TW201710044A - Storage system - Google Patents
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Abstract
Description
本發明係關於一種儲存系統。 The present invention relates to a storage system.
申請人的已公知的自動儲存(AutoStore)系統為包括三維儲存網格的儲存系統，其中儲存箱堆疊在彼此的頂部上，至一定的高度。 The Applicant's known AutoStore system is a storage system comprising a three-dimensional storage grid in which the storage bins are stacked on top of each other to a certain height.
儲存網格係建構為鋁柱，由頂部導軌互連。多台車輛，或機器人車輛，係配置在頂部導軌上，並且可水平移動於儲存網格的頂部上。 The storage grid is constructed as an aluminum column that is interconnected by a top rail. Multiple vehicles, or robotic vehicles, are placed on the top rail and can be moved horizontally on top of the storage grid.
每一車輛配備有升舉器，用於拾取、運送、與放置儲存網格中所儲存的箱。 Each vehicle is equipped with an elevator for picking up, transporting, and placing the bins stored in the storage grid.
系統也包括遞送及/或供應站，其中一或數個物品從儲存箱拾取，或其中一或數個物品填充至儲存箱中。 The system also includes a delivery and/or supply station in which one or more items are picked up from the storage bin, or one or more of the items are filled into the storage bin.
當儲存在儲存箱中的產品類型的物品要從從儲存網格擷取時，機器人車輛係配置來拾取容納該產品類型的儲存箱，且然後輸送該儲存箱至箱升舉裝置。箱升舉裝置正在輸送儲存箱至遞送及/或供應站，其中該產品類型的物品從儲存箱擷取。具有該產品類型的剩餘物品之儲存箱之後藉由箱升舉裝置與機器人車輛而返回至儲存網格。 When an item of product type stored in the storage bin is to be retrieved from the storage grid, the robotic vehicle is configured to pick up a storage bin containing the product type and then transport the storage bin to the bin lift. The box lift device is transporting the storage bin to the delivery and/or supply station, wherein the item of the product type is retrieved from the storage bin. The storage bin with the remaining items of the product type is then returned to the storage grid by the box lift and the robotic vehicle.
相同的程序用於重新填充物品至儲存網格中。首先，物品在遞送及/或供應站處填充至儲存箱中。然後，箱升舉裝置升舉該儲存箱至上層，其中機器人車輛輸送該儲存箱至儲存網格內的其正確位置中。 The same program is used to refill items into the storage grid. First, the item is filled into the storage bin at the delivery and/or supply station. The box lifter then lifts the storage bin to the upper level, wherein the robotic vehicle transports the storage bin to its correct position within the storage grid.
儲存控制與通訊系統可用於監控存貨、儲存箱的位置(在儲存網格內及/或在運送期間)、填充位準等。儲存控制與通訊系統也可包括控制系統(或者可設置成與控制系統通訊)，控制系統用於控制機器人車輛，以避免碰撞。 The storage control and communication system can be used to monitor inventory, storage bin location (in the storage grid and/or during shipping), fill level, and the like. The storage control and communication system may also include a control system (or may be configured to communicate with the control system) that is used to control the robotic vehicle to avoid collisions.
已經發現，儲存系統使用較長的時間來從網格的頂部輸送儲存箱至遞送及/或供應站。因此，本發明的目標為提供一種更有時間效率的儲存系統。 It has been found that the storage system uses a longer time to transport the storage bin from the top of the grid to the delivery and/or supply station. Accordingly, it is an object of the present invention to provide a more time efficient storage system.
本發明係關於一種用於儲存產品物品的儲存系統，包括網格結構，其中網格結構具有頂層。多個第一儲存箱係配置成在網格結構中以垂直堆疊儲存，其中每一第一儲存箱係配置來容納至少一產品物品；車輛係配置成在網格結構的頂層處水平移動，並且進一步配置成拾取、運送、與放置第一儲存箱於網格結構內的所欲位置處。本發明的特徵在於-儲存系統進一步包括機器人裝置，機器人裝置包括可移動臂，可移動臂在其一端中具有拾取機構，-機器人裝置係配置成藉由其拾取機構來於第一位置與第二位置之間移動儲存物品； -第一位置為儲存在儲存網格中的第一儲存箱的位置。 The present invention relates to a storage system for storing product items, comprising a grid structure, wherein the grid structure has a top layer. A plurality of first storage bins are configured to be stacked in a vertical stack in a grid structure, wherein each first storage bin is configured to receive at least one product item; the vehicle system is configured to move horizontally at a top level of the mesh structure, and Further configured to pick up, transport, and place the first storage bin at a desired location within the grid structure. The invention is characterized in that the storage system further comprises a robotic device comprising a movable arm having a picking mechanism in one end thereof, the robotic device being configured to be in the first position and the second by means of its picking mechanism Moving items between locations; - The first position is the location of the first storage bin stored in the storage grid.
