WO2023178627A1 - 仓储***及搬运方法 - Google Patents

仓储***及搬运方法 Download PDF

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Publication number
WO2023178627A1
WO2023178627A1 PCT/CN2022/082888 CN2022082888W WO2023178627A1 WO 2023178627 A1 WO2023178627 A1 WO 2023178627A1 CN 2022082888 W CN2022082888 W CN 2022082888W WO 2023178627 A1 WO2023178627 A1 WO 2023178627A1
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WIPO (PCT)
Prior art keywords
channel
column
shelves
transport
robot
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Application number
PCT/CN2022/082888
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English (en)
French (fr)
Inventor
朱开磊
Original Assignee
深圳市海柔创新科技有限公司
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.)
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Priority to PCT/CN2022/082888 priority Critical patent/WO2023178627A1/zh
Publication of WO2023178627A1 publication Critical patent/WO2023178627A1/zh

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    • 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

Definitions

  • This application relates to logistics and warehousing technology, and in particular to a warehousing system and a transportation method.
  • Intelligent warehousing is a link in the logistics process.
  • the application of intelligent warehousing ensures the speed and accuracy of data input in all aspects of goods warehouse management, ensuring that enterprises can grasp the real inventory data in a timely and accurate manner, and reasonably maintain and control corporate inventory.
  • the intelligent warehousing system sets up multiple shelves for placing goods in the warehouse.
  • the handling robot moves the goods from the shelves to the employee processing area according to wireless instructions.
  • the staff picks and scans the goods in the employee processing area.
  • a large number of passages will be designed in the warehouse for the handling robot to walk and stay.
  • this application provides a storage system and a transportation method.
  • the storage system has a relatively high storage density.
  • this application provides a warehousing system.
  • the warehousing system includes: at least one handling robot and a plurality of shelves.
  • the handling robot includes a mobile chassis and a column unit.
  • the column unit includes fixed columns and movable columns.
  • the fixed columns are arranged on the mobile chassis.
  • the movable column is connected to the fixed column, and the movable column rises and falls in the vertical direction relative to the fixed column;
  • the shelves are arranged in multiple rows at intervals along the first direction.
  • the distance between two adjacent rows of shelves forms a first channel for the transport robot to move.
  • the bottom of at least one row of shelves has at least one channel for the transport robot to move when the movable column is in a lowered state.
  • a second channel, the first channel is connected with the second channel, so that the handling robot can move between the rows of shelves.
  • the second channels in at least one adjacent column of shelves are arranged oppositely.
  • the second channel in each column of shelves is located at at least one of the head, middle or tail of each column.
  • the head, middle or tail of each row of shelves has at least one second channel.
  • the handling robot when the handling robot is in the first channel or the second channel, there is a gap between the first channel and the second channel and the handling robot, so that the handling robot The robot can rotate within the first channel or within the second channel.
  • the same column of shelves includes at least two sub-racks, and each sub-rack is arranged in a row and column.
  • the number of sub-racks adjacent in the row direction in the same column of racks is less than or equal to four.
  • the sub-shelf in the storage system provided by the present application, includes a support frame and a plurality of support plates.
  • the support frame includes at least two support columns, and each support plate is arranged at two intervals along the vertical direction. between support columns to divide the support frame into multiple storage levels for placing goods;
  • a second channel is formed between the bottom support plate of the sub-rack with the second channel and the two support columns.
  • the adjacent side support columns of adjacent sub-racks are the same support column.
  • Support columns In one possible implementation, in the storage system provided by this application, the support plate on the bottom of the sub-rack of the second channel is not provided, and the distance between it and the bottom of the support column is less than or equal to that of each storage layer. spacing between.
  • the transport robot further includes a transport device, the transport device is arranged on the movable column, and the transport device rises and falls in the vertical direction relative to the movable column.
  • the warehousing system provided by this application also includes a conveyor line for conveying goods, and the conveyor line is partially located in the second channel; or, the conveyor line is located on at least one side of the area surrounded by each shelf .
  • this application provides a transportation method, which adopts the storage system provided in the first aspect.
  • the transportation method includes:
  • the movable column in the handling robot is controlled to be in a downward state, so that the handling robot moves to the second channel through the first channel, and the handling robot is controlled to move in the second channel. Move within the channel.
  • the transportation method provided by this application also includes:
  • the handling robot is controlled to move in the second channel and rotate, so that the handling robot changes its running direction and moves to another first channel.
  • the transportation method provided by this application also includes:
  • Control the handling robot to transport the goods on the conveyor line or workstation, and then transport the goods to the corresponding storage location through the second channel.
  • the handling robot is controlled to transport goods to the conveyor line through the second channel, including:
  • the transportation method provided by this application also includes:
  • Control the handling robot to move to the outside of the shelf through the second channel, or to move between the shelves through the second channel.
  • the storage system sets up shelves for storing goods, and handling robots are used for handling goods.
  • Figure 1 is a schematic structural diagram of a warehousing system provided by an embodiment of the present application
  • Figure 2 is another structural schematic diagram of the warehousing system provided by the embodiment of the present application.
  • Figure 3 is a schematic diagram of the movement path of the handling robot in the storage system provided by the embodiment of the present application.
  • Figure 4 is another structural schematic diagram of the warehousing system provided by the embodiment of the present application.
  • Figure 5 is a schematic structural diagram of the handling robot in the warehousing system provided by the embodiment of the present application.
  • Figure 6 is a left view of Figure 5;
  • Figure 7 is a schematic diagram of the movable column rising relative to the fixed column in Figure 5;
  • Figure 8 is a schematic diagram of the movable column rising relative to the fixed column in Figure 6;
  • Figures 9a to 9c are schematic structural diagrams of shelves in the storage system provided by embodiments of the present application.
  • Figure 10 is a schematic structural diagram of a shelf and a second channel in the storage system provided by the embodiment of the present application.
  • Figure 11 is a left view of Figure 10
  • Figure 12 is a schematic structural diagram of another shelf and a second channel in the storage system provided by the embodiment of the present application.
  • Figures 13a and 13b are schematic structural diagrams of sub-racks in the storage system provided by the embodiment of the present application.
  • Figure 14 is a schematic structural diagram of yet another shelf and a second channel in the storage system provided by the embodiment of the present application.
