TWI746906B - Fully unmanned logistics warehousing system and fully unmanned logistics warehousing operation method - Google Patents

Fully unmanned logistics warehousing system and fully unmanned logistics warehousing operation method Download PDF

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TWI746906B
TWI746906B TW107142260A TW107142260A TWI746906B TW I746906 B TWI746906 B TW I746906B TW 107142260 A TW107142260 A TW 107142260A TW 107142260 A TW107142260 A TW 107142260A TW I746906 B TWI746906 B TW I746906B
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robot
rack
sub
sorting station
product
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TW202019793A (en
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張建泰
穰穎堅
劉佩佳
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永聯物流開發股份有限公司
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Abstract

本發明提供一種全無人化物流倉儲系統，主要包含第一機器人、第二機器人、第三機器人、第四機器人、以及輸送系統，透過多個機器人的設置，使之各有專職，提升物流效率並降低人力成本，本發明將具體實現全無人化物流倉儲系統。 The present invention provides a fully unmanned logistics warehousing system, which mainly includes a first robot, a second robot, a third robot, a fourth robot, and a conveying system. Through the setting of multiple robots, each has a full-time job, which improves logistics efficiency and To reduce labor costs, the present invention will specifically realize a fully unmanned logistics warehousing system.

Description

全無人化物流倉儲系統及全無人化物流倉儲運作方法 Fully unmanned logistics warehousing system and fully unmanned logistics warehousing operation method

本發明為有關一種物流倉儲系統，尤指一種可實現全無人化物流倉儲系統。 The present invention relates to a logistics storage system, in particular to a fully unmanned logistics storage system.

自18世紀工業革命以降，人類生產方式邁向了嶄新的紀元，不再以傳統的人力或獸力從事生產工作，取而代之的是，大規模工廠的設置，以及大量機器的使用。機器的發明和運用，成為了這個時代的標誌，史學家稱此世代為機器時代。 Since the Industrial Revolution in the 18th century, human production methods have entered a new era. Traditional human or animal power is no longer used in production. Instead, large-scale factories are set up and a large number of machines are used. The invention and use of machines have become a symbol of this era, and historians call this generation the age of machines.

時間往後推移，到了近代的後工業社會，甚至是現代的工業4.0，人類對於機器的要求越來越高，期待賦予機器更多的功能，讓人類文明更為便利。而在現今全球風靡的工業無人化潮流下，各領域業者無不乘此風潮，企望使各自的領域能有大幅躍升的機會。 As time goes by, in the modern post-industrial society, even the modern Industry 4.0, humans have higher and higher requirements for machines, and they look forward to giving machines more functions and making human civilization more convenient. Under the current global trend of unmanned industrialization, all industry players are all taking advantage of this trend, hoping to make their respective fields have a significant leap.

物流相關領域亦為其中的一份子。如中國專利公開第CN107350174A號，即揭示了一種自動分揀系統及其工作方法，包括運輸單元、自動供件台、移動分揀單元、控制器和補數單元。其中，卸貨和裝車環節需要人員，中間環節無人操作，自動化程度高，且有效降低異常包裹的數量，亦減少工作人員的數量。 Logistics-related fields are also part of it. For example, Chinese Patent Publication No. CN107350174A discloses an automatic sorting system and its working method, including a transportation unit, an automatic feeding table, a mobile sorting unit, a controller and a compensation unit. Among them, the unloading and loading links require personnel, and the intermediate links are unmanned, which has a high degree of automation, and effectively reduces the number of abnormal packages and also reduces the number of staff.

顯見地，雖上述習用技藝可減少工作人員的數量，卻無法達到完全的無人化，因此，關於全無人化物流系統的發展，仍具有極大進步空間。 Obviously, although the above-mentioned skills can reduce the number of workers, they cannot be completely unmanned. Therefore, there is still great room for improvement in the development of a fully unmanned logistics system.

