WO2020220950A1 - 物品运送*** - Google Patents

物品运送*** Download PDF

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Publication number
WO2020220950A1
WO2020220950A1 PCT/CN2020/083693 CN2020083693W WO2020220950A1 WO 2020220950 A1 WO2020220950 A1 WO 2020220950A1 CN 2020083693 W CN2020083693 W CN 2020083693W WO 2020220950 A1 WO2020220950 A1 WO 2020220950A1
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WO
WIPO (PCT)
Prior art keywords
transport
component
access
vehicle
control
Prior art date
Application number
PCT/CN2020/083693
Other languages
English (en)
French (fr)
Inventor
吴明福
黄锋权
宋国库
Original Assignee
北京京东乾石科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京京东乾石科技有限公司 filed Critical 北京京东乾石科技有限公司
Priority to EP20798774.4A priority Critical patent/EP3943418A4/en
Priority to US17/606,730 priority patent/US20220227579A1/en
Priority to JP2021563708A priority patent/JP7216227B2/ja
Publication of WO2020220950A1 publication Critical patent/WO2020220950A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Definitions

  • This application relates to the field of logistics technology, and in particular to an article transportation system.
  • an article transportation system which can realize the transportation of articles; specifically, the article is obtained through the article transportation system, and then the article is transported to a designated location, for example, to a place to be packed, or to a vehicle that needs to transport the article.
  • the goods transport system consists of racks, horizontal and straight shuttles, elevators, and conveyor lines.
  • the racks include multiple rack unit layers, and each rack unit layer is provided with a horizontal track, horizontal and straight.
  • the shuttle can run on a horizontal track to carry out the operations of goods in and out of storage. Take the execution of outbound operations as an example.
  • the horizontal and straight shuttle runs to the designated storage space, uses its own fork to take out the items, and then drives toward the elevator position on the floor, and applies for dispatch services.
  • the elevator moves vertically to the floor, and then completes the transfer of items with the horizontal and straight shuttle, and then the elevator transports the items to the conveyor line, and the conveyor line transports the items to the outer picking station .
  • the horizontal and straight shuttles generally can only run on one shelf unit level. If the layer needs to be changed, a lift is needed to switch between different shelf unit levels.
  • the article transportation system adopting the above-mentioned technology, in the horizontal and straight shuttle car with the help of the hoist to complete the article handover, and the horizontal and straight shuttle car to switch the shelf unit layer, it takes time, and the flexibility is poor.
  • the warehouse is frequent, it is easy to cause congestion , Coupled with the waiting time of service equipment, leads to increased operation time, which in turn affects the overall throughput of the storage system.
  • the prior art requires the use of auxiliary equipment such as elevators and conveying lines, which requires high expenditure and maintenance costs.
  • the present application provides an article transportation system to solve the problems of long time and low transportation efficiency in completing the process of selecting and transporting articles.
  • this application provides an article transportation system, including:
  • At least one access vehicle and at least one transport vehicle At least one access vehicle and at least one transport vehicle;
  • Each of the access vehicles is provided with a first drive assembly, and each of the transport vehicles is provided with a second drive assembly;
  • the first drive assembly is used to drive the access cart to walk on a preset plane and vertical direction
  • the second drive assembly is used to drive the transport cart to walk on the preset plane
  • the access vehicle or the transport vehicle is provided with a transport component; the transport component is used to transport items from the access vehicle and the transport vehicle when the access vehicle and the transport vehicle travel to the same position One of the transport vehicles transmits to the other.
  • the transmission component is located on the access car
  • the access vehicle includes a first vehicle body, and the first drive assembly is located on the first vehicle body; the first vehicle body is also provided with a first control assembly, the first control assembly and the Transmission component connection;
  • the first control component is used to control the transfer component to transfer the item to a transport vehicle located at the same location as the access vehicle, or obtain the item from a transport vehicle located at the same location as the access vehicle .
  • the transmission component is an extension piece
  • the first control assembly is specifically used to control the extension and/or retracting of the extension member.
  • the upper end of the first vehicle body is provided with a horizontal slide rail
  • the lower surface of the extension piece is slidably connected with the horizontal slide rail
  • the upper surface of the extension piece is flat.
  • the transfer component is a clamping piece
  • the first control component is specifically used to control the tightening and/or loosening of the clamping member.
  • a navigation component is further provided on the first vehicle body, and the navigation component and the first driving component are respectively connected with the first control component;
  • the first control component is used to obtain the navigation information detected by the navigation component, and send a driving signal to the first driving component according to the navigation information.
  • a carrier is provided on the transport vehicle
  • the carrier is used to carry items, or the carrier is used to receive items on the conveying assembly.
  • the transport vehicle includes a second vehicle body, and the carrier is located on the second vehicle body;
  • the second vehicle body is further provided with a lifting component and a second control component, the bearing member is located at the top of the lifting component, and the second control component is connected to the lifting component;
  • the lifting assembly is used for ascending and/or descending under the control of the second control assembly to drive the ascending and/or descending of the carrier.
  • the carrier includes a first concave portion and a second concave portion.
  • a pair of opposite edges of the first concave portion are respectively provided with a first boss, and a pair of opposite edges of the second concave portion are respectively provided with a first boss.
  • a second boss is respectively provided, and the central axis of the first boss is parallel to the central axis of the second boss.
  • the same location is located on any area outside the lane of the rack.
  • system further includes: shelves; each of the access carts is used for vertical walking on the shelves.
  • the article transportation system provided by the present application provides an article transportation system composed of at least one access vehicle and at least one transport vehicle.
  • Each access vehicle is provided with a first drive assembly, and each transport vehicle is provided with a second drive.
  • Components the first drive assembly is used to drive the access cart to walk on a preset plane and vertical direction, the second drive assembly is used to drive the transport cart to walk on the preset plane;
  • the access cart or the transport cart is provided with a transmission component;
  • the component is used to transfer items from one of the access vehicle and the transport vehicle to the other when the access vehicle and the transport vehicle travel to the same position. Any access cart walks on the preset plane and vertical direction, and any transport cart walks on the preset plane.
  • any access vehicle and any transport vehicle can be docked at any position on the preset plane to realize the transfer of items; due to the diverse docking positions, the efficiency of item transfer is high, and the efficiency of item transportation is higher. High; docking and transportation methods are very flexible.
  • Figure 1 is a schematic structural diagram of an article transport system provided by an embodiment of the application.
  • FIG. 2 is a schematic structural diagram of an access cart in an article transportation system provided by an embodiment of the application
  • FIG. 3 is a schematic structural diagram of a transport vehicle in an article transport system provided by an embodiment of the application.
  • FIG. 4 is a schematic diagram of article transmission in an article transportation system provided by an embodiment of the application.
  • Figure 5 is a schematic structural diagram of another article transport system provided by an embodiment of the application.
  • FIG. 6 is a first structural diagram of an access cart in another article transportation system provided by an embodiment of the application.
  • FIG. 7 is a second structural diagram of an access cart in another article transportation system provided by an embodiment of the application.
  • Fig. 8 is a structural schematic diagram 1 of a transport vehicle in another article transport system provided by an embodiment of the application;
  • FIG. 9 is a second structural schematic diagram of a transport vehicle in another article transport system provided by an embodiment of the application.
  • FIG. 10 is a third structural schematic diagram of a transport vehicle in another article transport system provided by an embodiment of the application.
  • FIG. 11 is a schematic structural diagram of yet another article transportation system provided by an embodiment of the application.
  • the specific application scenario of this application is: with the rapid development of the logistics industry, the transportation and selection of goods and other items is an important process in the logistics industry.
  • an article transportation system is provided, which can realize the selection of articles; specifically, the article is obtained through the article transportation system, and then the article is transported to a designated location, such as to a place to be packed, or to a vehicle that needs to transport the article.
  • the goods transport system consists of racks, horizontal and straight shuttles, elevators, and conveyor lines.
  • the racks include multiple rack unit layers, and each rack unit layer is provided with a horizontal track, horizontal and straight.
  • the shuttle can run on a horizontal track to carry out the operations of goods in and out of storage. Take the execution of outbound operations as an example.
  • the horizontal and straight shuttle runs to the designated storage space, uses its own fork to take out the items, and then drives toward the elevator position on the floor, and applies for dispatch services.
  • the elevator moves vertically to the floor, and then completes the transfer of items with the horizontal and straight shuttle, and then the elevator transports the items to the conveyor line, and the conveyor line transports the items to the outer picking station .
  • the horizontal and straight shuttles generally can only run on one shelf unit level. If the layer needs to be changed, a lift is needed to switch between different shelf unit levels.
  • the horizontal and straight shuttles use the elevator to complete the item transfer and the horizontal straight shuttles to switch the shelf unit layers. It takes time, and the driving trajectory is very solid, resulting in poor flexibility.
  • the warehouse is frequent, It is easy to cause congestion, coupled with the waiting time of service equipment, resulting in increased operation time, which in turn affects the overall throughput of the storage system.
  • the prior art requires the use of auxiliary equipment such as elevators and conveying lines, which requires high expenditure and maintenance costs.
  • the second type of goods transport system consists of at least one automatic guided cart. Shelves can be arranged, the height of the shelves is low, for example, the height of the shelves is only 2.3 meters. Manually move items from the shelves, manually place the items on the automatic guided cart; then, automatically guide the cart to transport the items. Or, automatically guide the trolley to transport the items to the location of the shelf, and then manually place the items on the automatically guided trolley on the shelf.
  • the article transportation system provided by this application aims to solve the above technical problems of the prior art.
  • Figure 1 is a schematic structural diagram of an article transport system provided by an embodiment of this application
  • Figure 2 is a structural schematic diagram of an access cart in an article transport system provided by an embodiment of this application
  • Figure 3 is a schematic structural diagram of an access cart in an article transport system provided by an embodiment of this application.
  • Each access vehicle 1 is provided with a first drive assembly
  • each transport vehicle 2 is provided with a second drive assembly.
  • the first drive assembly is used to drive the access cart 1 to walk on a preset plane and vertical direction
  • the second drive assembly is used to drive the transport cart 2 to walk on a preset plane.