應注意到，即使每一第一儲存箱係配置為容納至少一產品物品，儲存網格中完全可能儲存空的第一儲存箱。 It should be noted that even though each first storage bin is configured to accommodate at least one product item, it is entirely possible to store an empty first storage bin in the storage grid.
本發明的態樣從所附的申請專利範圍附屬項中顯而易見。 Aspects of the invention are apparent from the appended claims.
10‧‧‧儲存系統 10‧‧‧Storage system
20‧‧‧網格結構(儲存網格) 20‧‧‧Grid structure (storage grid)
30‧‧‧第一儲存箱 30‧‧‧First storage box
38‧‧‧第二儲存箱 38‧‧‧Second storage box
40‧‧‧車輛 40‧‧‧ Vehicles
50‧‧‧箱升舉裝置 50‧‧‧ box lift
60‧‧‧遞送及/或供應站 60‧‧‧ delivery and / or supply station
70‧‧‧機器人裝置 70‧‧‧Robots
71‧‧‧基座 71‧‧‧Base
72‧‧‧可移動臂 72‧‧‧ movable arm
72a‧‧‧第一臂部 72a‧‧‧First arm
72b‧‧‧第二臂部 72b‧‧‧ second arm
72c‧‧‧樞接頭 72c‧‧‧Pivot joint
74‧‧‧拾取機構 74‧‧‧ picking institutions
80‧‧‧儲存物品 80‧‧‧Storage items
90‧‧‧輸送器系統 90‧‧‧Conveyor system
90a‧‧‧第一輸送器 90a‧‧‧First conveyor
90b、90c、90d‧‧‧輸送器 90b, 90c, 90d‧‧‧ conveyor
A‧‧‧第一位置 A‧‧‧ first position
A1‧‧‧第一機器人臂可到達區域 A1‧‧‧First robot arm reachable area
B‧‧‧第二位置 B‧‧‧second position
B1‧‧‧第二機器人臂可到達區域 B1‧‧‧second robot arm reachable area
C‧‧‧拾取機構的最大可及範圍 C‧‧‧Maximum reach of pick-up bodies
Hc、HL1、HV‧‧‧高度 Hc, HL1, HV‧‧‧ height
L0‧‧‧頂層 L0‧‧‧ top
L1、L2、L3‧‧‧層 L1, L2, L3‧‧‧ layers
Ln‧‧‧地板層數 Ln‧‧‧ floor layer
本發明的實施例將參見附圖敘述於下，其中：第1圖揭示先前技術的儲存系統；第2圖根據本發明，示意例示儲存系統的實施例的側視圖；第3圖從上方例示第2圖的實施例；第4圖從上方例示替代實施例；第5圖從上方例示又另一實施例；第6圖例示第5圖的實施例的側視圖；第7圖從側面例示又另一實施例。 Embodiments of the present invention will be described below with reference to the accompanying drawings in which: FIG. 1 illustrates a prior art storage system; FIG. 2 is a side view schematically illustrating an embodiment of a storage system according to the present invention; 2 is an embodiment of the drawing; FIG. 4 illustrates an alternative embodiment from above; FIG. 5 illustrates still another embodiment from above; FIG. 6 illustrates a side view of the embodiment of FIG. 5; An embodiment.
現在將參見第1圖。在此繪示儲存系統10，儲存系統10包括用於儲存產品於儲存箱30中的網格結構20。每一儲存箱30係配置成容納一或數個產品物品。 See Figure 1 now. A storage system 10 is illustrated herein that includes a grid structure 20 for storing products in a storage bin 30. Each storage bin 30 is configured to hold one or several product items.
如第1圖所示，一定數量的儲存箱30係配置成在網格結構20內以垂直堆疊儲存。 As shown in FIG. 1, a number of storage bins 30 are configured to be stacked vertically in a grid structure 20.
車輛40係配置成在網格結構20的頂層L0處水平移動，並且進一步配置成拾取、運送、與放置第一儲存箱30於所欲位置處。 The vehicle 40 is configured to move horizontally at the top level L0 of the lattice structure 20 and is further configured to pick up, transport, and place the first storage bin 30 at a desired location.
儲存系統10進一步包括遞送及/或供應站60。遞送及/或供應站60設置在建築物的地板上，地板上配置有儲存網格20。此地板層數係表示為Ln，其中n為儲存網格20中可堆疊的儲存箱30的數量。遞送及/或供應站60用於準備來自網格結構20的拾取的產品物品，以遞送至接收者(例如，產品物品的買方)。遞送及/或供應站60也用於在放置產品物品於網格結構20內之前，登記來自供應商(例如，產品物品的製造商)的產品物品。 The storage system 10 further includes a delivery and/or supply station 60. The delivery and/or supply station 60 is disposed on the floor of the building with a storage grid 20 disposed on the floor. This number of floor levels is denoted Ln, where n is the number of stackable storage bins 30 in the storage grid 20. The delivery and/or supply station 60 is used to prepare picked up product items from the grid structure 20 for delivery to a recipient (eg, a buyer of product items). The delivery and/or supply station 60 is also used to register product items from suppliers (eg, manufacturers of product items) prior to placing product items within the grid structure 20.