本發明的主要目的，在於解決習知自動分揀系統無法達到完全無人化的缺點。 The main purpose of the present invention is to solve the shortcoming that the conventional automatic sorting system cannot be completely unmanned.

為了達到上述目的，本發明提供一種全無人化物流倉儲系統，其包含：一第一機器人、一第二機器人、一第三機器人、一第四機器人、以及一輸送系統。 In order to achieve the above objective, the present invention provides a fully unmanned logistics warehousing system, which includes: a first robot, a second robot, a third robot, a fourth robot, and a conveying system.

該第一機器人具有一用來將一放置有一第一商品的第一子貨架移動至一第一分揀站的第一抓取元件；該第二機器人具有一用來將一放置有一第二商品的第二子貨架移動至該第一分揀站的第二抓取元件，其中，該第二商品與該第一商品不同；該第三機器人固設在該第一分揀站上並具有一用來將該第一子貨架以及該第二子貨架抓取至該第一分揀站上的第三抓取元件；該第四機器人設置於一第二分揀站並具有一第四抓取元件，其中該第二分揀站與該第一分揀站不同；該輸送系統設置於該第一分揀站與該第二分揀站之間以將該第一分揀站的該第一子貨架以及該第二子貨架移動至該第二分揀站。其中，該第四抓取元件係用以根據一訂單任務分別從該第一子貨架及該第二子貨架中拿取部分的該第一商品及部分的該第二商品後放置於一出貨容器中。 The first robot has a first gripping element for moving a first sub-rack with a first product to a first sorting station; the second robot has a first grabbing element for placing a second product The second sub-rack moves to the second grabbing element of the first sorting station, wherein the second product is different from the first product; the third robot is fixed on the first sorting station and has a Used to grab the first sub-rack and the second sub-rack to the third grabbing element on the first sorting station; the fourth robot is arranged in a second sorting station and has a fourth grab Components, wherein the second sorting station is different from the first sorting station; the conveying system is arranged between the first sorting station and the second sorting station so that the first sorting station of the first sorting station The sub-rack and the second sub-rack move to the second sorting station. Wherein, the fourth grabbing element is used to take part of the first product and part of the second product from the first sub-rack and the second sub-rack respectively according to an order task and place them in a shipment In the container.

在一實施例中，更包括一用於放置該第一子貨架及該第二子貨架的移動式貨架。 In an embodiment, it further includes a mobile rack for placing the first sub rack and the second sub rack.

在一實施例中，該第一機器人與該第二機器人相同。 In an embodiment, the first robot is the same as the second robot.

在一實施例中，該第三機器人或該第四機器人中至少一者包括一用來辨識一辨識標記的辨識元件。 In an embodiment, at least one of the third robot or the fourth robot includes an identification element for identifying an identification mark.

在一實施例中，該辨識標記係為一維條碼、二維條碼、圖案標記、無線射頻識別系統(RFID)電子標籤或其組合。 In an embodiment, the identification mark is a one-dimensional bar code, a two-dimensional bar code, a pattern mark, a radio frequency identification system (RFID) electronic tag, or a combination thereof.

在一實施例中，更包括一用來確認該訂單任務的終端機，且該終端機包括一用來控制該第一機器人及該第二機器人的第一控制系統、以及一用來控制該第三機器人與該第四機器人的第二控制系統。 In one embodiment, it further includes a terminal for confirming the order task, and the terminal includes a first control system for controlling the first robot and the second robot, and a first control system for controlling the second robot. The second control system of the third robot and the fourth robot.

在一實施例中，該第一控制系統為一機器人調度系統。 In one embodiment, the first control system is a robot scheduling system.

在一實施例中，該第二控制系統為一定位與視覺辨識系統。 In one embodiment, the second control system is a positioning and visual recognition system.