  • a transfer assembly 3 is provided on the access cart 1 or the transport cart 2; the transfer assembly 3 is used to transport the items from one of the access cart 1 and the transport cart 2 when the access cart 1 and the transport cart 2 travel to the same position To another.
  • an article transport system composed of at least one access cart 1 and at least one transport cart 2 is provided.
  • a first drive assembly and a first wheel structure 4 are provided on the access vehicle 1, wherein the first drive assembly can be an existing drive device or drive assembly, and the first wheel structure 4 can The movement is performed on the preset plane and vertical direction; thus, the first drive assembly can drive the first wheel structure 4 to walk, thereby driving the access cart 1 to walk on the preset plane or vertical direction.
  • the loading and unloading cart 1 can adopt a climbing shelf robot; the climbing shelf robot can climb on the shelf, and then the climbing shelf robot can climb vertically; the climbing shelf robot can descend to the aisle of the shelf, and then, The climbing shelf robot is docked with the transport vehicle 2 in the lane to transfer items.
  • a second drive assembly and a second wheel structure 5 are provided on the transport vehicle 2.
  • the second drive assembly can be an existing drive device or drive assembly, and the second wheel structure 5 can be used in advance. It is set to move on a plane; thus, the second drive assembly can drive the second wheel structure 5 to walk, thereby driving the transport vehicle 2 to walk on the preset plane.
  • the vertical direction refers to the vertical direction in physics, including but not limited to the vertical direction and the vertical direction with a certain inclination angle.
  • the preset plane refers to a plane in physics, but does not limit the altitude of the preset plane in physics; and, the preset plane can be a completely flat plane or a surface with certain unevenness.
  • the transfer function of items can be realized between the access cart 1 and the transport cart 2.
  • the transfer assembly 3 can be provided on the access cart 1.
  • the transfer component 3 on the access cart 1 can transfer the items on the access cart 1 to the transport cart 2; or, the access cart 1
  • the transport component 3 can take the items from the transport cart 2 and place them on the current access cart 1.
  • the transport assembly 3 can be provided on the transport vehicle 2.
  • the transfer component 3 on the transport vehicle 2 can transfer the items on the transport vehicle 2 to the access vehicle 1; or, the transport on the transport vehicle 2
  • the component 3 can take the items from the access cart 1 and place them on the current transport cart 2.
  • the above item transfer process can be realized between any access vehicle 1 and any transport vehicle 2. Moreover, between any access vehicle 1 and any transport vehicle 2, the above-mentioned article transfer process can be completed at any position on any preset plane. In addition, any access cart 1 can walk along a straight line or a curve on a preset plane, and any transport cart 2 can walk along a straight line or a curve on the preset plane.
  • FIG. 4 is a schematic diagram of article transportation in an article transportation system provided by an embodiment of the application, as shown in FIG. 4, and, as shown in FIG. 11, since the first drive assembly can drive the access car 1 To walk in the vertical direction, vertical rails can be set in the vertical direction of the shelf 6, so that the access cart 1 can walk vertically on the vertical rails of the shelf 6, that is, the access cart 1 can travel on the vertical rail of the shelf 6.
  • the access cart 1 can get the items from the shelf 6, the access cart 1 leaves the shelf 6, the access cart 1 walks on the ground, and then the access cart 1 walks to a certain one on the ground Position; at this time, the transport vehicle 2 walks on the ground to this position; then, the conveying assembly 3 can transfer items from the access vehicle 1 to the transport vehicle 2.
  • the access vehicle 1 walks on the ground, and then the access vehicle 1 walks to a certain position on the ground; at this time, the transport vehicle 2 also walks to that position; then, the transport component 3 can transfer the items from The transport cart 2 is transferred to the access cart 1; then, the access cart 1 can walk vertically on the vertical track of the shelf 6, and then the access cart 1 places the items on the shelf 6.
  • the access cart 1 can walk vertically on the track of the shelf 6; after the access cart 1 can obtain items from the shelf 6, since the top of the shelf 6 is also provided with a top rail, the access cart 1 You can walk on the top track. Then, the access vehicle 1 walks to a certain position on the top rail. At this time, the transport vehicle 2 can also walk to this position on the top rail, and then complete the transfer of the items; or, the access vehicle 1 walks on the top rail After that, the access cart 1 leaves the shelf 6, and the access cart 1 walks to a certain position on a plane. At this time, the transport cart 2 also walks to the position, and then completes the transfer of the items.
  • the access vehicle 1 travels to a certain position on the top rail.
  • the transport vehicle 2 can also travel to this position on the top rail.
  • the transfer assembly 3 transfers the items from the transport vehicle 2 to the storage.
  • the access cart 1 can walk vertically on the track of the shelf 6; the access cart 1 places the items on the shelf 6.
  • each access vehicle 1 is provided with a first drive assembly
  • each transport vehicle 2 is provided with a second drive.
  • the first drive assembly is used to drive the access cart 1 to walk on a preset plane and vertical
  • the second drive assembly is used to drive the transport cart 2 to walk on the preset plane
  • access cart 1 or transport cart 2 is provided with Conveyor assembly 3
  • Conveyor assembly 3 is used to transfer items from one of the access cart 1 and the transport cart 2 to the other when the access cart 1 and the transport cart 2 travel to the same position. Any access vehicle 1 walks on the preset plane and vertical direction, and any transport vehicle 2 walks on the preset plane.
  • any access vehicle 1 and any transport vehicle 2 can be docked at any position on the preset plane to realize the transfer of items; due to the diverse docking positions, the efficiency of item transfer is high, and the items are transported The efficiency is high; the docking and transportation methods are very flexible.
  • FIG. 5 is a schematic structural diagram of another article transport system provided by an embodiment of this application
  • FIG. 6 is a structural diagram 1 of an access cart in another article transport system provided by an embodiment of this application
  • FIG. 7 is an implementation of this application
  • Example 2 provides a schematic diagram of the structure of an access vehicle in another article transportation system.
  • Figure 8 is a schematic diagram 1 of the structure of a transport vehicle in another article transportation system provided by an embodiment of this application.
  • Figure 9 is an embodiment of this application.
  • the second structural schematic diagram of the transport vehicle in another article transport system is provided.
  • Figure 10 is the third structural schematic diagram of the transport vehicle in another article transport system provided by an embodiment of the application, as shown in Figure 5-10. Based on the embodiment shown in FIGS. 1-4, in the article transport system, the transport assembly 3 is located on the access cart 1.
  • the access vehicle 1 includes a first vehicle body 7, and a first drive assembly is located on the first vehicle body 7; the first vehicle body 7 is also provided with a first control assembly 8, and the first control assembly 8 is connected to the transmission assembly 3.
  • the first control component 8 is used to control the transfer component 3 to transfer the items to the transport vehicle 2 located at the same location as the access cart 1 or to obtain the items from the transport vehicle 2 located at the same location as the access cart 1.
  • the transmission component 3 is an extension piece; the first control component 8 is specifically used to control the extension and/or retracting of the extension piece; the upper end of the first car body 7 is provided with a horizontal slide rail, and the lower surface of the extension piece is horizontal The sliding rails are slidably connected, and the upper surface of the extension piece is flat.
  • the conveying component 3 is a clamping piece; the first control component 8 is specifically used to control the tightening and/or loosening of the clamping piece.
  • a navigation component 10 is also provided on the first vehicle body 7, and the navigation component 10 and the first driving component are respectively connected to the first control component 8.
  • the first control component 8 is used to obtain the navigation information detected by the navigation component 10, and send a driving signal to the first driving component according to the navigation information.
  • a carrier 16 is provided on the transport vehicle 2; the carrier 16 is used to carry items, or the carrier 16 is used to receive items on the conveying assembly 3.
  • the transport vehicle 2 includes a second vehicle body 14, and the carrier 16 is located on the second vehicle body 14.
  • the second vehicle body 14 is also provided with a lifting component 15 and a second control component.
  • the carrier 16 is located at the top of the lifting component 15 and the second control component is connected to the lifting component 15.
  • the lifting assembly 15 is used for ascending and/or descending under the control of the second control assembly to drive the supporting member 16 to ascend and/or descend.
  • the carrier 16 includes a first recessed portion 17 and a second recessed portion 18.
  • a pair of opposite edges of the first recessed portion 17 are respectively provided with a first boss 19, and a pair of opposite edges of the second recessed portion 18 are respectively provided with a first boss 19
  • a second boss 20 is provided, and the central axis of the first boss 19 is parallel to the central axis of the second boss 20.
  • the same location is located on any area outside the aisle of the shelf.
  • the solution provided in the above embodiment can be implemented; however, due to the high cost of the climbing shelf robot, when the access cart 1 uses a climbing shelf robot, The cost of the goods transport system is high; and, because the climbing shelf robot can only dock with the transport vehicle 2 in the lane of the shelf, when docking, other transport vehicles 2 cannot drive in the lane, which will cause roadway congestion , which in turn affects the delivery of items. Therefore, for the access car 1, the structure provided in this embodiment can be adopted.
  • each access car 1 consists of a first car body 7, a first drive assembly, a first wheel structure 4, a first control assembly 8, a transmission assembly 3, a first speed limit assembly 9 and a navigation assembly 10.
  • Composition that is, the transmission component 3 is located on the access car 1; the first drive component, the first wheel structure 4, the first control component 8, the transmission component 3, the first speed limit component 9 and the navigation component 10 are all set in the first On a vehicle body 7; and, the first control component 8 is respectively connected to the first drive component, the transmission component 3, and the navigation component 10.
  • the connection includes an electrical connection and/or a mechanical connection.
  • the electrical connection can be a wired connection Or wireless connection; the first drive assembly is connected to the first wheel structure 4.
  • the first wheel structure 4 is provided with a climbing assembly 13 and a wheel assembly 12, the climbing assembly 13 is used for walking in the vertical direction, and the wheel assembly 12 is used for walking on a preset plane.