應注意到，可有數個遞送及/或供應站60，且該等遞送及/或供應站60的至少一者可分離成遞送站與供應站，其中遞送站處理從網格結構拾取的產品物品，且其中供應站處理要放置在網格結構中的產品物品。 It should be noted that there may be several delivery and/or supply stations 60, and at least one of the delivery and/or supply stations 60 may be separated into a delivery station and a supply station, wherein the delivery station processes product items picked up from the grid structure And wherein the supply station processes the product items to be placed in the grid structure.
第1圖的系統也包括箱升舉裝置50，箱升舉裝置50係配置來於網格結構20的頂層L0與遞送及/或供應站60之間輸送儲存箱30。在第1圖中，此輸送係繪示在垂直方向中。 The system of FIG. 1 also includes a box lift device 50 that is configured to transport the storage bin 30 between the top layer L0 of the grid structure 20 and the delivery and/or supply station 60. In Figure 1, this conveyor is shown in the vertical direction.
第1圖所示的儲存系統10係視為先前技術。 The storage system 10 shown in Figure 1 is considered prior art.
在下文中，用語「第一儲存箱」係用於網格結構20中儲存的儲存箱30，且儲存箱30將經由箱升舉裝置50來輸送至遞送及/或供應站60。 In the following, the term "first storage tank" is used for the storage tank 30 stored in the grid structure 20, and the storage tank 30 will be delivered to the delivery and/or supply station 60 via the box lift 50.
現在參見第2圖與第3圖。與在第1圖中一樣，儲存系統10包括儲存網格20，儲存網格20具有堆疊的儲存箱30。顯示出層L0、L1、L2-Ln。 See Figures 2 and 3 now. As in Figure 1, storage system 10 includes a storage grid 20 having stacked storage bins 30. Layers L0, L1, L2-Ln are displayed.
也繪示出車輛40。第2圖所示的特定車輛40係視為公知的。先前技術的車輛40可在網格結構20的層L0上行進於水平方向中(沿著水平x軸與水平y軸，如同第1圖所示)。車輛40包括升舉器(未圖示)，用於拾取儲存箱30與輸送儲存箱30至網格結構20內的所欲位置，例如- 經由箱升舉裝置50而從網格結構20至遞送及/或供應站60，- 經由箱升舉裝置50而從遞送及/或供應站60至儲存網格20，- 在網格結構20的內部。 Vehicle 40 is also depicted. The specific vehicle 40 shown in Fig. 2 is considered to be well known. The prior art vehicle 40 can travel in the horizontal direction on the layer L0 of the grid structure 20 (along the horizontal x-axis and the horizontal y-axis, as shown in FIG. 1). The vehicle 40 includes an elevator (not shown) for picking up the storage bin 30 and the transport storage bin 30 to a desired location within the grid structure 20, for example - from the grid structure 20 to the delivery via the bin lift 50 And/or the supply station 60, - from the delivery and/or supply station 60 to the storage grid 20 via the box lift 50, - inside the grid structure 20.
例如，若所欲的產品物品位於層L3處的儲存箱30中且在其他儲存箱30的下面，車輛40可先移動直接位於要拾取的儲存箱30之上的上方儲存箱30(在層L2與L1處)至網格結構的頂部上的其他可用位置，以取出在層L3處的所欲儲存箱30。 For example, if the desired product item is located in the storage bin 30 at layer L3 and below the other storage bins 30, the vehicle 40 may first move the upper storage bin 30 directly above the storage bin 30 to be picked up (at layer L2). And L1) to other available locations on the top of the grid structure to remove the desired storage bin 30 at layer L3.
應注意到，第2圖所示的先前技術的車輛40的特定設計呈現在層L0上的儲存箱30的可能暫時儲存。在第2圖中，繪示位於層L0上在位置A處的儲存箱30。當然，在位置A處的此儲存箱30將阻止對於直接在 此儲存箱下方的儲存箱的取用。此外，在位置A處的儲存箱30也是代表要移動車輛40的障礙物。 It should be noted that the particular design of the prior art vehicle 40 illustrated in FIG. 2 presents a possible temporary storage of the storage bin 30 on the layer L0. In Fig. 2, the storage bin 30 at position A on layer L0 is shown. Of course, this storage bin 30 at location A will block for direct Access to the storage box below this storage box. Furthermore, the storage bin 30 at location A is also an obstacle representing the vehicle 40 to be moved.
在第2圖中揭示出儲存系統10另外包括機器人裝置70。 It is disclosed in FIG. 2 that the storage system 10 additionally includes a robotic device 70.