本發明又提供一種全無人化物流倉儲運作方法，包括：依據一訂單任務，使一第一機器人將一放置有一第一商品的第一子貨架移動至一第一分揀站；使一第二機器人將一放置有一第二商品的第二子貨架移動至該第一分揀站；使一固設在該第一分揀站上的第三機器人將該第一子貨架以及該第二子貨架抓取至該第一分揀站上；藉由一輸送系統將該第一分揀站的該第一子貨架以及該第二子貨架移動至一第二分揀站；使一設置在該第二分揀站的第四機器人根據該訂單任務分別從該第一子貨架及該第二子貨架中拿取部分的該第一商品及部分的該第二商品並放置於一出貨容器中。 The present invention also provides a fully unmanned logistics warehousing operation method, including: according to an order task, a first robot moves a first sub-rack with a first product to a first sorting station; The robot moves a second sub-rack with a second product to the first sorting station; makes a third robot fixed on the first sorting station perform the first sub-rack and the second sub-rack Grab onto the first sorting station; move the first sub-rack and the second sub-rack of the first sorting station to a second sorting station by a conveyor system; make one set on the first sorting station The fourth robot of the second sorting station respectively takes part of the first product and part of the second product from the first sub-rack and the second sub-rack according to the order task and places them in a shipping container.

在一實施例中，該第一機器人與該第二機器人相同。 In an embodiment, the first robot is the same as the second robot.

綜上，本發明透過設置有多數各具不同功能的機器人於不同的工作位置，亦即，使各個機器人專司其位、彼此搭配。據此，除了能有效提升單位時間內的貨物流通效率，也可大幅減少人力的需求，相較於習知技藝，甚至更可達到完全無人化，以及工業4.0的理想榮景。 In summary, in the present invention, a large number of robots with different functions are arranged in different working positions, that is, each robot is dedicated to its position and is matched with each other. According to this, in addition to effectively improving the efficiency of goods circulation per unit time, it can also greatly reduce the demand for manpower. Compared with the learned skills, it can even achieve complete unmannedness and the ideal prosperity of Industry 4.0.

10:第一機器人 10: The first robot

20:第二機器人 20: The second robot

30:第三機器人 30: The third robot

301:第三抓取元件 301: The third gripping element

40:第四機器人 40: Fourth Robot

401:第四抓取元件 401: The fourth grabbing element

50:輸送系統 50: Conveying system

A:移動式貨架 A: Mobile shelf

A1:第一子貨架 A1: The first sub-shelf

A2:第二子貨架 A2: The second sub-shelf

B:出貨容器 B: Shipping container

S1:第一分揀站 S1: The first sorting station

S2:第二分揀站 S2: The second sorting station

C:終端機 C: Terminal

E:辨識標記 E: Identification mark

S100、S101、S102、S200、S300、S400:步驟 S100, S101, S102, S200, S300, S400: steps

『圖1』，為本發明一實施例的實際應用示意圖。 "Figure 1" is a schematic diagram of the practical application of an embodiment of the present invention.

『圖2』，為本發明一實施例的流程示意圖。 "Figure 2" is a schematic flow chart of an embodiment of the present invention.

有關本發明的詳細說明及技術內容，現就配合圖式說明如下：請參閱『圖1』。本發明提供一種全無人化物流倉儲系統，其包含：一第一機器人10、一第二機器人20、一第三機器人30、一第四機器人40、以及一輸送系統50。 The detailed description and technical content of the present invention are described as follows in conjunction with the drawings: please refer to "Figure 1". The present invention provides a fully unmanned logistics warehousing system, which includes: a first robot 10, a second robot 20, a third robot 30, a fourth robot 40, and a conveying system 50.

該第一機器人10具有一用來將一放置有一第一商品的第一子貨架A1移動至一第一分揀站S1的第一抓取元件(圖未示)。該第二機器人20具有一用來將一放置有一第二商品的第二子貨架A2移動至該第一分揀站S1的第二抓取元件(圖未示)，其中，該第二商品與該第一商品不同。 The first robot 10 has a first grabbing element (not shown) for moving a first sub-rack A1 containing a first product to a first sorting station S1. The second robot 20 has a second gripping element (not shown) for moving a second sub-rack A2 on which a second product is placed to the first sorting station S1, wherein the second product and The first product is different.