  • Figure 15 is a schematic flow chart of the transportation method provided in Embodiment 2 of the present application.
  • Figure 16 is a schematic flow chart of the transportation method provided in Embodiment 3 of the present application.
  • Figure 17 is a schematic flow chart of the transportation method provided in Embodiment 4 of the present application.
  • Figure 18 is a schematic flow chart of the transportation method provided in Embodiment 5 of the present application.
  • Figure 19 is a schematic flowchart of the transportation method provided in Embodiment 6 of the present application.
  • Support frame
  • connection should be understood in a broad sense.
  • it can be a fixed connection or an intermediate connection.
  • the medium is indirectly connected, which can be the internal connection between two components or the interaction between two components.
  • the intelligent warehousing system sets up multiple shelves for placing goods in the warehouse.
  • the handling robot moves the goods from the shelves to the employee processing area according to wireless instructions.
  • the staff picks and scans the goods in the employee processing area.
  • the handling method is goods to people.
  • a large number of passages will be designed in the warehouse for the handling robot to walk and Stay and wait.
  • storage density that is, storage capacity per unit area
  • the shelf area is divided into dedicated passages. Multiple areas, that is, passages are set up on both sides or both ends of each column of shelves, or passages are set up between two adjacent shelves in the same row of shelves.
  • the moving channels and pickup space have resulted in part of the space in the warehousing system not being fully utilized, reducing the storage density of the warehousing system.
  • this embodiment provides a warehousing system with a relatively high storage density.
  • Figure 1 is a schematic structural diagram of a warehousing system provided by an embodiment of the present application
  • Figure 2 is a schematic structural diagram of a warehousing system provided by an embodiment of the present application
  • Figure 3 is a diagram of a handling robot in the warehousing system provided by an embodiment of the present application.
  • a schematic diagram of the moving path
  • Figure 4 is a schematic structural diagram of a storage system provided by an embodiment of the present application
  • Figure 5 is a schematic structural diagram of a handling robot in the storage system provided by an embodiment of the present application
  • Figure 6 is a left view of Figure 5
  • Figure 7 is a schematic diagram of the movable column rising relative to the fixed column in Figure 5
  • Figure 8 is a schematic diagram of the movable column rising relative to the fixed column in Figure 6.
  • the storage system includes: at least one handling robot 100 and a plurality of shelves 200 .
  • the handling robot 100 includes a mobile chassis 110 and a column unit 120 .
  • the column unit 120 includes a fixed column 121 And the movable column 122, the fixed column 121 is arranged on the mobile chassis 110, the movable column 122 is connected with the fixed column 121, and the movable column 122 rises and falls in the vertical direction relative to the fixed column 121.
  • the shelves 200 are arranged in multiple rows at intervals along the first direction.
  • the distance between two adjacent rows of shelves 200 forms a first channel 300 for the transport robot 100 to move.
  • the bottom of at least one row of shelves 200 has a bottom for the movable column 122 to move when the movable column 122 is in the lowered state.
  • the first direction is the X direction in Figure 1 or Figure 2 .
  • the handling robot 100 can automatically assign picking and placing tasks according to the order information, and independently plan the movement path to move the goods from the shelf 200 to the manual processing area so that the staff can scan them. Goods are automatically shipped out of the warehouse. Alternatively, the transport robot 100 transports the goods from the manual processing area to the shelf 200 and automatically completes storage.
  • the multiple shelves 200 are arranged at intervals along the X square in Figure 1 or Figure 2.
  • the first channel 300 is located between two adjacent rows of shelves 200, and the second channel 400 is located between the shelves 200. below.
  • first row of shelves 200 and the last row of shelves 200 can be arranged against the wall of the warehouse. Therefore, the first row of shelves 200 and the last row of shelves 200 do not need to be provided with the second channel 400 .
  • the handling robot 100 can move within the first channel 300 and the second channel 400, and when the handling robot 100 passes through the second channel 400, the height of the handling robot 100 will decrease so that the space above the second channel 400 can be used.
  • Store goods At the same time, the height of the shelves 200 on both sides of the first channel 300 can be increased to increase the inventory of the shelves 200 on both sides of the first channel 300.
  • the handling robot The height of 100cm can be increased to access the goods on the higher part of the shelf 200cm. In this way, sufficient moving passages can be provided for the handling robot 100 so that the handling robot 100 can quickly reach a predetermined position, and the space of the storage system can be fully utilized to increase the storage density of the storage system.
  • the handling robot 100 includes a mobile chassis 110 and a column unit 120.
  • the mobile chassis 110 is used to drive the handling robot 100 to move so that the handling robot 100 moves to a preset position along the first channel 300 and the second channel 400.
  • the column unit 120 It includes a fixed column 121 and a movable column 122.
  • the movable column 122 can rise and fall in the vertical direction relative to the fixed column 121. In this way, when picking up and placing goods in the first channel 300, the movable column 122 can rise relative to the fixed column 121 to increase the The picking height of the handling robot 100 enables the handling robot 100 to pick up the goods at a height of the shelf 200 .
  • the movable column 122 can be lowered relative to the fixed column 121, so that the overall height of the transport robot 100 is reduced to facilitate passing through the second channel 400. 400 for two channels. Therefore, the handling robot 100 can move between the rows of shelves 200 through the first channel 300 and the second channel 400 to complete the task of picking up and placing goods.
  • the movable column 122 can be lowered relative to the fixed column 121, thereby lowering the center of gravity of the transport robot 100 and improving the stability of the transport robot 100 when moving.
  • the storage system provided by the embodiment of the present application sets shelves 200 for storing goods, and the handling robot 100 is used for handling goods.
  • the storage system sets the first channel 300 and the second channel 400 to provide moving channels for the handling robot 100, thereby To quickly reach the predetermined position, the second channel 400 is set under the shelf 200, and the movable column 122 and the fixed column 121 are provided on the transport robot 100 to make the height of the transport robot 100 variable, thus fully
  • the space above the second channel 400 is used to store goods, so that the storage density of the warehousing system is higher.
  • the second channels 400 in at least one adjacent row of shelves are arranged oppositely.
  • the second channels 400 in the shelves 200 of an adjacent column can be arranged oppositely.
  • the second channel 400 in the second row of shelves 200b and the second channel 400 in the third row of shelves 200c are arranged oppositely.