機器人裝置70包括基座71，基座71連接至可移動臂72。在第2圖中，繪示出，可移動臂72包括第一臂部72a與第二臂部72b，第一臂部72a連接至基座71，且第二臂部72b經由樞接頭72c而連接至第一臂部72a。機器人裝置70另外包括在第二臂部72b的外端處之拾取機構74。 The robotic device 70 includes a base 71 that is coupled to a movable arm 72. In FIG. 2, the movable arm 72 includes a first arm portion 72a and a second arm portion 72b, the first arm portion 72a is coupled to the base 71, and the second arm portion 72b is coupled via a pivot joint 72c. To the first arm portion 72a. The robotic device 70 additionally includes a picking mechanism 74 at the outer end of the second arm portion 72b.
應注意到，機器人裝置70本身係視為公知的，因為可購得數個此種類型的機器人。 It should be noted that the robotic device 70 itself is considered to be well known as several such types of robots are commercially available.
在第2圖中，繪示出，機器人裝置70的基座71位於層L0之上的一段距離處。 In Fig. 2, it is illustrated that the base 71 of the robotic device 70 is located at a distance above the layer L0.
機器人裝置70係配置成藉由其拾取機構74來於第一位置A與第二位置B之間(第3圖)移動儲存物品80。此外，機器人裝置70可配置成藉由其拾取機構74來移動全部的第一及/或第二儲存箱30、38。 The robotic device 70 is configured to move the stored article 80 between the first position A and the second position B (Fig. 3) by its picking mechanism 74. Additionally, the robotic device 70 can be configured to move all of the first and/or second storage bins 30, 38 by its picking mechanism 74.
機器人裝置70可在使用期間定位成使其可移動臂72在儲存網格20的頂層L0之上或在頂層L0之下的層處(例如，層L1)。因此，第一位置A可為儲存在頂層L0處或儲存在直接在儲存網格20的頂層L0之下的層L1處的第一儲存箱30的位置。另外，只有當直接在 層L1處的儲存箱30之上的層L0處(在相同的x與y位置處)沒有儲存箱30時，才能取用在層L1處的儲存箱30。 The robotic device 70 can be positioned during use such that its movable arm 72 is above the top layer L0 of the storage grid 20 or at a layer below the top layer L0 (eg, layer L1). Thus, the first location A can be the location of the first storage bin 30 stored at the top layer L0 or at the layer L1 directly below the top layer L0 of the storage grid 20. Also, only when directly in The storage tank 30 at the layer L1 can be taken at the layer L0 above the storage tank 30 at the layer L1 (at the same x and y positions) without the storage tank 30.
機器人裝置70係設置成與控制車輛40的車輛控制系統通訊，以例如避免車輛40與機器人裝置70之間的碰撞。應注意到，有數種方式來達成此目的-可有一個主控制系統來詳細地控制機器人裝置70與每一車輛40。例如，主控制系統可界定時槽，用於在靠近機器人裝置70的區域內的車輛移動，在該時槽中，命令機器人裝置70移動其臂至不會發生碰撞的位置。然後，可界定另一時槽，其中命令車輛40遠離靠近機器人裝置70的區域。或者，控制系統可為機器人裝置70與車輛40有或多或少的自主性之類型。例如，機器人裝置70與車輛40可配備有感測器，感測器連接至設置在每一車輛/機器人40上的內部控制系統。 The robotic device 70 is arranged to communicate with a vehicle control system that controls the vehicle 40 to, for example, avoid collisions between the vehicle 40 and the robotic device 70. It should be noted that there are several ways to accomplish this - there may be a master control system to control the robotic device 70 and each vehicle 40 in detail. For example, the primary control system can define a time slot for vehicle movement in an area proximate to the robotic device 70, in which time the robotic device 70 is commanded to move its arm to a position where collision does not occur. Then, another time slot can be defined in which the vehicle 40 is commanded away from the area near the robotic device 70. Alternatively, the control system can be of a type that is more or less autonomous to the robotic device 70 and the vehicle 40. For example, the robotic device 70 and the vehicle 40 may be equipped with sensors that are coupled to an internal control system disposed on each vehicle/robot 40.
上述的車輛控制系統可為上述的儲存控制與通訊系統的部分，或者可設置成與上述的儲存控制與通訊系統信號通訊。 The vehicle control system described above may be part of the storage control and communication system described above or may be configured to communicate with the storage control and communication system signals described above.
在第2圖與第3圖中，第一位置A為儲存在儲存網格20中或上的第一儲存箱30的位置，而第二位置B為輸送器系統(大體上以元件符號90表示)的位置。輸送器系統90係配置成鄰近儲存網格20。第二位置B可為配置在輸送器系統90上的第二儲存箱38的位置，如第2圖與第3圖所示，或者指示輸送器系統90本身的位置。 In Figures 2 and 3, the first position A is the position of the first storage bin 30 stored in or on the storage grid 20, and the second position B is the conveyor system (generally indicated by the symbol 90) )s position. The conveyor system 90 is configured to be adjacent to the storage grid 20. The second position B can be the position of the second storage bin 38 disposed on the conveyor system 90, as shown in Figures 2 and 3, or indicating the position of the conveyor system 90 itself.