於一實施例中，該第一子貨架A1及該第二子貨架A2可放置在一移動式貨架A上。當如本實施例欲拿取複數種不同商品的情況下，該第一機器人10可移動至該移動式貨架A並透過該第一抓取元件抓取該第一子貨架A1，隨後移動至該第一分揀站S1；此時，該第二機器人20可移動至該移動式貨架A並透過該第二抓取元件抓取該第二子貨架A2，也移動至該第一分揀站S1。 In one embodiment, the first sub-rack A1 and the second sub-rack A2 can be placed on a mobile rack A. When a plurality of different commodities are to be picked up as in this embodiment, the first robot 10 can move to the mobile rack A and grab the first sub-rack A1 through the first grabbing element, and then move to the mobile rack A1. The first sorting station S1; at this time, the second robot 20 can move to the mobile rack A and grab the second sub-rack A2 through the second grabbing element, and also move to the first sorting station S1 .

或者，在其他實施例中，該第一機器人10可移動至該移動式貨架A並透過該第一抓取元件抓取該第一子貨架A1後，再回到該移動式貨架A抓取該第二子貨架A2，對於本領域技術人士可以理解的是，此情況下該第一機器人10可對應為上述的該第二機器人20。 Or, in other embodiments, the first robot 10 can move to the mobile rack A and grab the first sub-racks A1 through the first grabbing element, and then return to the mobile rack A to grab the first sub rack A1. For the second sub-rack A2, those skilled in the art can understand that, in this case, the first robot 10 can correspond to the second robot 20 described above.

接續著，該第三機器人30固設在該第一分揀站S1上並具有一用來將該第一子貨架A1以及該第二子貨架A2抓取至該第一分揀站S1上的第三抓取元件301。 Subsequently, the third robot 30 is fixed on the first sorting station S1 and has a device for grabbing the first sub-rack A1 and the second sub-rack A2 to the first sorting station S1 The third grabbing element 301.

該第四機器人40設置於一第二分揀站S2並具有一第四抓取元件401，其中該第二分揀站S2與該第一分揀站S1不同，並於該第一分揀站S1與該第二分揀站S2之間設置有該輸送系統50，以將放置於該第一分揀站S1的該第一子貨架A1以及該第二子貨架A2移動至該第二分揀站S2。其中，該輸送系統50可為箱式輸送機，或是棧板式輸送機，於其他實施例中，亦可由該第一機器人10、該第二機器人20替代，並無限制。 The fourth robot 40 is set in a second sorting station S2 and has a fourth grabbing element 401, wherein the second sorting station S2 is different from the first sorting station S1, and is located at the first sorting station S2. The conveyor system 50 is provided between S1 and the second sorting station S2 to move the first sub-rack A1 and the second sub-rack A2 placed in the first sorting station S1 to the second sorting station S1 Stop S2. Wherein, the conveying system 50 can be a box conveyor or a pallet conveyor. In other embodiments, it can also be replaced by the first robot 10 and the second robot 20 without limitation.

根據一訂單任務，該第四抓取元件401可分別從該第一子貨架A1及該第二子貨架A2中拿取部分的該第一商品及部分的該第二商品後放置於一出貨容器B中，該出貨容器B的型態可以為料箱、出貨紙箱、貨架等，並未有所限制。此處的「部分」，指的是一個或一個以上，即至少一的意思，舉例來說，該第四抓取元件401可依據該訂單任務內容，抓取一個該第一商品以及全部的該第二商品；或者五個該第一商品以及三個該第二商品；或者全部的該第一商品以及一個該第二商品。 According to an order task, the fourth grabbing element 401 can take part of the first product and part of the second product from the first sub-rack A1 and the second sub-rack A2, respectively, and place them in a shipment In the container B, the type of the shipping container B can be a material box, a shipping carton, a shelf, etc., and there are no restrictions. The "part" here refers to one or more than one, that is, at least one. For example, the fourth grabbing element 401 can grab one of the first product and all of the first product according to the content of the order task. A second product; or five of the first product and three of the second product; or all of the first product and one of the second product.