  • the two opposite second channels 400 and the two opposite second channels 400 are The portion of the first channel 300 between them forms a linear channel 600.
  • the handling robot 100 can directly move from the first channel 300 between the first row of shelves 200a and the second row of shelves 200b to the third row of shelves through the linear channel 600.
  • the first channel 300 between 200c and the fourth column shelf 200d The moving route of the transport robot 100 is shown by the solid arrow in FIG. 3 .
  • the second channels 400 in all the racks 200 can be arranged relatively, so that the handling robot 100 can quickly move to a predetermined position.
  • the second channel 400 in each column of shelves 200 is located at at least one of the head, middle, or tail of each column.
  • the second channel 400 is provided at any one of the head, middle or tail of each row of shelves 200, or the second channel 400 is provided at any two positions of the head, middle or tail of the shelf 200, or , the second channel 400 can be provided at the head, middle and tail of the shelf 200.
  • the setting position of the second channel 400 can be determined in each row of shelves 200 as needed. This embodiment is not limited here.
  • the second channels 400 in the head, middle or tail of each column of shelves 200 can be arranged oppositely, so that the opposite third channels in each column can be arranged.
  • the two channels 400 are spaced apart along the second direction, so that the handling robot 100 can select the second channel 400 closest to the current position to quickly move to a predetermined position.
  • each column of shelves 200 has at least one second channel 400 at the head, middle or tail.
  • the number of the second channels 400 located at the head of each column of shelves 200 may be one or two
  • the number of the second channels 400 located at the middle of each column of shelves 200 may be one or more
  • the number of the second channels 400 located at the end of each column of shelves 200 may be one or two.
  • the number of the second channels 400 can be one or more.
  • the number of the second channels 400 can be set according to the size of the warehouse, so that the handling robot 100 can quickly move to a predetermined position through the second channels 400. The examples are not limited here.
  • the handling robot 100 when the handling robot 100 is in the first channel 300 or the second channel 400 , there is a gap between the first channel 300 and the second channel 400 and the handling robot 100 , so that the handling robot 100 can move in the first channel 300 or the second channel 400 .
  • Rotation in the first channel 300 or the second channel 400 allows the handling robot 100 to align the goods so as to carry the goods to the handling robot 100, or to cause the handling robot 100 to change its moving direction.
  • FIGS 9a to 9c are schematic structural diagrams of shelves in the storage system provided by embodiments of the present application.
  • the shelves 200 can be formed in a variety of ways.
  • the same row of shelves 200 includes at least two sub-racks 201, and each sub-rack 201 is arranged in a row and column.
  • each sub-rack 201 is arranged adjacent to each other along the column direction (ie, the X direction in Figure 1 or Figure 2), thereby forming a
  • the arrangement of one column and multiple rows is shown in Figure 9a.
  • Figure 10 is a schematic structural diagram of a shelf and a second channel in a storage system provided by an embodiment of the present application
  • Figure 11 is a left view of Figure 10
  • Figure 12 is a further shelf and a second channel in a storage system provided by an embodiment of the present application.
  • the same row of shelves 200 includes two or more sub-racks 201, that is, sub-racks 201 are provided in both the row direction and the column direction.
  • a maximum of four sub-racks 201 can be set in the direction (ie, the Y direction in Figure 1), and two or more sub-racks 201 can be set in the column direction (ie, the X direction in Figure 1).
  • the arrangement shown in Figure 1, Figure 2, Figure 9b and Figure 9c For example, the arrangement shown in Figure 1, Figure 2, Figure 9b and Figure 9c.
  • each sub-shelf 201 in the same column of shelves 200 can be selected according to the size of the warehouse and the size of the sub-shelf 201, which is not limited in this embodiment.
  • the number of adjacent sub-racks 201 in the same column of racks 200 along the row direction exceeds four, it is difficult for the handling robot 100 to pick up the goods on the middle row of sub-racks 201 . Therefore, in some embodiments, as shown in FIG. 9c , the number of sub-racks 201 adjacent in the row direction in the same column of racks 200 is less than or equal to four. At this time, the handling robot 100 equipped with double deep-position forks can pick up goods on both sides of the same column of shelves 200 .
  • the number of sub-racks 201 adjacent in the row direction in the first column of shelves 200 and the last column of shelves 200 against the wall of the warehouse is less than or equal to two.
  • Figures 13a and 13b are schematic structural diagrams of sub-racks in the storage system provided by the embodiment of the present application. It can be understood that the number of sub-racks 201 adjacent in the row direction in the same column of racks 200 is less than or equal to four, which is for the case where one column of multiple rows of goods is placed in one sub-rack 201 as shown in FIG. 13a.
  • the number of adjacent sub-racks 201 in the same row of racks 200 in the row direction shall not exceed two. If three or four rows of goods are placed in one sub-rack 201, the number of sub-racks 201 along the row direction in the same row of racks 200 is one.
  • the arrangement of goods in a sub-shelf 201 and the arrangement of each sub-shelf 201 in the same row of shelves 200 are set according to needs, as long as the handling robot 100 can pick up and place goods on the sub-shelf 201, this embodiment is here No restrictions.
  • the sub-shelf 201 includes a support frame 210 and a plurality of support plates 220.
  • the support frame 210 includes at least two support columns 211, and each support plate 220 is arranged in sequence along the vertical direction. Intervals are provided between the two support columns 211 to divide the support frame 210 into a plurality of storage layers for placing goods.
  • the support column 211 is used to provide support for the support plate 220 to install multiple support plates 220 on the support frame 210.
  • the support plate 220 can be used to store goods.
  • two or more support columns 211 may be provided in the support frame 210 to improve the rigidity and stability of the sub-rack 201 .
  • At least one sub-rack 201 has a second channel 400, and the second channel 400 is formed between the support plate 220 at the bottom of the sub-rack 201 with the second channel 400 and the two support columns 211.
  • the sub-shelf 201 above the second channel 400 can be used to store goods, increasing the inventory of the entire shelf 200, thereby increasing the storage density of the warehousing system, and the second channel 400 can provide a moving channel for the handling robot 100. This allows the transport robot 100 to move between the rows of shelves 200 .
  • the second channels 400 on each sub-rack 201 are arranged oppositely, so that the transport robot 100 can pass through the second channel 400 Shelves 200 through the column.