輸送器系統90可包括一條輸送帶、輸送鏈或任何其他類型的輸送器，適於輸送產品物品80或容納有一或數個儲存物品80的第二儲存箱38。輸送器系統90也可包括數個此種輸送器。 The conveyor system 90 can include a conveyor belt, conveyor chain, or any other type of conveyor suitable for transporting product items 80 or a second storage tank 38 containing one or more stored items 80. The conveyor system 90 can also include several such conveyors.
輸送器系統90可配置來輸送產品物品80或容納有產品物品80的第二儲存箱38至遞送及/或供應站60，藉此作用為前面提及的機器人升舉裝置50。 The conveyor system 90 can be configured to transport the product item 80 or the second storage tank 38 containing the product item 80 to the delivery and/or supply station 60, thereby acting as the aforementioned robotic lift device 50.
在第2圖中，繪示出，靠近機器人裝置70的輸送器系統90係設置於等於或高於直接在頂層L0之下的層L1的高度HL1之高度Hc處。當然，輸送器系統90的其他部分可位於較低的高度處。 In Fig. 2, it is illustrated that the conveyor system 90 near the robot apparatus 70 is disposed at a height Hc equal to or higher than the height HL1 of the layer L1 directly below the top layer L0. Of course, other portions of the conveyor system 90 can be located at a lower elevation.
本發明能夠藉由避免(完全或部分)經由箱升舉裝置50來輸送第一儲存箱30至遞送及/或供應站60，而增加儲存系統10的效率。 The present invention can increase the efficiency of the storage system 10 by avoiding (completely or partially) transporting the first storage bin 30 to the delivery and/or supply station 60 via the bin lift 50.
或者，本發明能夠配置遞送及/或供應站60在其他層處(例如，對應於第2圖所示的高度之高度處)，以及在位於相鄰於儲存網格20所配置的房間之房間中的位置處。 Alternatively, the present invention can configure the delivery and/or supply station 60 at other levels (e.g., corresponding to the height of the height shown in Figure 2), as well as in a room located adjacent to the room in which the storage grid 20 is configured. In the middle of the location.
如上提及，第一儲存箱30具有的設計適於在網格結構20中堆疊在彼此之上，且適於由車輛40與箱升舉裝置50輸送。 As mentioned above, the first storage tank 30 has a design that is adapted to be stacked on top of one another in the grid structure 20 and is adapted to be transported by the vehicle 40 and the box lift 50.
但是，第二儲存箱38也可為不同的類型。第二儲存箱38可為厚紙板箱，用於分派產品物品80至接收者，例如上述的產品物品80的買方。因此，機器人裝置 70可執行目前在遞送及/或供應站60處或多或少手動地執行的一些或全部的工作操作。針對某些類型的產品，只有厚紙板箱的關閉操作及/或設置地址標籤至厚紙板箱上仍留存。 However, the second storage bin 38 can also be of a different type. The second storage bin 38 can be a thick cardboard box for dispensing product items 80 to a recipient, such as the buyer of the product item 80 described above. Therefore, the robot device 70 may perform some or all of the work operations that are currently performed more or less manually at the delivery and/or supply station 60. For certain types of products, only the closing operation of the thick cardboard box and/or the setting of the address label to the cardboard box remains.
或者，第二儲存箱38實質上與第一儲存箱30的類型相同，其中機器人裝置70拾取命令的數個或所有的產品物品至一接收者。第二儲存箱38然後經由輸送器系統90輸送至遞送及/或供應站60，其中藉由將來自第二儲存箱38的產品物品80重新包裝至厚紙板箱中來完成命令。這對於需要特殊照料的產品物品80會是必要的，例如，易碎的產品物品80。該操作仍然較有效率，因為一命令的所有產品物品同時到達遞送及/或供應站60處。 Alternatively, the second storage bin 38 is substantially the same type as the first storage bin 30, wherein the robotic device 70 picks up a number or all of the ordered product items to a recipient. The second storage tank 38 is then conveyed via the conveyor system 90 to the delivery and/or supply station 60, wherein the command is completed by repacking the product item 80 from the second storage tank 38 into a thick cardboard box. This may be necessary for product items 80 that require special care, such as fragile product items 80. This operation is still more efficient because all of the ordered product items arrive at the delivery and/or supply station 60 at the same time.
再次參見第2圖與第3圖。在此繪示出，輸送器系統90包括第一輸送器90a與三個輸送器90b、90c、90d，第一輸送器90a在第一方向中(第3圖中由箭頭x表示)輸送第二儲存箱38，且三個輸送器90b、90c、90d隨後在第二方向中(第3圖中由箭頭y表示)平行地輸送儲存箱38。 See Figures 2 and 3 again. It is illustrated herein that the conveyor system 90 includes a first conveyor 90a and three conveyors 90b, 90c, 90d that convey a second in a first direction (indicated by arrow x in Figure 3) The storage tank 38 is stored, and the three conveyors 90b, 90c, 90d are then transported in parallel in the second direction (indicated by arrow y in Fig. 3).