本實施例中，該第三機器人30或該第四機器人40中至少一者可包括一用來辨識一辨識標記E的辨識元件(圖未示)以協助揀貨工作順暢進行，「至少一者」，即該第三機器人30與該第四機器人40可同時具有該辨識元件，也可僅該第三機器人30或該第四機器人40設置有該辨識元件，並無限制。 In this embodiment, at least one of the third robot 30 or the fourth robot 40 may include an identification element (not shown) for identifying an identification mark E to assist in the smooth progress of the picking work, "at least one "That is, the third robot 30 and the fourth robot 40 may have the identification element at the same time, or only the third robot 30 or the fourth robot 40 may be provided with the identification element, and there is no limitation.

該辨識標記E可透過印製或是其他方法而貼附或標記在該第一子貨架A1及該第二子貨架A2，或者也可以貼附或標記在每一個該第一商品及該 第二商品上，於一具體實例中，該辨識標記E可為一維條碼、二維條碼、圖案標記、無線射頻識別系統(RFID)電子標籤或其任意組合，本發明並無特別限制，而可以視情況來選用不同的標記系統，此為本領域技術人士可以理解的。於本實施例中，可更包括一用來確認該訂單任務的終端機C，且該終端機C至少包括一用來控制該第一機器人10及該第二機器人20的第一控制系統、以及一用來控制該第三機器人30與該第四機器人40的第二控制系統。應敘明的為，該第一控制系統可為一機器人調度系統，並根據該機器人調度系統依照需求以控制該第一機器人10及該第二機器人20移出及移入該移動式貨架A。該第二控制系統則可為一定位與視覺辨識系統，並透過該辨識元件來辨識裝有特定商品的外包裝箱或容器，幫助放置或拿取特定商品，惟本領域技術人士可依自身需求，進行適當的系統配置，並無限制。 The identification mark E can be affixed or marked on the first sub-shelf A1 and the second sub-shelf A2 through printing or other methods, or can also be affixed or marked on each of the first product and the second sub-shelf A2. On the second product, in a specific example, the identification mark E can be a one-dimensional bar code, a two-dimensional bar code, a pattern mark, a radio frequency identification system (RFID) electronic tag, or any combination thereof. The present invention is not particularly limited, and Different marking systems can be selected according to the situation, which can be understood by those skilled in the art. In this embodiment, it may further include a terminal C for confirming the order task, and the terminal C at least includes a first control system for controlling the first robot 10 and the second robot 20, and A second control system for controlling the third robot 30 and the fourth robot 40. It should be stated that the first control system can be a robot scheduling system, and according to the robot scheduling system, the first robot 10 and the second robot 20 are controlled to move out and into the mobile shelf A according to requirements. The second control system can be a positioning and visual identification system, and through the identification element to identify the outer packaging box or container containing a specific product, to help place or take the specific product, but those skilled in the art can according to their own needs , Proper system configuration, no restrictions.