  • At least two sub-racks 201 can be provided along the X direction in Figure 1 or Figure 2, and there is a gap or adjacency between adjacent sub-racks 201, that is, the two sub-racks 201 are adjacent.
  • Figure 14 is a schematic structural diagram of yet another shelf and a second channel in the storage system provided by the embodiment of the present application.
  • the adjacent side support columns 211 of adjacent sub-racks 201 are the same support column 211 . In this way, materials can be saved and the rigidity of the structure of the racks 200 in the same row can be enhanced.
  • the sub-shelf 201 with the second channel 400 can share a support column 211 with the sub-shelf 201 without the second channel 400, so as to save materials for manufacturing the shelf 200 and enhance the rigidity of the shelf 200.
  • the sub-shelf 201 with the second channel 400 can be connected to the sub-shelf 201 without the second channel 400 in this way.
  • the sub-shelf 201 with the second channel 400 can be compared with the sub-shelf 201 without the second channel 400 in this way.
  • the sub-shelf 201 is connected.
  • the sub-shelf 201 without the second channel 400 can be an ordinary shelf, and a plurality of support plates 220 are provided between two ordinary shelves in the column direction, and each support plate 220 is along the height direction of the sub-shelf 201 Set at intervals, the height of the bottom support plate 220 is greater than the height of the transport robot 100 after the movable column 122 in the transport robot 100 is lowered relative to the fixed column 121, thereby forming a sub-shelf 201 with a second channel 400.
  • the support plate 220 on the bottom of the sub-rack 201 where the second channel 400 is not provided has a distance less than or equal to the bottom of the support column 211 .
  • the spacing between cargo levels. In this way, the space under the shelf 200 can be fully utilized to form more storage layers to increase the inventory of the entire shelf 200, thereby increasing the storage density of the storage system.
  • the distance between it and the bottom of the support column 211 is greater than
  • the height of the chassis of the transport robot 100 is such that the transport device 130 of the transport robot 100 can pick up and place the goods on the bottom support plate 220 of the shelf.
  • the transport robot 100 also includes a transport device 130 .
  • the transport device 130 is disposed on the movable column 122 , and the transport device 130 is vertically aligned with the movable column 122 . direction lift.
  • the movable column 122 can be raised relative to the fixed column 121 to increase the height of the column unit 120, and then the transport device 130 can be raised relative to the movable column 122. , thereby causing the transport device 130 to rise to the height where the goods are located, and transport the goods.
  • the carrying device 130 can be directly raised and lowered relative to the movable column 122 to pick up and place goods at a medium height or low position on the shelf 200 .
  • the warehousing system may also include a conveyor line 500 for conveying goods, and the conveyor line 500 is partially located in the second channel 400 .
  • the conveyor line 500 is located on at least one side of the area surrounded by each shelf 200 .
  • the conveying line 500 may be located on a side of the outermost shelf 200 in the second direction away from the first channel 300 , or the conveying line 500 may be located on a side of the head or the tail of each row of shelves 200 .
  • the handling robot 100 can move through the first channel 300 and the second channel 400 to pick up and place goods between the rows of shelves 200, and transport the goods to the manual processing area through the conveyor line 500 to complete the delivery of goods.
  • the transport robot 100 can transport the goods transported through the conveyor line 500 to each shelf 200 to complete the storage of the goods.
  • the embodiment of the present application provides a transportation method that adopts the storage system provided in the first embodiment.
  • the structure and working principle of the storage system have been described in the first embodiment and will not be described again here.
  • FIG 15 is a schematic flowchart of the transportation method provided in Embodiment 2 of the present application.
  • the transportation method provided by this embodiment includes:
  • the handling robot 100 When the handling robot 100 moves in the first channel 300, the handling robot 100 can take the goods on the shelf 200 adjacent to the first channel 300. At this time, the movable column 122 in the handling robot 100 can rise relative to the fixed column 121 to pick up the goods on the shelf 200 .
  • the movable column 122 in the transport robot 100 is controlled to descend relative to the fixed column 121. This can reduce the overall height of the transport robot 100 to facilitate the transport of the robot. 100 successfully entered the second channel 400.
  • the handling robot 100 may not rotate, and then rotate to change the moving direction when the handling robot 100 moves from the second channel 400 to another first channel 300.
  • the handling robot 100 may also rotate in the second channel 400 to change the direction of movement. Change the moving direction, or the handling robot 100 can also stay in the second channel 400 to wait for the robot in the forward direction to move.
  • the embodiment of the present application provides a transportation method that adopts the storage system provided in the first embodiment.
  • the structure and working principle of the storage system have been described in the first embodiment and will not be described again here.
  • FIG 16 is a schematic flowchart of the transportation method provided in Embodiment 3 of the present application.
  • the transportation method provided by this embodiment includes:
  • S201 is the same as the step S101 in the second embodiment
  • S202 is the same as the step S102 in the second embodiment, and will not be described again here.
  • the handling robot 100 can rotate in the second channel 400 to change the moving direction and move to another first channel 300 or another second channel 400 and so on.
  • the embodiment of the present application provides a transportation method that adopts the storage system provided in the first embodiment.
  • the structure and working principle of the storage system have been described in the first embodiment and will not be described again here.
  • FIG 17 is a schematic flowchart of the transportation method provided in Embodiment 4 of the present application.
  • the transportation method provided by this embodiment includes:
  • S301 is the same as the step S101 in the second embodiment
  • S302 is the same as the step S102 in the second embodiment, and will not be described again here.
  • controlling the handling robot 100 to transport goods to the conveying line 500 through the second channel 400 includes: controlling the handling robot 100 to line up in the second channel 400 to transport the goods to the conveying line 500 or the workstation.
  • the handling robot 100 can move within the first channel 300 and the second channel 400 to pick up goods, and then the handling robot 100 can move to the location where the conveyor line 500 is located via the first channel 300 and the second channel 400 . position, the conveyor line 500 can convey the goods picked up by the handling robot 100 to the workstation.
  • the handling robot 100 can move to the location of the workstation via the first passage 300 and the second passage 400 , and the handling robot 100 can directly carry the goods to the workstation. To complete the shipment of goods.
  • the embodiment of the present application provides a transportation method that adopts the storage system provided in the first embodiment.
  • the structure and working principle of the storage system have been described in the first embodiment and will not be described again here.