  • the wheel assembly 12 is provided with a first motor, wherein the first motor is connected to the first drive assembly; the first control assembly 8 can control the first motor through the first drive assembly, thereby controlling the movement of the wheel assembly 12, so that the vehicle can be accessed 1 It can walk on a preset plane; and, the first motor is connected to the first speed limiting component 9.
  • the first speed limiting component 9 can limit the speed of the first motor, thereby reducing The traveling speed of the access vehicle 1 decreases.
  • the climbing assembly 13 is provided with a second motor, wherein the second motor is connected to the first drive assembly; the first control assembly 8 can control the second motor through the first drive assembly, thereby controlling the movement of the climbing assembly 13, so that the vehicle can be accessed 1 can walk in the vertical direction, for example, climbing or descending on the vertical track of the shelf 6; and the second motor is connected to the first speed limiting component 9, and when the rotation speed of the second motor is too fast, the first speed limiting The component 9 can limit the rotation speed of the second motor, thereby reducing the climbing speed or the descending speed of the access vehicle 1.
  • a navigation component 10 can also be provided on the first vehicle body 7, and multiple QR codes are pasted on the preset plane, the QR code is used to identify the current position of the QR code; the navigation component 10 can obtain The two-dimensional code on the plane is preset, and then the navigation component 10 can determine the location of the access car 1 according to the two-dimensional code, and then the navigation component 10 can generate navigation information, wherein the navigation component 10 can use a navigation device of the prior art; The navigation component 10 sends navigation information to the first control component 8; thus, the first control component 8 can send a driving signal to the first driving component according to the navigation information, or the first control component 8 can send a driving signal according to the navigation information and the remote device. Send a drive signal to the first drive assembly; further, the first control assembly 8 drives the access cart 1 to walk through the first drive assembly.
  • the first control component 8 controls the transport component 3 to transfer the items to the transport vehicle 2 located at the same position as the access vehicle 1;
  • the first control component 8 can also control the transport component 3 to obtain items from the transport vehicle 2 located at the same position as the access vehicle 1, and place the items on the access vehicle 1. on.
  • the above-mentioned same position is on any area outside the lane of the shelf 6. Since the shelf 6 is composed of multiple sub-frames, a laneway can be formed between the sub-frames.
  • the access vehicle 1 leaves the shelf 6, the access vehicle 1 can walk to any area outside the aisle, and then the access vehicle 1 reaches a certain position, and at this time, the transport vehicle 2 also walks to that position; The access vehicle 1 and the transport vehicle 2 are in this position to carry the goods.
  • a first power supply component 11 may be provided on the first vehicle body 7.
  • the first power supply component 11 is respectively connected to the first control component 8 and the navigation component 10, and the first power supply component 11 may be the first control component 8, the navigation component 10. powered by.
  • the conveying assembly 3 is an extension piece; a pair of parallel horizontal slide rails can be provided at the upper end of the access car 1, and the lower surface of the extension piece is slidingly connected with the horizontal slide rail, and the extension piece can be on the horizontal slide rail.
  • the upper surface of the projecting member is slid; and the upper surface of the projecting member is flat, so that the article can be placed on the projecting member. Since the first control component 8 is connected to the extension piece, the first control component 8 can control the extension and/or retracting of the extension piece. Thus, the first control component 8 can control the extension of the extension, and then place the items on the extension on the transport vehicle 2, and then the first control component 8 can control the extension of the extension.
  • the first control component 8 can control the extension of the protruding piece, and then the first control component 8 can obtain the items on the transport vehicle 2, and then the first control component 8 can control the protruding piece to retract, and then place the items Go to access car 1.
  • the conveying component 3 is a clamping piece; since the first control component 8 is connected to the clamping piece, the first control component 8 can control the tightening and/or loosening of the clamping piece.
  • the first control component 8 can control the clamping piece to loosen, and then place the object on the clamping piece on the transport vehicle 2, and then the first control component 8 can control the clamping piece to tighten.
  • the first control component 8 can control the clamping piece to tighten, and then the first control component 8 can obtain the article on the transport vehicle 2, and then the first control component 8 can control the clamping piece to loosen, and then the article Place it on the access car 1.
  • each transport vehicle 2 is composed of a second vehicle body 14, a second drive assembly, a second wheel structure 5, a second control assembly, a lifting assembly 15 and a carrier 16; wherein, the second drive assembly, The second wheel structure 5, the second control assembly, the lifting assembly 15 and the carrier 16 are all arranged on the second vehicle body 14.
  • the second control component is respectively connected to the second driving component and the lifting component 15.
  • the connection includes an electrical connection and/or a mechanical connection.
  • the electrical connection can be a wired connection or a wireless connection; the second drive component and the second wheel structure 5Connect.
  • the second wheel structure 5 is provided with a third motor, wherein the third motor is connected to the second drive assembly; the second control assembly can control the third motor through the second drive assembly, thereby controlling the movement of the second wheel structure 5 , So that the transport vehicle 2 can walk on the preset plane; and the third motor is connected with the second speed limiting component.
  • the second speed limiting component can limit the rotation speed of the third motor, Furthermore, the traveling speed of the transport vehicle 2 is reduced.
  • the lifting assembly 15 is located at the upper end of the second car body 14, and the carrier 16 is arranged at the upper end of the lifting assembly 15; the carrier 16 is used to carry articles, or the carrier 16 is used to receive the transport assembly 3 of the access cart 1 On the items.
  • the carrier 16 is a tray.
  • the bottom of the supporting member 16 is fixedly connected to the upper end of the lifting assembly 15.
  • the supporting member 16 includes a first recessed portion 17 and a second recessed portion 18.
  • the first recessed portion 17 has two pairs of opposite A pair of edges are provided with a first boss 19 respectively, and the second recess 18 has two pairs of opposite edges, and a pair of edges are respectively provided with a second boss 20, and the first The central axis of the boss 19 is parallel to the central axis of the second boss 20; thus, two articles can be placed on the carrier 16 at the same time, that is, one article is placed on the first recess 17 and the second recess 18 Another item was placed.
  • the second control component can control the lifting and/or lowering of the lifting component 15. Since the bearing 16 is located at the upper end of the lifting component 15, the lifting component 15 drives the lifting and/or lowering of the bearing 16; and the bearing 16 and the conveying component 3 Perform location docking.
  • a second power supply component may be provided on the second vehicle body 14, and the second power supply component is connected to the second control component and the lifting component 15 respectively, and the second power supply component can supply power to the second control component and the lifting component 15.
  • the first control component 8 of the access vehicle 1 can control the second motor through the first drive component, thereby controlling the movement of the climbing component 13, so that the access vehicle 1 can walk vertically on the shelf 6. At this time, the climbing component 13 It is consistent with the vertical track of the shelf 6. Access car 1 can reach the location of the item.
  • the first control component 8 of the access cart 1 can control the transfer component 3 to obtain the items on the shelf 6.
  • the conveying component 3 is a protruding piece
  • the first controller controls the conveying component 3 to slide on the slide rail, so that the conveying component 3 can reach below the article, that is, the article conveying component 3 is extended, as shown in FIG. 5 , And then the conveying component 3 supports the article; then, the first controller again controls the conveying component 3 to slide on the sliding rail, so that the conveying component 3 slides to the top of the access cart 1, that is, the conveying component 3 is stowed; thus, Through the above process, the conveying assembly 3 lifts and supports the article.
  • the transmission component 3 can obtain more than two items.
  • the first control component 8 controls the second motor through the first drive component again, and then controls the movement of the climbing component 13 so that the access cart 1 can walk vertically on the shelf 6 so that the access cart 1 leaves the shelf 6.
  • the preset plane is the ground
  • the cart 1 will reach the ground; or, if the preset plane is the top of the shelf 6, the cart 1 will reach the top of the shelf 6; or, the preset plane is located at the top of the shelf 6 A plane in the same plane will be accessed to that plane. Therefore, the access cart 1 can leave the shelf 6 after obtaining the items from the shelf 6.
  • the navigation component 10 of the access vehicle 1 can navigate according to the two-dimensional code on the preset plane; further, the first control component 8 can control the first motor through the first drive component, thereby controlling the movement of the wheel assembly 12, so that the access The cart 1 can walk on the preset plane; then, the access cart 1 walks to a certain position on the preset plane.
  • the second control component of the transport vehicle 2 can also navigate the transport vehicle 2 through the two-dimensional code.
  • the second control component can control the third motor through the second drive component, thereby controlling the movement of the second wheel structure 5, so that the transport vehicle 2 can walk on a preset plane. Then, the transport vehicle 2 and the access vehicle 1 arrive at the same position on the preset plane.
  • the second control assembly of the transport vehicle 2 controls the lifting assembly 15 to rise and/or descend, so that, as shown in FIGS. 9 and 10, the carrier 16 on the lifting assembly 15 rises or falls, so that the carrier 16 is The upper surface is parallel to the upper surface of the transport assembly 3 of the access cart 1; then, the first control assembly 8 of the access cart 1 controls the transport assembly 3 to transfer the items to the transport cart 2.
  • the conveying component 3 is a protruding piece
  • the first control component 8 of the access cart 1 controls the conveying component 3 to slide on the slide rail
  • the first control component 8 can control the conveying component 3 to extend, and the conveying component 3 carries animal products.
  • the first control assembly 8 of the access cart 1 again controls the transport assembly 3 to slide on the slide rail, so that the transport assembly 3 is stowed. At this time, the items of the transport assembly 3 will fall on the carrier Piece 16 on. Thus, through the above process, the access vehicle 1 places the articles on the transport assembly 3 of the transport vehicle 2.
  • the transport vehicle 2 can transport the items; the access vehicle 1 docking with the transport vehicle 2 can return to the shelf 6 again to carry out the storage and placement of the items.
  • the access cart 1 can place the items on the transport cart 2, and further, the transport and transportation of the items between the access cart 1 and the transport cart 2 is completed.
  • the second control component of the transport vehicle 2 can also navigate the transport vehicle 2 through a two-dimensional code. During the navigation, the second control component can drive the transport vehicle 2 to walk on the preset plane through the second drive component. Then, the transport vehicle 2 walks to a certain position on the preset plane.
