (1) is provided with an interface (13); a second pick-and-place assembly (42) located above the docking interface (13) is configured to descend through the docking interface (13) to interface with a first pick-and-place assembly (22) located below the docking interface (13).

12. The warehousing system according to claim 1, characterized in that a treatment station is provided on the support platform (1), the second pick-and-place mechanism (4) being configured to place objects on the treatment station for treatment and to take out and place the treated objects in a second storage area or in a first storage area (11) via a first pick-and-place mechanism (2).

13. Warehousing system according to claim 1, characterized in that the target is at least one layer of rack (31), on which rack (31) at least one container (3) is stored; the brackets (31) are configured to be stacked together to form a carrier (32); the first storage area (11) and the second storage area (12) are each designed to store at least one carrier (32) and/or at least one support (31).