  • FIG 18 is a schematic flowchart of the transportation method provided in Embodiment 5 of the present application.
  • the transportation method provided by this embodiment includes:
  • S401 is the same as the step S101 in the second embodiment
  • S402 is the same as the step S102 in the second embodiment, and will not be described again here.
  • the transport robot 100 moves in the first channel 300 and the second channel 400 to transport goods on the conveyor line 500 or workstation to corresponding storage locations on the shelf 200 to complete the storage of the goods.
  • the embodiment of the present application provides a transportation method that adopts the storage system provided in the first embodiment.
  • the structure and working principle of the storage system have been described in the first embodiment and will not be described again here.
  • FIG 19 is a schematic flowchart of the transportation method provided in Embodiment 6 of the present application.
  • the transportation method provided by this embodiment includes:
  • S501 is the same as the step S101 in the second embodiment
  • S502 is the same as the step S102 in the second embodiment, which will not be described again here.
  • the transport robot 100 can move to the outside of the outermost shelf 200 in each column of shelves 200 through one or multiple second passages 400 continuously, so that the transport robot 100 can pick and place the outermost shelf 200 . Goods on shelves 200.
  • the transport robot 100 moves to the first channel 300 through the second channel 400 and moves along the first channel 300 .

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Abstract

一种仓储***及搬运方法，仓储***包括搬运机器人（100）和货架（200），搬运机器人（100）包括移动底盘（110）和立柱单元（120），立柱单元（120）包括固定立柱（121）和活动立柱（122），固定立柱（121）设置在移动底盘（110）上，活动立柱（122）与固定立柱（121）连接，且活动立柱（122）相对于固定立柱（121）沿竖直方向升降；货架（200）沿第一方向间隔排布多列，相邻的两列货架（200）之间的间距形成供搬运机器人（100）移动的第一通道（300），至少一列货架（200）的底部具有供活动立柱（122）为下降状态时的搬运机器人（100）移动的至少一个第二通道（400），第一通道（300）与第二通道（400）连通，以使搬运机器人（100）在各列货架（200）之间移动。仓储***的存储密度较大。

Description

仓储***及搬运方法 技术领域
本申请涉及物流仓储技术，尤其涉及一种仓储***及搬运方法。
背景技术
智能仓储是物流过程的一个环节，智能仓储的应用，保证了货品仓库管理各个环节数据输入的速度和准确性，确保企业及时准确地掌握库存的真实数据，合理保持和控制企业库存。
目前，智能仓储***是在仓库内设置多个放置货品的货架，搬运机器人根据无线指令将货品从货架搬运至员工处理区，工作人员在员工处理区挑拣、扫描货品。为减少搬运机器人取放货时的重复折返路径，保证搬运机器人运行效率，仓库内会设计大量的通行通道，以供搬运机器人行走和停留等。
然而，因通行通道占用了大量空间，这种智能仓储***的存储密度较低。
发明内容
基于此，本申请提供一种仓储***及搬运方法，仓储***的存储密度较大。
第一方面，本申请提供一种仓储***，仓储***包括：至少一个搬运机器人和多个货架，搬运机器人包括移动底盘和立柱单元，立柱单元包括固定立柱和活动立柱，固定立柱设置在移动底盘上，活动立柱与固定立柱连接，且活动立柱相对于固定立柱沿竖直方向升降；
货架沿第一方向间隔排布多列，相邻的两列货架之间的间距形成供搬运机器人移动的第一通道，至少一列货架的底部具有供活动立柱为下降状态时的搬运机器人移动的至少一个第二通道，第一通道与第二通道连通，以使搬运机器人在各列货架之间移动。
在一种可能的实现方式中，本申请提供的仓储***中，至少一相邻列货 架中的第二通道相对设置。
在一种可能的实现方式中，本申请提供的仓储***中，各列货架中第二通道位于各列的首部、中部或尾部中的至少一者。
在一种可能的实现方式中，本申请提供的仓储***中，各列货架的首部、中部或尾部具有至少一个第二通道。
在一种可能的实现方式中，本申请提供的仓储***中，搬运机器人在第一通道内或第二通道内时，第一通道和第二通道均与搬运机器人之间具有间隙，以使搬运机器人可在第一通道内或第二通道内旋转。
在一种可能的实现方式中，本申请提供的仓储***中，同一列货架中包括至少两个子货架，各子货架呈行列形式排布。
在一种可能的实现方式中，本申请提供的仓储***中，同一列货架中沿行方向依次相邻的子货架的数量小于或等于四个。
在一种可能的实现方式中，本申请提供的仓储***中，子货架包括支撑架和多个支撑板，支撑架包括至少两个支撑立柱，各支撑板沿竖直方向依次间隔设置在两个支撑立柱之间，以将支撑架分隔为多个用于放置货物的储货层；