  • the navigation component 10 of the access cart 1 can navigate according to the two-dimensional code on the preset plane; further, the first control component 8 can drive the access cart 1 to walk on the preset plane through the first driving component ; Then, access car 1 and access car 1 arrive at the same position on the preset plane.
  • the preset plane is the ground, or the preset plane is the top of the shelf 6, and the preset plane is a plane that is located on the same plane as the top of the shelf 6.
  • the second control assembly of the transport vehicle 2 controls the raising and/or lowering of the carrier 16 through the lifting assembly 15, so that the upper surface of the carrier 16 and the upper surface of the transport assembly 3 of the access vehicle 1 are between Parallel.
  • the first control component 8 of the access vehicle 1 controls the conveying component 3 to obtain items from the transport vehicle 2.
  • the transfer assembly 3 is an extension piece
  • the first control assembly 8 of the access cart 1 controls the transfer assembly 3 to slide on the slide rail
  • the first control assembly 8 can control the transfer assembly 3 to extend, and the transfer assembly 3 extends.
  • the transfer assembly 3 is located between the article and the carrier 16.
  • the first control assembly 8 of the access cart 1 controls the transfer assembly 3 to slide on the sliding rail again, so that the transfer assembly 3 is stowed.
  • the transport component 3 lifts the item; then, the first control component 8 of the access cart 1 continues to control the transport component 3 to be stowed, and the item will fall on the access cart 1.
  • the access vehicle 1 takes the articles on the transport vehicle 2 to the access vehicle 1.
  • the transport vehicle 2 can continue to transport other items.
  • the navigation component 10 of the access cart 1 can perform navigation again according to the two-dimensional code on the preset plane; the access cart 1 walks to the position of the shelf 6.
  • the first control component 8 of the access vehicle 1 controls the second motor through the first drive component, and then controls the movement of the climbing component 13 so that the access vehicle 1 can walk vertically on the shelf 6.
  • the access car 1 arrives at the location where items need to be placed. Then, the first control component 8 of the access cart 1 controls the conveying component 3 to place the items on the shelf 6. For example, if the conveying component 3 is an extension piece, the first control component 8 of the access cart 1 can control the conveying component 3 to extend so that the items are located above the storage plate of the shelf 6. Then, the first control component 8 can control the conveying component 3 Retract so that the items fall on the storage board, and then the items are placed on the storage shelf 6.
  • the access vehicle 1 continues to access other items, place them on the shelf 6, place them on other transport vehicles 2, and so on.
  • the access cart 1 can obtain items from the transport cart 2 and place the items on the shelf 6, and further, the access cart 1 and the transport cart 2 complete the transfer and transportation of the items.
  • any one of the access vehicles 1 travels on the preset plane and vertical direction, and any one of the transport vehicles 2 walks on the preset plane.
  • the access vehicles 1 and the transport vehicles 2 travel to the same position, the access vehicles 1 or the transport component 3 on the transport vehicle 2 transports the items.
  • the docking of items between the access cart 1 and the transport cart 2 can be completed, and the transfer of the items can be completed quickly, and then the access cart 1 and the transport cart 2 can quickly pick or place items again , Which can reduce the time consumed for item picking and transportation, and improve the transportation efficiency of items.
  • any access vehicle 1 and any transport vehicle 2 can be docked at any position on the preset plane to realize the transfer of items; due to the diverse docking positions, it will not affect other access vehicles 1 and others
  • the walking of the transport vehicle 2 will not cause congestion in the road conditions, so that the efficiency of goods transmission is high, and the efficiency of goods transportation is high; the docking and transportation methods are very flexible.
  • the access cart 1 can place the items on the shelf 6 on the transport cart 2 for transportation, and the access cart 1 can also obtain items from the transport cart 2 and place the items on the shelf 6;
  • the carrier 16 can carry multiple items at the same time, so that each transport vehicle 2 can simultaneously transport multiple items, which improves the efficiency of picking and transporting items.
  • FIG. 11 is a schematic structural diagram of another article transport system provided by an embodiment of the application.
  • the article transport system provided by this embodiment also includes a shelf 6 for access
  • the cart 1 is used to walk vertically on the shelf 6.
  • the access cart 1 and the transport cart 2 can refer to the introduction of the article transport system provided in the above embodiment, and the structure and principle are the same.
  • the shelf 6 is composed of multiple sub-frames, and adjacent sub-frames are fixedly connected, and there is a certain spatial distance between the adjacent sub-frames.
  • Each subrack includes four vertical supports, and each subrack is provided with multiple lattice units.
  • the lattice units of the same subrack are arranged vertically on the subrack; each lattice unit is composed of a storage board. It is fixedly arranged on the four vertical supports of the subrack, that is, the four edges of the storage board and the four vertical supports are respectively connected in one-to-one correspondence, and the storage board is used for placing items.
  • each sub-frame is provided with a vertical rail, and the vertical rail is used for accessing the vehicle 1 for climbing.
  • the vertical rails on each subrack are laid on the vertical racks, that is, the central axis of the vertical rails is parallel to the center axis of the vertical racks.
  • the access vehicle 1 can perform vertical rails on each subrack. walk.
  • a horizontal rail can also be provided on the subrack, and the horizontal rail is laid on the edge of the storage board, that is, the central axis of the horizontal rail is parallel to the central axis of the edge of the storage board; and the horizontal of the adjacent subrack
  • the rails can be connected, and the access car 1 can move horizontally between the sub-racks.
  • stairs may be provided on the sides of the shelves 6, and the stairs are used for the user to walk, and furthermore, the user can enter the shelves 6 through the stairs.
  • the article transport system provided in this embodiment also includes a control device; the control device can be connected to each access car 1, and the connection can be a wired connection or a wireless connection, so that the control device sends a control command to the access car 1.
  • the control device can be connected to each transport vehicle 2, and the connection can be a wired connection or a wireless connection, so that the control device sends a control command to the transport vehicle 2 to control the transportation The walking, positioning, etc. of the car 2.
  • the article transportation system provided in this embodiment further includes a conveying device 22 and at least one picking device 21.
  • the conveying equipment 22 is composed of a controller, a supporting structure and a conveyor belt; the supporting structure can be set on a preset surface, and the supporting structure can be any structure that can support the conveyor belt; the conveyor belt is set on the supporting structure to convey The belt can be cyclically rolled on the supporting structure; and the controller is used to control the cyclic rolling of the conveyor belt.
  • Each picking device 21 is arranged on the side of the conveying device 22.
  • the picking device 21 may be an operation console, and after the items on the picking device 21 are processed manually, the processed items are manually placed on the conveying device 22.
  • the picking device 21 may be an automatic picking machine, which can realize intelligent processing of items, and the picking machine places the processed items on the conveying device 22.
  • the access cart 1 can obtain items from the shelf 6; then, the access cart 1 docks with the transport cart 2, and the access cart 1 places the items on the transport cart 2; the transport cart 2 then transports the items to On the picking device 21; after the picking device 21 performs the picking, the picking device 21 places the picked items on the conveying device 22; the conveying device 22 conveys the items to a designated place or a designated device.
  • the picking device 21 can obtain items from the conveying device 22, and the picking device 21 picks the items; the transport cart 2 obtains the items on the picking device 21; then, the access cart 1 is docked with the transport cart 2 to access The cart 1 gets the items from the transport cart 2; then, the access cart 1 places the items on the shelf 6.
  • the docking of items between the access cart 1 and the transport cart 2 can be completed, and the transfer of the items can be completed quickly, and the access cart 1 and the transport cart 2 can quickly pick or place items again.
  • any access vehicle 1 and any transport vehicle 2 can be docked at any position on the preset plane to realize the transfer of items; due to the diverse docking positions, the efficiency of item transfer is high, and the items are transported The efficiency is high; the docking and transportation methods are very flexible.
  • the access cart 1 can place the items on the shelf 6 on the transport cart 2 for transportation, and the access cart 1 can also obtain items from the transport cart 2 and place the items on the shelf 6;
  • the carrier 16 can carry multiple items at the same time, so that each transport vehicle 2 can simultaneously transport multiple items, which improves the efficiency of picking and transporting items.
  • the communication process can be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
  • software When implemented by software, it can be implemented in the form of a computer program product in whole or in part.
  • the computer program product includes one or more computer instructions.
  • the computer program instructions When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application are generated in whole or in part.
  • the computer can be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices.
  • Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • computer instructions can be transmitted from a website, computer, data processing device, or data center through a cable (For example, coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (for example, infrared, wireless, microwave, etc.) to transmit to another website, computer, data processing equipment, or data center.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a data processing device or data center integrated with one or more available media.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).
  • the communication-related functions described in the embodiments of the present application may be implemented by hardware, software, firmware, or any combination thereof.
  • these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on the computer-readable medium.
  • the computer-readable medium includes a computer storage medium and a communication medium, where the communication medium includes any medium that facilitates the transfer of a computer program from one place to another.