現在參見第3圖。在此，由網格結構20中的虛線框A1表示第一機器人臂可到達區域，且由網格結構20外部的虛線框B1表示第二機器人臂可到達區域。在區域A1內的第一儲存箱30內表示在位置A處的產品物品80，且在區域B1內的第二儲存箱38內表示用於產品物 品80的位置B。如圖所示，第二區域B1位於三個平行的輸送器90b、90c、90d上、靠近機器人裝置70。 See now Figure 3. Here, the first robot arm reachable area is represented by a broken line frame A1 in the mesh structure 20, and the second robot arm reachable area is indicated by a broken line frame B1 outside the mesh structure 20. Product item 80 at location A is indicated within first storage bin 30 within zone A1 and is indicated for use in product within second storage bin 38 within zone B1 Position B of item 80. As shown, the second zone B1 is located on three parallel conveyors 90b, 90c, 90d, proximate to the robotic device 70.
在第3圖中，虛線圓C表示機器人裝置70的拾取機構74的最大可及範圍。當然，第一區域A1內的第一儲存箱30的數量與第二區域B1內的第二儲存箱38的數量可根據機器人裝置70的大小與儲存箱30、38的大小而改變。 In Fig. 3, a broken line circle C indicates the maximum reachable range of the pickup mechanism 74 of the robot apparatus 70. Of course, the number of the first storage tanks 30 in the first area A1 and the number of the second storage tanks 38 in the second area B1 may vary depending on the size of the robot apparatus 70 and the size of the storage boxes 30, 38.
因此，儲存控制與通訊系統係配置來控制車輛40，以放置複數個第一儲存箱30於儲存網格20的第一機器人臂72可到達區域A1內，以及然後控制機器人裝置70，以從儲存網格20的第一機器人臂72可到達區域A1中的第一儲存箱30至放置在儲存網格20的外部的第二機器人臂72可到達區域B1中的第二儲存箱38移動產品物品80。 Accordingly, the storage control and communication system is configured to control the vehicle 40 to place a plurality of first storage bins 30 in the first robot arm 72 reachable area A1 of the storage grid 20, and then control the robotic device 70 for storage from The first robot arm 72 of the mesh 20 can reach the first storage bin 30 in the area A1 to the second storage arm 72 placed outside the storage mesh 20 to reach the second storage bin 38 in the area B1 to move the product item 80 .
當所有產品物品80都放置至第二儲存箱38中時，箱38經由輸送器90b輸送至下一站，以進一步搬運(在遞送及/或供應站60處分派、重新包裝或其他操作等)。空的第二儲存箱38經由輸送器90a供應，且機器人裝置70可移動第二儲存箱38從第一輸送器90a至第二區域B1內的自由空間。 When all of the product items 80 are placed into the second storage bin 38, the bins 38 are transported via the conveyor 90b to the next station for further handling (dispatching, repackaging, or other operations at the delivery and/or supply station 60, etc.) . The empty second storage tank 38 is supplied via the conveyor 90a, and the robotic device 70 can move the free space of the second storage tank 38 from the first conveyor 90a to the second area B1.
或者，輸送器90b、90c、90d可輸送空的第二儲存箱38朝向機器人裝置70(與箭頭y的方向相反)，並且可移動有產品物品80的第二儲存箱38至第一輸送器90a上，以進一步搬運。 Alternatively, the conveyors 90b, 90c, 90d can transport the empty second storage bin 38 towards the robotic device 70 (opposite the direction of arrow y) and can move the second storage bin 38 with the product item 80 to the first conveyor 90a On, for further handling.
或者，機器人裝置70係用於供應產品物品80給儲存網格20。在此，儲存箱38可送達至機器人裝置70，且機器人裝置70用於填充第一儲存箱30，第一儲存箱30然後藉由車輛40而移動至儲存網格20內的所欲位置中。 Alternatively, the robotic device 70 is used to supply product items 80 to the storage grid 20. Here, the storage bin 38 can be delivered to the robotic device 70, and the robotic device 70 is used to fill the first storage bin 30, which is then moved by the vehicle 40 into a desired position within the storage grid 20.
根據第一實施例，在儲存系統中可部分或完全省略先前技術的箱升舉裝置50。這是非常有利的，因為在一些先前技術的儲存系統中，箱升舉裝置50可具有5公尺或更高的高度，這總共會消耗大量的總輸送時間。省去先前技術的箱升舉裝置50也有可能減輕與例如產品物品80的有效率分類相關的後勤問題。 According to the first embodiment, the prior art box lift device 50 may be partially or completely omitted in the storage system. This is highly advantageous because in some prior art storage systems, the box lift 50 can have a height of 5 meters or more, which in total consumes a significant amount of total delivery time. It is also possible to dispense with prior art box lifts 50 to mitigate logistical problems associated with, for example, efficient sorting of product items 80.