具有第二通道的子货架的底层的支撑板和两个支撑立柱之间形成第二通道。
在一种可能的实现方式中，本申请提供的仓储***中，同一列货架中，相邻的子货架的相邻的支撑立柱之间具有间隙或抵接。
在一种可能的实现方式中，本申请提供的仓储***中，同一列货架中，相邻的子货架的相邻侧支撑立柱为同一支撑立柱。
支撑立柱在一种可能的实现方式中，本申请提供的仓储***中，未设置第二通道的子货架的底层的支撑板，其与支撑立柱的底部之间的间距小于或者等于各储货层之间的间距。
在一种可能的实现方式中，本申请提供的仓储***中，搬运机器人还包括搬运装置，搬运装置设置在活动立柱上，且搬运装置相对于活动立柱沿竖直方向升降。
在一种可能的实现方式中，本申请提供的仓储***，还包括用于输送货 物的输送线，输送线部分位于第二通道内；或者，输送线位于各货架围成的区域的至少一侧。
第二方面，本申请提供一种搬运方法，采用上述第一方面提供的仓储***，搬运方法包括：
控制搬运机器人在第一通道内移动；
当搬运机器人需要从第一通道转移至第二通道内移动时，控制搬运机器人中的活动立柱为下降状态，以使搬运机器人经由第一通道移动至第二通道内，并控制搬运机器人在第二通道内移动。
在一种可能的实现方式中，本申请提供的搬运方法还包括：
控制搬运机器人在第二通道内移动，并旋转，以使搬运机器人改变运行方向，移动至另一第一通道内。
在一种可能的实现方式中，本申请提供的搬运方法还包括：
控制搬运机器人经过第二通道将货物运输至输送线上或者运输至工作站；或者，
控制搬运机器人将输送线上或者工作站的货物运出后，经过第二通道将货物运输至对应的存放库位。
在一种可能的实现方式中，本申请提供的搬运方法中，控制搬运机器人经过第二通道将货物运输至输送线上，包括：
控制搬运机器人在第二通道内排队，以将货物运输至输送线上或运输至工作站。
在一种可能的实现方式中，本申请提供的搬运方法还包括：
控制搬运机器人经第二通道移动至货架的外侧，或经第二通道移动至货架之间。
本申请提供的仓储***及搬运方法，仓储***通过设置货架用于存储货物，搬运机器人用于搬运货物，多个货架之间具有第一通道和第二通道，以给搬运机器人提供移动通道，从而使搬运机器人快速到达预定的位置，将第二通道设置在货架的下方，并通过在搬运机器人上设置活动立柱和固定立柱，以使搬运机器人的高度可变，从而充分利用第二通道上方的空间存储货物和增加货架的高度，由此，仓储***的存储密度较高。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的仓储***的一种结构示意图；
图2为本申请实施例提供的仓储***的又一种结构示意图；
图3为本申请实施例提供的仓储***中搬运机器人的移动路径示意图；
图4为本申请实施例提供的仓储***的再一种结构示意图；
图5为本申请实施例提供的仓储***中搬运机器人的结构示意图；
图6为图5的左视图；
图7为图5中活动立柱相对于固定立柱上升的示意图；
图8为图6中活动立柱相对于固定立柱上升的示意图；
图9a至图9c为本申请实施例提供的仓储***中货架的结构示意图；
图10为本申请实施例提供的仓储***中一种货架和第二通道的结构示意图；
图11为图10的左视图；
图12为本申请实施例提供的仓储***中又一种货架和第二通道的结构示意图；
图13a与图13b为本申请实施例提供的仓储***中子货架的结构示意图；
图14为本申请实施例提供的仓储***中再一种货架和第二通道的结构示意图；
图15为本申请实施例二提供的搬运方法的流程示意图；
图16为本申请实施例三提供的搬运方法的流程示意图；
图17为本申请实施例四提供的搬运方法的流程示意图；
图18为本申请实施例五提供的搬运方法的流程示意图；
图19为本申请实施例六提供的搬运方法的流程示意图。
附图标记说明：
100、搬运机器人；
110、移动底盘；
120、立柱单元；
121、固定立柱；
122、活动立柱；
130、搬运装置；
200、货架；
201、子货架；
210、支撑架；
211、支撑立柱；
220、支撑板；
300、第一通道；
400、第二通道；
500、输送线；
600、直线通道。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请的优选实施例中的附图，对本申请实施例中的技术方案进行更加详细的描述。在附图中，自始至终相同或类似的标号表示相同或类似的部件或具有相同或类似功能的部件。所描述的实施例是本申请一部分实施例，而不是全部的实施例。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。下面结合附图对本申请的实施例进行详细说明。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应作广义理解，例如，可以是固定连接，也可以是通过中间媒介间接相连，可以是两个元件内部的连通或者两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或者位置关系为基于附图的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或者暗示所指的装置或者元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例，例如能够以除了在这里图示或描述的那些以外的顺序实施。
此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、***、产品或显示器不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或显示器固有的其它步骤或单元。
实施例一
智能仓储***是在仓库内设置多个放置货品的货架，搬运机器人根据无线指令将货品从货架搬运至员工处理区，工作人员在员工处理区挑拣、扫描货品。在现有的仓储***方案中，搬运方式为货物到人，为减少搬运机器人取放货物时的重复折返路径，保证搬运机器人运行效率，仓库内会设计大量的通行通道，以供搬运机器人行走和停留等。
对于仓储***来说，存储密度，即单位面积内的存储量是一个关键的技术指标，但是现有技术中的仓储***，为了给搬运机器人提供通行通道，将货架区域用专用的通行通道分隔成多个区域，即在各列货架的两侧或者两端设置通行通道，或者在同一列货架中，相邻的两个货架之间设置通行通道，但是，这种仓储***为了保证搬运机器人有足够的移动通道和取货空间，导致仓储***中部分空间未被充分利用，降低了仓储***的存储密度。
基于此，本实施例提供了一种仓储***，仓储***的存储密度较大。
以下结合附图对本实施例提供的仓储***的结构和工作原理进行详细阐 述。