  • the storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

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Abstract

一种物品运送***，包括：至少一个存取车（1）和至少一个运输车（2），每一个存取车（1）上设置有第一驱动组件，每一个运输车（2）上设置有第二驱动组件；第一驱动组件用于驱动存取车（1）在预设平面和垂向上行走，第二驱动组件用于驱动运输车（2）在预设平面上行走；存取车（1）或运输车（2）上设置有传送组件（3）；传送组件（3）用于在存取车（1）和运输车（2）行走至同一位置时，将物品从存取车（1）和运输车（2）中的一个传送给另一个。存取车和运输车之间完成物品的对接，可以较快的完成物品的传送，存取车和运输车可以较快的进行再次的拣货或放置物品，可以降低物品挑选和运送的所消耗的时间，提高物品的运送效率。对接的位置多样，物品传送的效率较高，物品运送的效率较高。

Description

物品运送***
本申请要求于2019年4月30日提交中国专利局、申请号为201910361593.7、申请名称为“物品运送***”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及物流技术领域，尤其涉及一种物品运送***。
背景技术
随着物流产业的飞速发展，对于货物等物品的运输和拣选是物流产业的重要过程。现在提供了物品运送***，可以实现对物品进行运送；具体的，通过物品运送***取得物品，然后将物品运送到指定地点，例如运送到待打包的地方，或者运送到需要运输物品的车辆上。
现有技术中，在仓储领域，物品运送***由货架、水平直行穿梭车、提升机和输送线组成，其中，货架包括多个货架单元层，每一货架单元层上设置有水平轨道，水平直行穿梭车可以在水平轨道上行驶，用来执行物品的出、入库作业。以执行出库作业为例，当接收到出库指令时，水平直行穿梭车运行至指定储货位，利用自身的货叉取出物品，然后朝向该层的提升机位置行驶，并申请调度服务，提升机响应于该调度服务请求，垂直运动至该层，进而与水平直行穿梭车完成物品交接，再由提升机将物品运至输送线上，并由输送线将物品运至外设的拣选台。在该物品运送***中，水平直行穿梭车一般只能在一个货架单元层上运行，如需换层，需要借助升降机来实现其在不同货架单元层之间的切换。
采用上述技术的物品运送***，在水平直行穿梭车借助提升机完成物品交接、以及水平直行穿梭车切换货架单元层的环节，需要耗费时间，灵活性较差，当出入库频繁时，容易造成拥堵，再加上服务设备等待时间，导致作业时间增加，进而影响仓储***整体的吞吐量。另一方面，该现有技术需要使用提升机、输送线等辅助设备，花费和维护的成本较高。
发明内容
本申请提供一种物品运送***，用以解决完成物品拣选和运送的过程所耗费的时间较长，运送效率较低的问题。
第一方面，本申请提供了一种物品运送***，包括：
至少一个存取车和至少一个运输车；
每一个所述存取车上设置有第一驱动组件，每一个所述运输车上设置有第二驱动组件；
所述第一驱动组件用于驱动所述存取车在预设平面和垂向上行走，所述第二驱动组件用于驱动所述运输车在所述预设平面上行走；
所述存取车或所述运输车上设置有传送组件；所述传送组件用于在所述存取车和所述运输车行走至同一位置时，将物品从所述存取车和所述运输车中的一个传送给另一个。
进一步地，所述传送组件位于所述存取车上；
所述存取车包括第一车体，所述第一驱动组件位于所述第一车体上；所述第一车体上还设置有第一控制组件，所述第一控制组件与所述传送组件连接；
所述第一控制组件用于控制所述传送组件，将物品传送给与所述存取车位于同一位置的运输车，或者从与所述存取车位于同一位置的运输车上获取所述物品。
进一步地，所述传送组件为伸出件；
所述第一控制组件具体用于控制所述伸出件的伸出和/或收起。
进一步地，所述第一车体的上端设置有水平滑轨，所述伸出件的下表面与所述水平滑轨滑动连接，所述伸出件的上表面为平板状。
进一步地，所述传送组件为夹持件；
所述第一控制组件具体用于控制所述夹持件的加紧和/或松开。
进一步地，所述第一车体上还设置有导航组件，所述导航组件、所述第一驱动组件分别与所述第一控制组件连接；
所述第一控制组件用于获取所述导航组件所检测到的导航信息，并根据所述导航信息向所述第一驱动组件发送驱动信号。
进一步地，所述运输车上设置有承载件；
所述承载件用于承载物品，或者所述承载件用于接收所述传送组件上的物品。
进一步地，所述运输车包括第二车体，所述承载件位于所述第二车体上；
所述第二车体上还设置有升降组件和第二控制组件，所述承载件位于所述升降组件的顶端，所述第二控制组件与所述升降组件连接；
所述升降组件用于在所述第二控制组件的控制下进行上升和/或下降，以带动所述承载件的上升和/或下降。
进一步地，所述承载件包括第一凹陷部和第二凹陷部，第一凹陷部的相对的一对边缘上分别设置有第一凸台，所述第二凹陷部的相对的一对边缘上分别设置有第二凸台，所述第一凸台的中心轴线与所述第二凸台的中心轴线平行。
进一步地，所述同一位置位于货架的巷道之外的任意区域上。
进一步地，所述***，还包括：货架；每一个所述存取车用于在所述货架上进行垂向行走。
本申请提供的物品运送***，通过提供由至少一个存取车和至少一个运输车构成的物品运送***，每一个存取车上设置有第一驱动组件，每一个运输车上设置有第二驱动组件；第一驱动组件用于驱动存取车在预设平面和垂向上行走，第二驱动组件用于驱动运输车在预设平面上行走；存取车或运输车上设置有传送组件；传送组件用于在存取车和运输车行走至同一位置时，将物品从存取车和运输车中的一个传送给另一个。任意一个存取车在预设平面和垂向上行走，任意一个运输车在预设平面上行走，当存取车和运输车行走至同一位置时，存取车或运输车上的传送组件将物品进行传送。通过以上过程，存取车和运输车之间可以完成物品的对接，可以较快的完成物品的传送，进而存取车和运输车可以较快的进行再次的拣货或放置物品，可以降低物品拣选和运送的所消耗的时间，提高物品的运送 效率。并且，任意一个存取车与任意一个运输车之间可以在预设平面的任意位置进行对接，去实现物品的传送；由于对接的位置多样，从而物品传送的效率较高，进而物品运送的效率较高；对接和运送方式，非常的灵活。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。
图1为本申请实施例提供的一种物品运送***的结构示意图；
图2为本申请实施例提供的一种物品运送***中的存取车的结构示意图；
图3为本申请实施例提供的一种物品运送***中的运输车的结构示意图；
图4为本申请实施例提供的一种物品运送***中的物品传送的示意图；
图5为本申请实施例提供的另一种物品运送***的结构示意图；
图6为本申请实施例提供的另一种物品运送***中的存取车的结构示意图一；
图7为本申请实施例提供的另一种物品运送***中的存取车的结构示意图二；
图8为本申请实施例提供的另一种物品运送***中的运输车的结构示意图一；
图9为本申请实施例提供的另一种物品运送***中的运输车的结构示意图二；
图10为本申请实施例提供的另一种物品运送***中的运输车的结构示意图三；
图11为本申请实施例提供的又一种物品运送***的结构示意图。
通过上述附图，已示出本申请明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本申请构思的范围，而是通过参考特定实施例为本领域技术人员说明本申请的概念。
附图标记：
1-存取车；
2-运输车；
3-传送组件；
4-第一车轮结构；
5-第二车轮结构；
6-货架；
7-第一车体；
8-第一控制组件；
9-第一限速组件；
10-导航组件；
11-第一供电组件；
12-车轮组件；
13-爬升组件；
14-第二车体；
15-升降组件；
16-承载件；
17-第一凹陷部；
18-第二凹陷部；
19-第一凸台；
20-第二凸台；
21-拣选设备；
22-输送设备。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的***和方法的例子。
本申请具体的应用场景为：随着物流产业的飞速发展，对于货物等物品的运输和拣选是物流产业的重要过程。现在提供了物品运送***，可以实现对物品进行拣选；具体的，通过物品运送***取得物品，然后将物品运送到指定地点，例如运送到待打包的地方，或者运送到需要运输物品的车辆上。
现有技术中，提供了多种物品运送***。
现有技术中，在仓储领域，物品运送***由货架、水平直行穿梭车、提升机和输送线组成，其中，货架包括多个货架单元层，每一货架单元层上设置有水平轨道，水平直行穿梭车可以在水平轨道上行驶，用来执行物品的出、入库作业。以执行出库作业为例，当接收到出库指令时，水平直行穿梭车运行至指定储货位，利用自身的货叉取出物品，然后朝向该层的提升机位置行驶，并申请调度服务，提升机响应于该调度服务请求，垂直运动至该层，进而与水平直行穿梭车完成物品交接，再由提升机将物品运至输送线上，并由输送线将物品运至外设的拣选台。在该物品运送***中，水平直行穿梭车一般只能在一个货架单元层上运行，如需换层，需要借助升降机来实现其在不同货架单元层之间的切换。
然而上述方式中，在水平直行穿梭车借助提升机完成物品交接、以及水平直行穿梭车切换货架单元层的环节，均需要耗费时间，且行驶轨迹非常固化，导致灵活性差，当出入库频繁时，容易造成拥堵，再加上服务设备等待时间，导致作业时间增加，进而影响仓储***整体的吞吐量。另一方面，该现有技术需要使用提升机、输送线等辅助设备，花费和维护的成本较高。
第二种物品运送***：由至少一个自动引导小车构成。可以布置货架，货架的高度较低，例如货架的高度只有2.3米。人工的从货架上搬运物品，人工的将物品放置到自动引导小车上；然后，自动引导小车运送物品。或者，自动引导小车运送物品至货架所在位置，然后，人工的将自动引导小车上的物品放置到货架上。
然而上述方式中，需要人工的搬运物品，需要耗费大量的人力资源，成本较高；并且，人工的搬运物品的方式，效率较低，从而物品运送的效率较低。