為使本領域具通常知識者更了解本發明，以下將詳細地說明本發明的實際運作方式：請續參閱『圖1』、『圖2』。首先，該終端機C在收到一訂單任務後，需進行一運送的步驟以將商品移動至一分揀工作區(步驟S100)。詳細來說，可依據該訂單任務使該第一控制系統控制該第一機器人10從該移動式貨架A上，將該放置有該第一商品的第一子貨架A1移動至該第一分揀站S1(步驟S101)；再使該第二機器人20從該移動式貨架A上將該放置有該第二商品的第二子貨架A2移動至該第一分揀站S1(步驟S102)。而當該筆訂單任務需要拿取更多不同商品時，可再進一步指派該第一機器人10、該第二機器人20、及/或同類或相似的其他可移動式機器人至該移動式貨架A上搬取更多的子貨架至該第一分揀站S1。 In order to enable those with ordinary knowledge in the field to better understand the present invention, the actual operation mode of the present invention will be described in detail below: Please refer to "Figure 1" and "Figure 2". First, after receiving an order task, the terminal C needs to perform a transportation step to move the goods to a sorting work area (step S100). In detail, according to the order task, the first control system can control the first robot 10 from the mobile shelf A to move the first sub-rack A1 on which the first product is placed to the first sorting Station S1 (step S101); and then make the second robot 20 move the second sub-rack A2 on which the second product is placed from the mobile rack A to the first sorting station S1 (step S102). When the order task requires more different products, the first robot 10, the second robot 20, and/or other mobile robots of the same or similar type can be further assigned to the mobile shelf A Move more sub-racks to the first sorting station S1.

設置在該第一分揀站S1的第三機器人30隨後將抵達該第一分揀站S1的該第一機器人10及該第二機器人20上抓取該第一子貨架A1以及該第二子貨架A2至該第一分揀站S1(步驟S200)。上述步驟舉例可依以下的順序進行，但不以此為限：複數個該第三機器人30同時取下該第一機器人10及該第二機器人20帶來的該第一子貨架A1以及該第二子貨架A2，並將其放置在該第一分揀站S1；或者，該第三機器人30先取下該第一機器人10帶來的該第一子貨架A1並將其放置在該第一分揀站S1後，再取下該第二機器人20帶來的該第二子貨架A2並將其放置在該第一分揀站S1，此情況下可僅由單一的該第三機器人30進行取貨程序；或者，該第三機器人30先取下該第一機器人10帶來的該第一子貨架A1後，該第一機器人10再回到該移動式貨架A抓取該第二子貨架A2至該第一分揀站S1，讓該第三機器人30將該第二子貨架A2放置於該第一分揀站S1，在此情況下，該第一機器人10可對應作為上述的該第二機器人20。 The third robot 30 arranged in the first sorting station S1 will then arrive at the first robot 10 and the second robot 20 in the first sorting station S1 to grab the first sub-rack A1 and the second sub-rack A1 and the second sub-rack A1. The rack A2 arrives at the first sorting station S1 (step S200). The above examples of steps can be performed in the following order, but not limited to: a plurality of the third robots 30 simultaneously remove the first sub-rack A1 and the first sub-rack A1 brought by the first robot 10 and the second robot 20 Second sub-rack A2 and place it in the first sorting station S1; or, the third robot 30 first removes the first sub-rack A1 brought by the first robot 10 and places it in the first sub-rack A1 After picking station S1, remove the second sub-rack A2 brought by the second robot 20 and place it in the first sorting station S1. In this case, only a single third robot 30 can pick it up. Or, after the third robot 30 first removes the first sub-rack A1 brought by the first robot 10, the first robot 10 returns to the mobile rack A to grab the second sub-rack A2 to The first sorting station S1 allows the third robot 30 to place the second sub-rack A2 in the first sorting station S1. In this case, the first robot 10 can correspond to the second robot mentioned above 20.

接下來，該輸送系統50將該第一分揀站S1的該第一子貨架A1以及該第二子貨架A2移動至該第二分揀站S2(步驟S300)。 Next, the conveying system 50 moves the first sub-rack A1 and the second sub-rack A2 of the first sorting station S1 to the second sorting station S2 (step S300).

此時，設置在該第二分揀站S2的第四機器人40即可根據該訂單任務，分別從該第一子貨架A1及該第二子貨架A2中拿取部分的該第一商品及部分的該第二商品並放置於該出貨容器B中(步驟S400)，該出貨容器B隨後即可進入包裝線，進一步地進行後續裝箱、封箱、貼出貨標籤等等的出貨包裝程序。 At this time, the fourth robot 40 arranged in the second sorting station S2 can take part of the first product and part from the first sub-rack A1 and the second sub-rack A2 according to the order task. The second product is placed in the shipping container B (step S400), and the shipping container B can then enter the packaging line for subsequent shipments such as packing, sealing, and labeling Packaging procedures.