图1为本申请实施例提供的仓储***的一种结构示意图；图2为本申请实施例提供的仓储***的又一种结构示意图；图3为本申请实施例提供的仓储***中搬运机器人的移动路径示意图；图4为本申请实施例提供的仓储***的再一种结构示意图；图5为本申请实施例提供的仓储***中搬运机器人的结构示意图；图6为图5的左视图；图7为图5中活动立柱相对于固定立柱上升的示意图；图8为图6中活动立柱相对于固定立柱上升的示意图。参照图1至图8所示，本申请实施例提供的仓储***，包括：至少一个搬运机器人100和多个货架200，搬运机器人100包括移动底盘110和立柱单元120，立柱单元120包括固定立柱121和活动立柱122，固定立柱121设置在移动底盘110上，活动立柱122与固定立柱121连接，且活动立柱122相对于固定立柱121沿竖直方向升降。
货架200沿第一方向间隔排布多列，相邻的两列货架200之间的间距形成供搬运机器人100移动的第一通道300，至少一列货架200的底部具有供活动立柱122为下降状态时的搬运机器人100移动的至少一个第二通道400，第一通道300与第二通道400连通，以使搬运机器人100在各列货架200之间移动。其中，第一方向为图1或图2中的X方向。
在本申请中，仓储***在接收到订单信息之后，搬运机器人100可根据订单信息自动分配取放货任务，自主规划移动路径，以将货物从货架200搬运至人工处理区，以使工作人员扫描货物，自动完成出库。或者，搬运机器人100将货物从人工处理区搬运至货架200上，自动完成入库。
其中，仓储***中具有多个货架200，多个货架200沿图1或图2中的X方形间隔设置，第一通道300位于相邻的两列货架200之间，第二通道400位于货架200的下方。
可以理解的是，第一列货架200和最后一列货架200可以靠仓库的墙面设置，由此，第一列货架200和最后一列货架200可以不设置第二通道400。
搬运机器人100可在第一通道300和第二通道400内移动，且搬运机器人100在通过第二通道400时，搬运机器人100的高度会下降，以使第二通道400上方的空间能被用于存储货物。同时，可以增加第一通道300两侧的 货架200的高度，以增加第一通道300两侧的货架200的存货量，在取放第一通道300两侧的货架200上的货物时，搬运机器人100的高度可增加，以取放货架200较高处的货物。这样，即能给搬运机器人100提供足够的移动通道，以使搬运机器人100能快速到达预定的位置，又能充分利用仓储***的空间，以提高仓储***的存储密度。
具体的，搬运机器人100包括移动底盘110和立柱单元120，移动底盘110用于驱动搬运机器人100移动，以使搬运机器人100沿第一通道300和第二通道400移动至预设位置，立柱单元120包括固定立柱121和活动立柱122，活动立柱122可相对于固定立柱121沿竖直方向升降，这样，在第一通道300内取放货物时，活动立柱122可相对于固定立柱121上升，以增加搬运机器人100的取货高度，从而使搬运机器人100可以取到货架200高处的货物。
在搬运机器人100需要从一个第一通道300经第二通道400移动至另一个第一通道300时，活动立柱122可相对于固定立柱121下降，使搬运机器人100的整体高度降低，以便于通过第二通道400。由此，搬运机器人100可通过第一通道300和第二通道400在各列货架200之间移动，以完成取放货物的任务。
可以理解的是，在搬运机器人100移动的过程中，可以使活动立柱122相对于固定立柱121下降，从而降低搬运机器人100的重心，以提高搬运机器人100移动时的稳定性。
本申请实施例提供的仓储***，通过设置货架200用于存储货物，搬运机器人100用于搬运货物，仓储***通过设置第一通道300和第二通道400，以给搬运机器人100提供移动通道，从而使搬运机器人100快速到达预定的位置，将第二通道400设置在货架200的下方，并通过在搬运机器人100上设置活动立柱122和固定立柱121，以使搬运机器人100的高度可变，从而充分利用第二通道400上方的空间存储货物，由此，仓储***的存储密度较高。
参照图1至图3所示，在一种可能的实现方式中，本申请提供的仓储***中，至少一相邻列货架中的第二通道400相对设置。
在本申请中可以将一个相邻列的货架200中的第二通道400相对设置。示例性的，第二列货架200b中的第二通道400和第三列货架200c中的第二通道400相对设置，这样，相对的两个第二通道400以及相对的两个第二通道400之间的部分第一通道300组成一个直线通道600，搬运机器人100可以由第一列货架200a和第二列货架200b之间的第一通道300中，直接通过该直线通道600移动至第三列货架200c和第四列货架200d之间的第一通道300。其中，搬运机器人100的移动路线如图3中实线箭头所示。
若将第二列的货架200中的第二通道400和第三列的货架200中的第二通道400错开设置，搬运机器人100由第一列货架200a移动至第四列货架200d时，移动线路如图3中虚线箭头所示，在移动过程中需要进行两次旋转以改变移动方向的操作，且移动路径较长。由此可以通过将相邻列的货架200中的第二通道400相对设置，从而减少搬运机器人100的移动路径，提高搬运机器人100运行效率。
可以理解的是，所有列货架200中的第二通道400均可以相对设置，由此，搬运机器人100可快速移动至预定的位置。
参照图1与图2所示，在一种可能的实现方式中，各列货架200中第二通道400位于各列的首部、中部或尾部中的至少一者。
例如，各列货架200的首部、中部或者尾部中的任一个位置处设置有第二通道400，或者货架200的首部、中部或者尾部中的任意两个位置处设置有第二通道400，又或者，货架200的首部、中部和尾部均可以有设置第二通道400，具体实施时，可以根据需要在各列货架200中确定第二通道400的设置位置，本实施例在此不加以限定。
可以理解的是，为了减少搬运机器人100的移动路径和节约搬运机器人100的移动时间，各列货架200的首部、中部或者尾部中的第二通道400可以相对设置，并使各列中相对的第二通道400沿第二方向间隔设置，这样，搬运机器人100可以选择距离当前位置最近的第二通道400，以快速移动至预定的位置。
参照图1与图2所示，在一些实施方式中，各列货架200的首部、中部或尾部具有至少一个第二通道400。
例如，位于各列货架200首部的第二通道400的数量可以为一个或者两个，位于各列货架200中部的第二通道400的数量可以为一个或者一个以上，位于各列货架200尾部的第二通道400的数量可以为一个或者一个以上，具体实施时，可以根据仓库的尺寸大小设置第二通道400的数量，以使搬运机器人100能通过第二通道400快速地移动至预定的位置，本实施例在此不加限定。
参照图4所示，搬运机器人100在第一通道300内或第二通道400内时，第一通道300和第二通道400均与搬运机器人100之间具有间隙，以使搬运机器人100可在第一通道300内或第二通道400内旋转，从而使搬运机器人100对准货物，以将货物搬运至搬运机器人100上，或者使搬运机器人100改变移动方向。
图9a至图9c为本申请实施例提供的仓储***中货架的结构示意图。参照图9a至图9c所示，在本申请中，货架200的形成方式可以具有多种，同一列货架200中包括至少两个子货架201，各子货架201呈行列形式排布。
下面，对于同一列货架200中各子货架201的排布方式进行说明。