本申请提供的物品运送***，旨在解决现有技术的如上技术问题。
下面以具体地实施例对本申请的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本申请的实施例进行描述。
图1为本申请实施例提供的一种物品运送***的结构示意图，图2为本申请实施例提供的一种物品运送***中的存取车的结构示意图，图3为本申请实施例提供的一种物品运送***中的运输车的结构示意图。如图1-图3所示，该物品运送***，包括：至少一个存取车1和至少一个运输车2。
每一个存取车1上设置有第一驱动组件，每一个运输车2上设置有第二驱动组件。
第一驱动组件用于驱动存取车1在预设平面和垂向上行走，第二驱动组件用于驱动运输车2在预设平面上行走。
存取车1或运输车2上设置有传送组件3；传送组件3用于在存取车1和运输车2行走至同一位置时，将物品从存取车1和运输车2中的一个传送给另一个。
示例性地，提供了有至少一个存取车1和至少一个运输车2所构成的物品运送***。
对于每一个存取车1，在存取车1上设置有第一驱动组件和第一车轮结构4，其中，第一驱动组件可以选用现有的驱动设备或驱动组件，第一车轮结构4可以在预设平面和垂向上进行移动；从而，第一驱动组件可以驱动第一车轮结构4的行走，进而带动存取车1在预设平面或垂向上行走。可选的，存取车1可以采用可爬升货架机器人；可爬升货架机器人可以在货架上爬升，进而可爬升货架机器人可以垂向上进行爬升；可爬升货架机器人可以下降至货架的巷道上，然后，可爬升货架机器人在巷道上与运输车2进行对接，以传送物品。
对于每一个运输车2，在运输车2上设置有第二驱动组件和第二车轮结构5，其中，第二驱动组件可以选用现有的驱动设备或驱动组件，第二车轮结构5可以在预设平面上移动；从而，第二驱动组件可以驱动第二车轮结构5的行走，进而带动运输车2在预设平面上行走。
在申请中，垂向，指的是物理学中的垂向，包括但不限于垂直方向、具有一定倾斜角度的垂向。预设平面，指的是物理学中的平面，但是不限制预设平面在物理学上的海拔高度；并且，预设平面可以是完全平整的平面、或者是具有一定凹凸的面。
存取车1与运输车2之间可以实现物品的传送功能。
可以在存取车1上设置传送组件3。当一个存取车1与一个运输车2行走至同一位置的时候，存取车1上的传送组件3可以将存取车1上的物品，传送给运输车2；或者，存取车1上的传送组件3可以将运输车2上的物品取过来，进而放置到当前的存取车1上。
或者，可以在运输车2上设置传送组件3。当一个存取车1与一个运输车2行走至同一位置的时候，运输车2上的传送组件3可以将运输车2上的物品，传送给存取车1；或者，运输车2上的传送组件3可以将存取车1上的物品取过来，进而放置到当前的运输车2上。
在本申请中，任意一个存取车1与任意一个运输车2之间，都可以实现以上物品传送过程。并且，任意一个存取车1与任意一个运输车2之间，可以在任意一个预设平面的任意位置上，完成上述物品传送过程。并且，任意一个存取车1在预设平面上可以沿着直线或曲线行走，任意一个运输车2在预设平面上可以沿着直线或曲线行走。
举例来说，图4为本申请实施例提供的一种物品运送***中的物品传送的示意图，如图4所示，并且，可以参见图11所示，由于第一驱动组件可以驱动存取车1在垂向上进行行走，可以在货架6的垂向上设置垂向轨道，从而存取车1可以在货架6的垂向轨道上进 行垂向的行走，即，存取车1可以在货架6的垂向轨道上进行上行和下降；存取车1可以从货架6上获取物品之后，存取车1离开货架6，存取车1在地面上行走，然后存取车1行走至地面的某一个位置上；此时，运输车2在地面上行走至该位置上；然后，传送组件3，就可以将物品从存取车1上传送给运输车2。
又举例来说，存取车1在地面上行走，然后存取车1行走至地面的某一个位置上；此时，运输车2也行走至该位置上；然后，传送组件3可以将物品从运输车2上传送给存取车1；然后，存取车1可以在货架6的垂向轨道上进行垂向的行走，进而存取车1将物品放置到货架6上。
另举例来说，存取车1可以在货架6的轨道上进行垂向的行走；存取车1可以从货架6上获取物品之后，由于货架6的顶端也设置有顶端轨道，存取车1可以在顶端轨道上行走。然后，存取车1行走至顶端轨道的某一个位置上，此时，运输车2也可以在顶端轨道上行走至该位置，然后完成物品的传送；或者，存取车1在顶端轨道上行走之后，存取车1离开货架6，存取车1在一个平面上行走至某一个位置，此时，运输车2也行走至该位置，然后完成物品的传送。
再举例来说，存取车1行走至顶端轨道的某一个位置上，此时，运输车2也可以在顶端轨道上行走至该位置，然后，传送组件3将物品从运输车2传送给存取车1；或者，存取车1在一个平面上行走至某一个位置，此时，运输车2也行走至该位置，然后，传送组件3将物品从运输车2传送给存取车1，然后，存取车1在顶端轨道上行走。然后，存取车1可以在货架6的轨道上进行垂向的行走；存取车1将物品放置到货架6上。
本实施例，通过提供由至少一个存取车1和至少一个运输车2构成的物品运送***，每一个存取车1上设置有第一驱动组件，每一个运输车2上设置有第二驱动组件；第一驱动组件用于驱动存取车1在预设平面和垂向上行走，第二驱动组件用于驱动运输车2在预设平面上行走；存取车1或运输车2上设置有传送组件3；传送组件3用于在存取车1和运输车2行走至同一位置时，将物品从存取车1和运输车2中的一个传送给另一个。任意一个存取车1在预设平面和垂向上行走，任意一个运输车2在预设平面上行走，当存取车1和运输车2行走至同一位置时，存取车1或运输车2上的传送组件3将物品进行传送。通过以上过程，存取车1和运输车2之间可以完成物品的对接，可以较快的完成物品的传送，进而存取车1和运输车2可以较快的进行再次的拣货或放置物品，可以降低物品拣选和运送的所消耗的时间，提高物品的运送效率。并且，任意一个存取车1与任意一个运输车2之间可以在预设平面的任意位置进行对接，去实现物品的传送；由于对接的位置多样，从而物品传送的效率较高，进而物品运送的效率较高；对接和运送方式，非常的灵活。
图5为本申请实施例提供的另一种物品运送***的结构示意图，图6为本申请实施例提供的另一种物品运送***中的存取车的结构示意图一，图7为本申请实施例提供的另一种物品运送***中的存取车的结构示意图二，图8为本申请实施例提供的另一种物品运送***中的运输车的结构示意图一，图9为本申请实施例提供的另一种物品运送***中的运输车的结构示意图二，图10为本申请实施例提供的另一种物品运送***中的运输车的结构示意图三，如图5-10所示，在图1-4所示实施例的基础上，该物品运送***中，传送组 件3位于存取车1上。
存取车1包括第一车体7，第一驱动组件位于第一车体7上；第一车体7上还设置有第一控制组件8，第一控制组件8与传送组件3连接。
第一控制组件8用于控制传送组件3，将物品传送给与存取车1位于同一位置的运输车2，或者从与存取车1位于同一位置的运输车2上获取物品。
传送组件3为伸出件；第一控制组件8具体用于控制伸出件的伸出和/或收起；第一车体7的上端设置有水平滑轨，伸出件的下表面与水平滑轨滑动连接，伸出件的上表面为平板状。或者，传送组件3为夹持件；第一控制组件8具体用于控制夹持件的加紧和/或松开。
第一车体7上还设置有导航组件10，导航组件10、第一驱动组件分别与第一控制组件8连接。
第一控制组件8用于获取导航组件10所检测到的导航信息，并根据导航信息向第一驱动组件发送驱动信号。
运输车2上设置有承载件16；承载件16用于承载物品，或者承载件16用于接收传送组件3上的物品。
运输车2包括第二车体14，承载件16位于第二车体14上。
第二车体14上还设置有升降组件15和第二控制组件，承载件16位于升降组件15的顶端，第二控制组件与升降组件15连接。
升降组件15用于在第二控制组件的控制下进行上升和/或下降，以带动承载件16的上升和/或下降。
承载件16包括第一凹陷部17和第二凹陷部18，第一凹陷部17的相对的一对边缘上分别设置有第一凸台19，第二凹陷部18的相对的一对边缘上分别设置有第二凸台20，第一凸台19的中心轴线与第二凸台20的中心轴线平行。
同一位置位于货架的巷道之外的任意区域上。
示例性地，在存取车1采用可爬升货架机器人的时候，可以实现上述实施例提供的方案；但是由于可爬升货架机器人的成本较高，造成存取车1采用可爬升货架机器人的时候，物品运送***的成本较高；并且，由于可爬升货架机器人只能在货架的巷道上与运输车2进行对接，在对接的时候，其他运输车2无法在巷道中进行行驶，会造成巷道的拥堵，进而影响到物品的运送。从而，对于存取车1，可以采用本实施例提供的结构。
每一个存取车1的结构介绍如下。如图6-7所示，存取车1由第一车体7、第一驱动组件、第一车轮结构4、第一控制组件8、传送组件3、第一限速组件9和导航组件10构成；即，传送组件3位于存取车1上；第一驱动组件、第一车轮结构4、第一控制组件8、传送组件3、第一限速组件9和导航组件10，都设置在第一车体7上；并且，第一控制组件8分别与第一驱动组件、传送组件3、导航组件10连接，该连接包括了电学连接方式和/或机械连接方式，电学连接方式可以是有线连接或者无线连接；第一驱动组件与第一车轮结构4连接。
其中，第一车轮结构4上设置有爬升组件13和车轮组件12，爬升组件13用于在垂向上行走，车轮组件12用于在预设平面上行走。
车轮组件12上设置有第一电机，其中，第一电机与第一驱动组件连接；第一控制组件8可以通过第一驱动组件控制第一电机，进而控制车轮组件12的运动，使得存取车1 可以在预设平面上行走；并且，第一电机与第一限速组件9连接，在第一电机的转速过快的时候，第一限速组件9可以限制第一电机的转速，进而将存取车1的行走速度进行下降。
爬升组件13上设置有第二电机，其中，第二电机与第一驱动组件连接；第一控制组件8可以通过第一驱动组件控制第二电机，进而控制爬升组件13的运动，使得存取车1可以在垂向上行走，例如，在货架6的垂向轨道上攀升或下降；并且，第二电机与第一限速组件9连接，在第二电机的转速过快的时候，第一限速组件9可以限制第二电机的转速，进而降低存取车1的攀升速度或下降速度。