承上，本發明透過設置有多數各具不同功能的機器人於不同的工作位置，亦即，使機器人各司其職，專司其位。據此，除了能有效提升單位時間內的貨物流通效率，也可大幅減少人力的需求，相較於習知技藝， 甚至更達到完全無人化，將具體實現全無人化物流倉儲系統，以及工業4.0的理想榮景。 In summary, the present invention provides a large number of robots with different functions in different working positions, that is, the robots perform their duties and perform their duties exclusively. According to this, in addition to effectively improving the efficiency of goods circulation per unit time, it can also greatly reduce the need for manpower. Compared with learning skills, It is even more fully unmanned, which will realize the fully unmanned logistics and warehousing system and the ideal prosperity of Industry 4.0.

以上已將本發明做一詳細說明，惟以上所述者，僅為本發明的一較佳實施例而已，當不能限定本發明實施的範圍。即凡依本發明申請範圍所作的均等變化與修飾等，皆應仍屬本發明的專利涵蓋範圍內。 The present invention has been described in detail above, but what is described above is only a preferred embodiment of the present invention, and should not limit the scope of implementation of the present invention. That is to say, all equal changes and modifications made in accordance with the scope of application of the present invention should still fall within the scope of the patent of the present invention.

10:第一機器人 10: The first robot

20:第二機器人 20: The second robot

30:第三機器人 30: The third robot

301:第三抓取元件 301: The third gripping element

40:第四機器人 40: Fourth Robot

401:第四抓取元件 401: The fourth grabbing element

50:輸送系統 50: Conveying system

A:移動式貨架 A: Mobile shelf

A1:第一子貨架 A1: The first sub-shelf

A2:第二子貨架 A2: The second sub-shelf

B:出貨容器 B: Shipping container

S1:第一分揀站 S1: The first sorting station

S2:第二分揀站 S2: The second sorting station

C:終端機 C: Terminal

E:辨識標記 E: Identification mark

Claims (9)