現在參見第4圖。第二實施例具有許多與上述的第一實施例共同的特徵，且使用相同的元件符號來用於那些共同的特徵。為了有效率，在此僅敘述第二與第一實施例之間的差異。 See now Figure 4. The second embodiment has many features in common with the first embodiment described above, and the same element symbols are used for those common features. For the sake of efficiency, only the difference between the second and first embodiments will be described herein.
在第二實施例中，輸送器系統90包括平行配置的第一輸送器90a與第二輸送器90b。第一輸送器90a與第二輸送器90b可在相同的方向或相反的方向中移動。如第3圖中所示，在儲存網格20中指示第一機器人臂可到達區域A1，且在第一與第二輸送器90a上指示第二機器人臂可到達區域B1。 In a second embodiment, the conveyor system 90 includes a first conveyor 90a and a second conveyor 90b that are arranged in parallel. The first conveyor 90a and the second conveyor 90b are movable in the same direction or in opposite directions. As shown in FIG. 3, the first robot arm reachable area A1 is indicated in the storage grid 20, and the second robot arm reachable area B1 is indicated on the first and second conveyors 90a.
現在參見第5圖與第6圖。第三實施例具有許多與上述的第一實施例共同的特徵，且使用相同的元件符號來用於那些共同的特徵。為了效率，在此僅敘述第三與第一實施例之間的差異。 See Figures 5 and 6 now. The third embodiment has many features in common with the first embodiment described above, and the same element symbols are used for those common features. For efficiency, only the differences between the third and first embodiments will be described herein.
在第三實施例中，機器人裝置70固定至網格結構20，並且可由垂直堆疊的儲存箱30圍繞。在此，輸送器系統90係設置於儲存網格20之上，而非側部上。此外，輸送器系統90僅包括一個輸送器90a。以此方式，儲存網格20的中心部分也可在機器人臂可到達區域內。在第5圖中，在儲存網格20中指示第一機器人臂可到達區域A1，且在輸送器90a上指示第二機器人臂可到達區域B1。 In the third embodiment, the robotic device 70 is fixed to the mesh structure 20 and may be surrounded by the vertically stacked storage bins 30. Here, the conveyor system 90 is disposed above the storage grid 20, rather than on the sides. Additionally, the conveyor system 90 includes only one conveyor 90a. In this manner, the central portion of the storage grid 20 can also be within the reachable area of the robotic arm. In FIG. 5, the first robot arm reachable area A1 is indicated in the storage grid 20, and the second robot arm reachable area B1 is indicated on the conveyor 90a.
較佳地，輸送器系統90係設置在對應於頂層L0之上的車輛40的高度(參見第6圖中的虛線)之高度HV處。因此，車輛40可在輸送器系統90之下通過。 Preferably, the conveyor system 90 is disposed at a height HV corresponding to the height of the vehicle 40 above the top layer L0 (see the dashed line in Fig. 6). Thus, the vehicle 40 can pass under the conveyor system 90.
機器人裝置79的基座71在此由鐵支架或網格結構20上方的支撐梁支撐，例如，支撐建築物的屋頂的支架/梁，在支架/梁之下設置有儲存網格20。此種機器人裝置79可固定在網格結構20上方的一特定位置處，或者可藉由例如在所述的支架/梁上滑動而移動。 The base 71 of the robotic device 79 is here supported by a support beam above the iron support or grid structure 20, for example a support/beam supporting the roof of the building, under which the storage grid 20 is placed. Such a robotic device 79 can be fixed at a particular location above the lattice structure 20 or can be moved by sliding, for example, on the bracket/beam.
在此種實施例中，也可提供輸送器系統90係具有輸送器90a在對應於或高於車輛40的高度之高度HV處，使得車輛40可在輸送帶之下通過。也可提供輸 送器系統90係具有輸送器90b在網格20內，例如在大約層L1或L2處。 In such an embodiment, it is also possible to provide a conveyor system 90 having a conveyor 90a at a height HV corresponding to or above the height of the vehicle 40 such that the vehicle 40 can pass under the conveyor belt. Can also provide input The feeder system 90 has a conveyor 90b within the grid 20, such as at approximately layer L1 or L2.
應注意到，在所有上述實施例中，儲存系統10將適於其預期的用途。儲存系統10可包括一或數個此種機器人裝置70。機器人裝置70可設置在儲存網格的側部上(如在上述的第一與第二實施例中)，及/或整合至儲存網格中(如在第5圖中)，或在儲存網格之上(如在第6圖中)。 It should be noted that in all of the above embodiments, the storage system 10 will be suitable for its intended use. The storage system 10 can include one or more such robotic devices 70. The robotic device 70 can be disposed on the side of the storage grid (as in the first and second embodiments described above), and/or integrated into the storage grid (as in Figure 5), or in a storage network Above the grid (as in Figure 6).