由于在第一车体7上还可以设置有导航组件10，并且，在预设平面上贴设了多个二维码，二维码用于标识二维码的当前位置；导航组件10可以获取预设平面上的二维码，进而导航组件10可以根据二维码确定出存取车1的位置，进而导航组件10可以生成导航信息，其中，导航组件10可以采用现有技术的导航设备；导航组件10将导航信息发送给第一控制组件8；从而，第一控制组件8可以依据导航信息，向第一驱动组件发送驱动信号，或者，第一控制组件8可以依据导航信息和远程设备发送的控制指令，向第一驱动组件发送驱动信号；进而，第一控制组件8通过第一驱动组件驱动存取车1的行走。
并且，在存取车1和运输车2行走至同一位置时，第一控制组件8控制传送组件3，将物品传送给与存取车1位于同一位置的运输车2；此外，在存取车1和运输车2行走至同一位置时，第一控制组件8还可以控制传送组件3，从与存取车1位于同一位置的运输车2上获取物品，并将物品放置到该存取车1上。
上述同一位置在货架6的巷道之外的任意区域上。由于货架6由多个子架构成，子架之间可以形成巷道。在存取车1离开货架6的时候，存取车1可以行走至巷道之外的任意区域上，然后，存取车1抵达某一个位置，此时，运输车2也行走至该位置；然后存取车1与运输车2在该位置上，进行物品的传送。由于，存取车1与运输车2之间传送物品的时候，不需要在货架6的巷道上进行，存取车1与运输车2可以在巷道之外的预设平面的任意位置上传送物品；从而，存取车1与运输车2之间传送物品的时候，不会阻碍其他的存取车1和其他的运输车2的行走；其他的存取车1和其他的运输车2也不需要等待物品传送的完成，才去行走；进而，不会造成路况的拥堵，可以提高存取车1、运输车2的行走效率，并且提高物品传送效率。可以在第一车体7上设置第一供电组件11，第一供电组件11分别与第一控制组件8、导航组件10连接，进而第一供电组件11可以为第一控制组件8、导航组件10供电。
对于存取车1的传送组件3，提供了以下几种实现方式。
传送组件3的第一种实现方式。传送组件3是伸出件；可以在存取车1的上端设置有一对相互平行的水平滑轨，伸出件的下表面与水平滑轨滑动进行滑动连接，进而伸出件可以在水平滑轨上进行滑动；并且，伸出件的上表面为平板状的，从而物品可以被放置到伸出件上。由于第一控制组件8与伸出件连接，第一控制组件8可以控制伸出件的伸出和/或收起。从而，第一控制组件8可以控制伸出件伸出，然后将伸出件上物品放置到运输车2上，然后，第一控制组件8可以控制伸出件收起。或者，第一控制组件8可以控制伸出件伸出，然后第一控制组件8可以获取到运输车2上的物品，然后，第一控制组件8可以控制伸出件收起，进而将物品放置到存取车1上。
传送组件3的第二种实现方式。传送组件3是夹持件；由于第一控制组件8与夹持件 连接，第一控制组件8可以控制夹持件的加紧和/或松开。从而，第一控制组件8可以控制夹持件进行松开，然后将夹持件上物品放置到运输车2上，然后，第一控制组件8可以控制夹持件进行加紧。或者，第一控制组件8可以控制夹持件进行加紧，然后第一控制组件8可以获取到运输车2上的物品，然后，第一控制组件8可以控制夹持件进行松开，进而将物品放置到存取车1上。
每一个运输车2的结构介绍如下。如图8-10所示，运输车2由第二车体14、第二驱动组件、第二车轮结构5、第二控制组件、升降组件15和承载件16构成；其中，第二驱动组件、第二车轮结构5、第二控制组件、升降组件15和承载件16，都设置在第二车体14上。第二控制组件分别与第二驱动组件、升降组件15连接，该连接包括了电学连接方式和/或机械连接方式，电学连接方式可以是有线连接或者无线连接；第二驱动组件与第二车轮结构5连接。
其中，第二车轮结构5上设置有第三电机，其中，第三电机与第二驱动组件连接；第二控制组件可以通过第二驱动组件控制第三电机，进而控制第二车轮结构5的运动，使得运输车2可以在预设平面上行走；并且，第三电机与第二限速组件连接，在第三电机的转速过快的时候，第二限速组件可以限制第三电机的转速，进而将运输车2的行走速度进行下降。
升降组件15位于第二车体14的上端，并且，将承载件16设置在升降组件15的上端；承载件16用于承载物品，或者，承载件16用于接收存取车1的传送组件3上的物品。可选的，承载件16是托盘。具体来说，如图9所示，承载件16的底部与升降组件15的上端固定连接，承载件16包括第一凹陷部17和第二凹陷部18，第一凹陷部17具有两对相对的边缘，其中的一对边缘上分别设置了第一凸台19，并且，第二凹陷部18具有两对相对的边缘，其中的一对边缘上分别设置了第二凸台20，并且，第一凸台19的中心轴线与第二凸台20的中心轴线平行；从而可以同时将两个物品放置到承载件16上，即，第一凹陷部17上被放置一个物品，第二凹陷部18上被放置另一个物品。第二控制组件可以控制升降组件15的上升和/或下降，由于承载件16位于升降组件15的上端，从而升降组件15带动承载件16的上升和/或下降；进而承载件16与传送组件3进行位置对接。
可以在第二车体14上设置第二供电组件，第二供电组件分别与第二控制组件、升降组件15连接，进而第二供电组件可以为第二控制组件、升降组件15供电。
基于以上结构和连接关系，在对物品进行运送的时候，分为以下几种情况。
第一种情况。存取车1的第一控制组件8可以通过第一驱动组件控制第二电机，进而控制爬升组件13的运动，使得存取车1可以在货架6上进行垂向行走，此时，爬升组件13与货架6垂向轨道是相吻合的。存取车1可以抵达物品所在位置。
然后，存取车1的第一控制组件8可以控制传送组件3，获取货架6上的物品。例如，传送组件3为伸出件，第一控制器控制传送组件3在滑轨上进行滑动，使得传送组件3可以抵达物品的下方，即，物传送组件3被伸出，如图5所示，进而传送组件3支撑住物品；然后，第一控制器再次控制传送组件3在滑轨上滑动，使得传送组件3滑动至存取车1的上方，即，传送组件3被收起；从而，通过以上过程，传送组件3抬起并支撑住物品。其中，传送组件3可以去获取到两个以上的物品。
然后，第一控制组件8再次通过第一驱动组件控制第二电机，进而控制爬升组件13 的运动，使得存取车1可以在货架6上进行垂向行走，使得存取车1离开货架6。例如，预设平面为地面，则存取车1抵达地面；或者，预设平面为货架6的顶端，则存取车1抵达货架6的顶端；或者，预设平面为与货架6的顶端位于同一平面的一个平面，则存取抵达该平面。从而，存取车1可以从货架6上获取物品之后，存取车1离开货架6。
存取车1的导航组件10可以根据预设平面上的二维码进行导航；进而，第一控制组件8可以通过第一驱动组件控制第一电机，进而控制车轮组件12的运动，使得存取车1可以在预设平面上行走；然后，存取车1行走至预设平面的某一个位置上。
此时，运输车2的第二控制组件也可以通过二维码，对运输车2进行导航。在导航的过程中，第二控制组件可以通过第二驱动组件控制第三电机，进而控制第二车轮结构5的运动，使得运输车2可以在预设平面上行走。然后，运输车2与存取车1抵达，预设平面上的同一位置。
此时，运输车2的第二控制组件控制升降组件15上升和/或下降，从而，如图9和图10所示，升降组件15上的承载件16进行上升或下降，使得承载件16的上表面与存取车1的传送组件3的上表面之间是平行的；然后，存取车1的第一控制组件8控制传送组件3，将物品传送给运输车2。例如，传送组件3为伸出件，存取车1的第一控制组件8控制传送组件3在滑轨上进行滑动，进而第一控制组件8可以控制传送组件3伸出，传送组件3带动物品至承载件16的上方；然后，存取车1的第一控制组件8再次控制传送组件3在滑轨上滑动，使得传送组件3被收起，此时，传送组件3的物品会落到承载件16上。从而，通过以上过程，存取车1将物品，放置到运输车2的传送组件3上。
然后，运输车2可以将物品进行运送；与该运输车2对接的存取车1可以再次返回货架6上，进行物品的存取和放置。
通过上述第一种情况的以上过程，存取车1可以将物品放置到运输车2上，进而，存取车1与运输车2之间完成物品的传送和运送。
第二种情况。运输车2的第二控制组件也可以通过二维码，对运输车2进行导航。在导航的过程中，第二控制组件可以通过第二驱动组件，驱动运输车2在预设平面上行走。然后，运输车2行走至预设平面的某一个位置上。
此时，存取车1的导航组件10可以根据预设平面上的二维码进行导航；进而，第一控制组件8可以通过第一驱动组件，驱动存取车1可以在预设平面上行走；然后，存取车1与存取车1抵达，预设平面上的同一位置。例如，预设平面为地面，或者，预设平面为货架6的顶端，预设平面为与货架6的顶端位于同一平面的一个平面。
此时，运输车2的第二控制组件通过升降组件15，控制承载件16上升和/或下降，从而，使得承载件16的上表面与存取车1的传送组件3的上表面之间是平行的。然后，存取车1的第一控制组件8控制传送组件3，从运输车2上获取物品。例如，传送组件3为伸出件，存取车1的第一控制组件8控制传送组件3在滑轨上进行滑动，进而第一控制组件8可以控制传送组件3伸出，传送组件3伸出至承载件16上的物品的下方，即，传送组件3位于物品与承载件16之间；然后，存取车1的第一控制组件8再次控制传送组件3在滑轨上滑动，使得传送组件3被收起，此时，传送组件3将物品抬起；然后，存取车1的第一控制组件8继续控制传送组件3被收起，物品会落到存取车1上。从而，通过以上过程，存取车1将运输车2上的物品，取到该存取车1上。
然后，运输车2可以继续运送其他物品。并且，存取车1的导航组件10可以根据预设平面上的二维码，再次进行导航；存取车1行走至货架6所在位置。
然后，存取车1的第一控制组件8通过第一驱动组件控制第二电机，进而控制爬升组件13的运动，使得存取车1可以在货架6上进行垂向行走。
存取车1抵达需要放置物品的位置。然后，存取车1的第一控制组件8控制传送组件3，将物品放置到货架6上。例如，传送组件3为伸出件，存取车1的第一控制组件8可以控制传送组件3伸出，使得物品位于货架6的存放板的上方，然后，第一控制组件8可以控制传送组件3收回，使得物品落到存放板上，进而物品被放置到存储货架6上。
然后，存取车1继续对其他物品进行存取、放置到货架6上、放置上其他运输车2上等等处理。
通过上述第二种情况的以上过程，存取车1可以从运输车2上获取物品，将物品放置到货架6上，进而，存取车1与运输车2之间完成物品的传送和运送。