一種處理訂單的全無人化物流倉儲系統，包括：一移動式貨架，包括一放置有一第一商品的第一子貨架以及一放置有一第二商品的第二子貨架，其中，該第二商品與該第一商品不同；一第一機器人，具有一第一抓取元件，該第一機器人移動至該移動式貨架抓取該第一子貨架，並移動至一第一分揀站；一第二機器人，具有一第二抓取元件，該第二機器人移動至該移動式貨架抓取該第二子貨架，並移動至該第一分揀站；複數個第三機器人，固設在該第一分揀站上並具有一用來將該第一子貨架以及該第二子貨架抓取至該第一分揀站上的第三抓取元件；一第四機器人，設置於一第二分揀站並具有一第四抓取元件，其中該第二分揀站與該第一分揀站不同；以及一輸送系統，設置於該第一分揀站與該第二分揀站之間以將該第一分揀站的該第一子貨架以及該第二子貨架移動至該第二分揀站；其中，該第四抓取元件係用以根據一訂單任務分別從該第一子貨架及該第二子貨架中拿取部分的該第一商品及部分的該第二商品後放置於一出貨容器中。 A fully unmanned logistics warehousing system for processing orders, including: a mobile rack, including a first sub-rack on which a first product is placed and a second sub-rack on which a second product is placed, wherein the second product and The first product is different; a first robot has a first grabbing element, the first robot moves to the mobile rack to grab the first sub-rack, and then moves to a first sorting station; a second The robot has a second grabbing element, the second robot moves to the mobile rack to grab the second sub-rack, and then moves to the first sorting station; a plurality of third robots are fixed on the first The sorting station is provided with a third grabbing element for grabbing the first sub-rack and the second sub-rack to the first sorting station; a fourth robot is arranged in a second sorting station The station also has a fourth picking element, wherein the second sorting station is different from the first sorting station; and a conveying system is arranged between the first sorting station and the second sorting station to The first sub-rack and the second sub-rack of the first sorting station are moved to the second sorting station; wherein, the fourth grabbing element is used to separately move from the first sub-rack and the second sub-rack according to an order task A part of the first product and a part of the second product are taken from the second sub-shelf and placed in a shipping container. 如請求項1所述的全無人化物流倉儲系統，其中，該第一機器人與該第二機器人相同。 The fully unmanned logistics warehousing system according to claim 1, wherein the first robot is the same as the second robot. 如請求項1所述的全無人化物流倉儲系統，其中，該第三機器人或該第四機器人中至少一者包括一用來辨識一辨識標記的辨識元件。 The fully unmanned logistics storage system according to claim 1, wherein at least one of the third robot or the fourth robot includes an identification element for identifying an identification mark. 如請求項3所述的全無人化物流倉儲系統，其中，該辨識標記係為一維條碼、二維條碼、圖案標記、無線射頻識別系統(RFID)電子標籤或其組合。 The fully unmanned logistics storage system according to claim 3, wherein the identification mark is a one-dimensional bar code, a two-dimensional bar code, a pattern mark, a radio frequency identification system (RFID) electronic tag, or a combination thereof. 如請求項1所述的全無人化物流倉儲系統，更包括一用來確認該訂單任務的終端機，且該終端機包括一用來控制該第一機器人及該第二機器人的第一控制系統、以及一用來控制該第三機器人與該第四機器人的第二控制系統。 The fully unmanned logistics warehousing system according to claim 1, further including a terminal for confirming the order task, and the terminal includes a first control system for controlling the first robot and the second robot And a second control system for controlling the third robot and the fourth robot. 如請求項5所述的全無人化物流倉儲系統，其中，該第一控制系統為一機器人調度系統。 The fully unmanned logistics warehousing system according to claim 5, wherein the first control system is a robot scheduling system. 如請求項5所述的全無人化物流倉儲系統，其中，該第二控制系統為一定位與視覺辨識系統。 The fully unmanned logistics storage system according to claim 5, wherein the second control system is a positioning and visual identification system. 一種處理訂單的全無人化物流倉儲運作方法，包括：依據一訂單任務，使一第一機器人移動至一移動式貨架抓取一放置有一第一商品的第一子貨架，並移動至一第一分揀站；依據該訂單任務，使一第二機器人移動至該移動式貨架抓取一放置有一第二商品的第二子貨架，並移動至該第一分揀站，其中，該第二商品與該第一商品不同；使複數個固設在該第一分揀站上的第三機器人將該第一子貨架以及該第二子貨架抓取至該第一分揀站上；藉由一輸送系統將該第一分揀站的該第一子貨架以及該第二子貨架移動至一第二分揀站；以及 使一設置在該第二分揀站的第四機器人根據該訂單任務分別從該第一子貨架及該第二子貨架中拿取部分的該第一商品及部分的該第二商品並放置於一出貨容器中。 A fully unmanned logistics and warehousing operation method for processing orders includes: according to an order task, a first robot is moved to a mobile rack to grab a first sub-rack on which a first product is placed, and move to a first sub-rack. Sorting station; according to the order task, a second robot is moved to the mobile rack to grab a second sub-rack on which a second product is placed, and moved to the first sorting station, where the second product It is different from the first product; a plurality of third robots fixed on the first sorting station grab the first sub-rack and the second sub-rack to the first sorting station; The conveying system moves the first sub-rack and the second sub-rack of the first sorting station to a second sorting station; and Make a fourth robot set at the second sorting station take part of the first product and part of the second product from the first sub-shelf and the second sub-shelf respectively according to the order task and place them in One shipping container. 如請求項8所述的全無人化物流倉儲運作方法，其中，該第一機器人與該第二機器人相同。 The fully unmanned logistics warehouse operation method according to claim 8, wherein the first robot is the same as the second robot.
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