儲存控制與通訊系統也可根據其預期的用途進行配置。儲存控制與通訊系統可例如配置來分析複數個拾取命令，且然後從拾取命令決定最常要求的產品物品80。基於此，儲存控制與通訊系統可配置或控制車輛40，以將容納最常要求的產品物品80的第一儲存箱30放置於第一區域A1中。 The storage control and communication system can also be configured for its intended use. The storage control and communication system can, for example, be configured to analyze a plurality of pick commands and then determine the most frequently requested product item 80 from the pick command. Based on this, the storage control and communication system can configure or control the vehicle 40 to place the first storage bin 30 containing the most frequently requested product item 80 in the first area A1.
此外，儲存控制與通訊系統可另外配置來控制機器人裝置70，以從儲存網格20的第一機器人臂72可到達區域A1中的多於一個的第一儲存箱30至放置在儲存網格20的外部的第二機器人臂72可到達區域B1中的至少一第二儲存箱38移動產品物品80。如同上述，機器人裝置70隨後將能夠實行拾取命令(完全地或部分地)，且因此使拾取操作更有效率。 Additionally, the storage control and communication system can be additionally configured to control the robotic device 70 to reach from the first robotic arm 72 of the storage grid 20 to more than one of the first storage bins 30 in the area A1 to the storage grid 20 The outer second robot arm 72 can reach the at least one second storage bin 38 in the zone B1 to move the product item 80. As described above, the robotic device 70 will then be able to execute the picking command (completely or partially) and thus make the picking operation more efficient.
在前面的敘述中，已經參考例示性實施例來敘述根據本發明的組件的各種態樣。為了解釋的目的，提出具體的數量、系統與配置，以提供系統與其運作的 透徹理解。但是，此敘述並不打算解釋為限制性的意義。對於本領域中熟習技藝者為顯而易見的、屬於所揭示的技術特徵之例示性實施例的各種修改與變化以及系統的其他實施例都視為在本發明的範圍內。 In the foregoing description, various aspects of the components in accordance with the present invention have been described with reference to the exemplary embodiments. For the purpose of explanation, specific quantities, systems, and configurations are proposed to provide the system and its operation. Thorough understanding. However, this description is not intended to be construed as limiting. Various modifications and variations of the exemplary embodiments, which are obvious to those skilled in the art, which are obvious to those skilled in the art, and other embodiments of the system are considered to be within the scope of the present invention.
10‧‧‧儲存系統 10‧‧‧Storage system
20‧‧‧網格結構(儲存網格) 20‧‧‧Grid structure (storage grid)
30‧‧‧第一儲存箱 30‧‧‧First storage box
38‧‧‧第二儲存箱 38‧‧‧Second storage box
40‧‧‧車輛 40‧‧‧ Vehicles
70‧‧‧機器人裝置 70‧‧‧Robots
71‧‧‧基座 71‧‧‧Base
72‧‧‧可移動臂 72‧‧‧ movable arm
72a‧‧‧第一臂部 72a‧‧‧First arm
72b‧‧‧第二臂部 72b‧‧‧ second arm
72c‧‧‧樞接頭 72c‧‧‧Pivot joint
74‧‧‧拾取機構 74‧‧‧ picking institutions
90‧‧‧輸送器系統 90‧‧‧Conveyor system
90a‧‧‧第一輸送器 90a‧‧‧First conveyor
90b‧‧‧輸送器 90b‧‧‧ conveyor
A‧‧‧第一位置 A‧‧‧ first position
B‧‧‧第二位置 B‧‧‧second position
Hc、HL1‧‧‧高度 Hc, HL1‧‧‧ height
L0‧‧‧頂層 L0‧‧‧ top
L1、L2、L3‧‧‧層 L1, L2, L3‧‧‧ layers
Ln‧‧‧地板層數 Ln‧‧‧ floor layer
Claims (13)
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| Application Number | Priority Date | Filing Date | Title |
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| NO20150000758 | 2015-06-11 |
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| Publication Number | Publication Date |
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| TW201710044A true TW201710044A (en) | 2017-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW105118005A TW201710044A (en) | 2015-06-11 | 2016-06-07 | Storage system |
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| TW (1) | TW201710044A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114341026A (en) * | 2019-11-07 | 2022-04-12 | 村田机械株式会社 | Transportation system and grid system |
| TWI798648B (en) * | 2020-05-11 | 2023-04-11 | 大陸商浙江立鏢機器人有限公司 | Method and system for aggregating goods according to goods attributes |
| TWI823407B (en) * | 2022-05-27 | 2023-11-21 | 迅得機械股份有限公司 | Three-axis arm automation equipment |
-
2016
- 2016-06-07 TW TW105118005A patent/TW201710044A/en unknown
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114341026A (en) * | 2019-11-07 | 2022-04-12 | 村田机械株式会社 | Transportation system and grid system |
| CN114341026B (en) * | 2019-11-07 | 2023-10-03 | 村田机械株式会社 | Transport system and grid system |
| TWI798648B (en) * | 2020-05-11 | 2023-04-11 | 大陸商浙江立鏢機器人有限公司 | Method and system for aggregating goods according to goods attributes |
| TWI823407B (en) * | 2022-05-27 | 2023-11-21 | 迅得機械股份有限公司 | Three-axis arm automation equipment |
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