本实施例，通过任意一个存取车1在预设平面和垂向上行走，任意一个运输车2在预设平面上行走，当存取车1和运输车2行走至同一位置时，存取车1或运输车2上的传送组件3将物品进行传送。通过以上过程，存取车1和运输车2之间可以完成物品的对接，可以较快的完成物品的传送，进而存取车1和运输车2可以较快的进行再次的拣货或放置物品，可以降低物品拣选和运送的所消耗的时间，提高物品的运送效率。并且，任意一个存取车1与任意一个运输车2之间可以在预设平面的任意位置进行对接，去实现物品的传送；由于对接的位置多样，不会影响其他的存取车1和其他的运输车2的行走，不会造成路况的拥堵，从而物品传送的效率较高，进而物品运送的效率较高；对接和运送方式，非常的灵活。并且，存取车1可以将货架6的物品放置到运输车2上进行运送，存取车1也可以从运输车2上获取物品，将物品放置到货架6上；每一个运输车2上的承载件16上可以同时承载多个物品，从而每一个运输车2可以同时运送多个物品，提高了物品的拣选和运送效率。
图11为本申请实施例提供的又一种物品运送***的结构示意图，如图11所示，在上述实施例的基础上，本实施例提供的物品运送***，还包括了货架6，存取车1用于在货架6上进行垂向行走。其中，存取车1、运输车2可以参见上述实施例提供的物品运送***的介绍，其结构和原理相同。
示例性地，货架6由多个子架构成，相邻的子架之间的固定连接，并且相邻的子架之间具有一定的空间距离。每一个子架包括四个垂直支架，并且每一个子架上设置有多个格子单元，同一个子架的各个格子单元在子架上垂直排布；每一个格子单元由一个存放板构成，存放板固定设置在子架的四个垂直支架上，即存放板的四个边缘与四个垂直支架分别一一对应连接，存放板用于放置物品。
并且，每一个子架上设置有垂向轨道，垂向轨道用于存取车1进行攀爬。例如，每一个子架上的垂向轨道铺设在垂直支架上，即，垂向轨道的中心轴线与垂直支架的中心轴线平行，进而，存取车1可以在每一个子架上进行垂向的行走。
可选的，还可以在子架上设置水平轨道，水平轨道铺设在存放板的边缘上，即，水平轨道的中心轴线与存放板的边缘的中心轴线平行；并且，相邻的子架的水平轨道之间可以 连接，进而，存取车1可以在子架之间进行水平的移动。
可选的，可以在货架6的侧边设置楼梯，楼梯用于用户行走，进而，用户可以通过楼梯进入货架6。
本实施例提供的物品运送***还包括了一个控制设备；控制设备可以与每一个存取车1进行连接，该连接可以是有线连接或者无线连接，从而控制设向存取车1发送控制指令，以控制存取车1的行走、定位、等等；控制设备可以与每一个运输车2进行连接，该连接可以是有线连接或者无线连接，从而控制设向运输车2发送控制指令，以控制运输车2的行走、定位、等等。
本实施例提供的物品运送***中，还包括了输送设备22和至少一个拣选设备21。
输送设备22由控制器、支撑结构和输送带构成；其中，支撑结构可以设置到一个预设面上，支撑结构可以是任意的可以支撑输送带的结构；将输送带设置在支撑结构上，输送带可以在支撑结构上进行循环滚动；并且，控制器用于控制输送带的循环滚动。
每一个拣选设备21设置在了输送设备22的侧边。例如，拣选设备21可以是一个操作台，可以人工的将拣选设备21上的物品处理之后，人工的将处理后的物品放置到输送设备22上。再例如，拣选设备21可以是一个自动的拣选机器，该拣选机器可以实现对物品的智能处理，拣选机器将处理后的物品放置到输送设备22上。
举例来说，存取车1可以从货架6上获取物品；然后，存取车1与运输车2对接，存取车1将物品放置到运输车2上；运输车2再将物品，运送到拣选设备21上；拣选设备21进行拣选之后，拣选设备21将拣选后物品放置到输送设备22；输送设备22将物品输送到指定地点或指定设备上。
再举例来说，拣选设备21可以从输送设备22上获取物品，拣选设备21对物品进行拣选；运输车2获取拣选设备21上的物品；然后，存取车1与运输车2对接，存取车1从运输车2上获取物品；然后，存取车1再将物品放置到货架6上。
本实施例，存取车1和运输车2之间可以完成物品的对接，可以较快的完成物品的传送，进而存取车1和运输车2可以较快的进行再次的拣货或放置物品，可以降低物品拣选和运送的所消耗的时间，提高物品的运送效率。并且，任意一个存取车1与任意一个运输车2之间可以在预设平面的任意位置进行对接，去实现物品的传送；由于对接的位置多样，从而物品传送的效率较高，进而物品运送的效率较高；对接和运送方式，非常的灵活。并且，存取车1可以将货架6的物品放置到运输车2上进行运送，存取车1也可以从运输车2上获取物品，将物品放置到货架6上；每一个运输车2上的承载件16上可以同时承载多个物品，从而每一个运输车2可以同时运送多个物品，提高了物品的拣选和运送效率。
在上述实施例中，涉及通信的过程，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机程序指令时，全部或部分地产生按照本申请实施例的流程或功能。计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，计算机指令可以从一个网站站点、计算机、数据处理设备或数据中心通过有线(例如，同轴电缆、光纤、 数字用户线(digital subscriber line，DSL))或无线(例如，红外、无线、微波等)方式向另一个网站站点、计算机、数据处理设备或数据中心进行传输。计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的数据处理设备、数据中心等数据存储设备。可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如，固态硬盘(solid state disk，SSD))等。
本领域技术人员应该可以意识到，在上述一个或多个示例中，本申请实施例所描述的涉及通信的功能，可以用硬件、软件、固件或它们的任意组合来实现。当使用软件实现时，可以将这些功能存储在计算机可读介质中或者作为计算机可读介质上的一个或多个指令或代码进行传输。计算机可读介质包括计算机存储介质和通信介质，其中通信介质包括便于从一个地方向另一个地方传送计算机程序的任何介质。存储介质可以是通用或专用计算机能够存取的任何可用介质。
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求书来限制。

Claims (12)

  1. 一种物品运送***，其特征在于，包括：
    至少一个存取车和至少一个运输车；
    每一个所述存取车上设置有第一驱动组件，每一个所述运输车上设置有第二驱动组件；
    所述第一驱动组件用于驱动所述存取车在预设平面和垂向上行走，所述第二驱动组件用于驱动所述运输车在所述预设平面上行走；
    所述存取车或所述运输车上设置有传送组件；所述传送组件用于在所述存取车和所述运输车行走至同一位置时，将物品从所述存取车和所述运输车中的一个传送给另一个。
  2. 根据权利要求1所述的***，其特征在于，所述传送组件位于所述存取车上；
    所述存取车包括第一车体，所述第一驱动组件位于所述第一车体上；所述第一车体上还设置有第一控制组件，所述第一控制组件与所述传送组件连接；
    所述第一控制组件用于控制所述传送组件，将物品传送给与所述存取车位于同一位置的运输车，或者从与所述存取车位于同一位置的运输车上获取所述物品。
  3. 根据权利要求2所述的***，其特征在于，所述传送组件为伸出件；
    所述第一控制组件具体用于控制所述伸出件的伸出和/或收起。
  4. 根据权利要求3所述的***，其特征在于，所述第一车体的上端设置有水平滑轨，所述伸出件的下表面与所述水平滑轨滑动连接，所述伸出件的上表面为平板状。
  5. 根据权利要求2所述的***，其特征在于，所述传送组件为夹持件；
    所述第一控制组件具体用于控制所述夹持件的加紧和/或松开。
  6. 根据权利要求2-5任一项所述的***，其特征在于，所述第一车体上还设置有导航组件，所述导航组件、所述第一驱动组件分别与所述第一控制组件连接；
    所述第一控制组件用于获取所述导航组件所检测到的导航信息，并根据所述导航信息向所述第一驱动组件发送驱动信号。
  7. 根据权利要求2-6任一项所述的***，其特征在于，所述运输车上设置有承载件；
    所述承载件用于承载物品，或者所述承载件用于接收所述传送组件上的物品。
  8. 根据权利要求7所述的***，其特征在于，所述运输车包括第二车体，所述承载件位于所述第二车体上；
    所述第二车体上还设置有升降组件和第二控制组件，所述承载件位于所述升降组件的顶端，所述第二控制组件与所述升降组件连接；
    所述升降组件用于在所述第二控制组件的控制下进行上升和/或下降，以带动所述承载件的上升和/或下降。
  9. 根据权利要求7所述的***，其特征在于，所述承载件包括第一凹陷部和第二凹陷部，第一凹陷部的相对的一对边缘上分别设置有第一凸台，所述第二凹陷部的相对的一对边缘上分别设置有第二凸台，所述第一凸台的中心轴线与所述第二凸台的中心轴线平行。
  10. 根据权利要求1-9任一项所述的***，其特征在于，所述同一位置位于货架的巷道之外的任意区域上。
  11. 根据权利要求1-10任一项所述的***，其特征在于，所述预设平面为地面，或者为货架的顶端，或者为与所述货架的顶端位于同一平面的一个平面。
  12. 一种物品运送***，其特征在于，包括：如权利要求1-11任一项所述的物品运送***、货架、控制设备、拣选设备和输送设备；
    所述存取车用于在货架上进行垂向行走；
    所述控制设备用于向所述运输车发送控制指令；
    所述拣选设备用于接收并拣选所述运输车运送的物品，并将物品放置到所述输送设备上；
    所述输送设备，用于输送所述拣选设备所放置的物品。
PCT/CN2020/083693 2019-04-30 2020-04-08 物品运送*** WO2020220950A1 (zh)

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