在第一种实施方式中，同一列货架200中具有两个或者两个以上子货架201，各子货架201沿列方向(即图1或者图2中的X方向)依次相邻设置，从而形成如图9a所示的一列多行的排布方式。
图10为本申请实施例提供的仓储***中一种货架和第二通道的结构示意图；图11为图10的左视图；图12为本申请实施例提供的仓储***中又一种货架和第二通道的结构示意图。参照图1、图9a至图12所示，在第二种实施方式中，同一列货架200中包括两个或者两个以上子货架201，即行方向和列方向均设置子货架201，其中，行方向(即图1中的Y方向)最多设置四个子货架201，列方向(即图1中的X方向)可以设置两个或两个以上子货架201。例如，如图1、图2、图9b和图9c所示的排布方式。
可以理解的是，可以根据仓库的尺寸和子货架201的尺寸对于同一列货架200中的各子货架201的排布方式进行选择，本实施例在此不做限定。
同一列货架200中沿行方向(即图1中的Y方向)依次相邻的子货架201的数量超过四个时，搬运机器人100难以取中间行子货架201上的货物。因 此，在一些实施例中，如图9c所示，同一列货架200中沿行方向依次相邻的子货架201的数量小于或等于四个。此时，设置有双深位货叉的搬运机器人100，可以在同一列货架200的两侧分别取货物。
需要说明的是，靠仓库的墙面的第一列货架200和最后一列货架200中沿行方向依次相邻的子货架201的数量小于或等于两个。
图13a与图13b为本申请实施例提供的仓储***中子货架的结构示意图。可以理解的是，上述同一列货架200中沿行方向依次相邻的子货架201的数量小于或等于四个，针对的是图13a所示的一个子货架201中放置一列多行货物的情况。
参照图13b所示，若一个子货架201中放置两列货物时，同一列货架200中沿行方向依次相邻的子货架201的数量不超过两个。若一个子货架201中放置三列或四列货物时，同一列货架200中沿行方向的子货架201的数量为一个。一个子货架201中货物的排布方式与同一列货架200中各子货架201的排布方式根据需求设置，只要保证搬运机器人100可以在子货架201上取放货物即可，本实施例在此不加以限制。
请继续参照图10至图13b所示，在具体实现时，子货架201包括支撑架210和多个支撑板220，支撑架210包括至少两个支撑立柱211，各支撑板220沿竖直方向依次间隔设置在两个支撑立柱211之间，以将支撑架210分隔为多个用于放置货物的储货层。其中，支撑立柱211用于为支撑板220提供支撑，以将多个支撑板220安装在支撑架210上，支撑板220可用于存放货物。
应该理解的是，在一些实施例中，可以在支撑架210中设置两个或者两个以上的支撑立柱211，以提高子货架201的刚性和稳定性。
至少一个子货架201具有第二通道400，具有第二通道400的子货架201底层的支撑板220和两个支撑立柱211之间形成第二通道400。这样，第二通道400的上方的子货架201可以用于存储货物，提高了整个货架200的存货量，从而提高了仓储***的存储密度，且第二通道400可以为搬运机器人100提供移动通道，以使搬运机器人100在各列货架200之间移动。需要说明的是，同一列货架200中列方向具有两个至四个子货架201时，各子货架201上的第二通道400均相对设置，由此，以使搬运机器人100能从第二通 道400通过该列货架200。
在具体实现时，同一列货架200中，相邻的子货架201的相邻的支撑立柱211之间具有间隙或抵接。
示例性的，同一列货架200中，沿图1或者图2中的X方向可以设置至少两个子货架201，且相邻的子货架201之间具有间隙或相邻，即两个子货架201相邻的支撑立柱211之间具有间隙或抵接，以使整列的货架200更加紧凑，并提高单位面积内货架200的数量，从而提高仓储***的存储密度。支撑立柱
图14为本申请实施例提供的仓储***中再一种货架和第二通道的结构示意图。参照图12和图14所示，在一些实施例中，同一列货架200中，相邻的子货架201的相邻侧支撑立柱211为同一支撑立柱211。这样，可以节省材料和增强同一列货架200结构的刚性。
在同一列货架200中，具有第二通道400的子货架201可以和不具有第二通道400的子货架201共用一个支撑立柱211，以节约制造货架200的材料，并且可以增强货架200的刚性。例如，如图12所示，当第二通道400位于各列货架200的首部或者尾部时，具有第二通道400的子货架201可以采用这种方式与不具有第二通道400的子货架201连接。或者，如图14所示，当各列货架200的中部具有两个或者两个以上的第二通道400时，具有第二通道400的子货架201可采用这种方式与不具有第二通道400的子货架201连接。
可以理解的是，不具有第二通道400的子货架201可以为普通的货架，沿列方向的两个普通的货架之间设置多个支撑板220，各支撑板220沿子货架201的高度方向间隔设置，最底层的支撑板220的高度大于搬运机器人100中的活动立柱122相对于固定立柱121下降后搬运机器人100的高度，从而形成具有第二通道400的子货架201。
请继续参照图12与图14所示，在一些实施方式中，未设置第二通道400的子货架201的底层的支撑板220，其与支撑立柱211的底部之间的间距小于或者等于各储货层之间的间距。这样，可以充分利用货架200下部的空间以形成较多的储货层，以提高整个货架200的存货量，从而提高仓储***的 存储密度，同时，其与支撑立柱211的底部之间的间距大于搬运机器人100的底盘的高度，以使搬运机器人100的搬运装置130可以取放货架底层支撑板220上的货物。
参照图5至图8所示，本申请实施例提供的仓储***中，搬运机器人100还包括搬运装置130，搬运装置130设置在活动立柱122上，且搬运装置130相对于活动立柱122沿竖直方向升降。
例如，在搬运机器人100需要取货架200高处的货物时，可以先使活动立柱122相对于固定立柱121上升，以提高立柱单元120的高度，之后，再使搬运装置130相对于活动立柱122上升，从而使搬运装置130上升至货物所在的高度，搬运货物。或者，搬运装置130可直接相对于活动立柱122升降，以取放货架200中等高度或者低处的货物。
参照图1与图2所示，本申请实施例提供的仓储***还可以包括用于输送货物的输送线500，输送线500部分位于第二通道400内。或者，输送线500位于各货架200围成的区域的至少一侧。
例如，输送线500可以位于沿第二方向最外侧的货架200背离第一通道300的一侧，或者，输送线500可以位于各列货架200的首部或者尾部的一侧。这样，搬运机器人100可以在通过第一通道300和第二通道400移动，以在各列货架200之间取放货物，并经输送线500将货物输送至人工处理区，以完成货物出库。或者，搬运机器人100可以将经输送线500输送过来的货物搬运至各货架200上，以完成货物入库。
实施例二
本申请实施例提供一种搬运方法，采用上述实施例一提供的仓储***，其中仓储***的结构与工作原理均已在上述实施例一中进行了说明，此处不再一一赘述。
图15为本申请实施例二提供的搬运方法的流程示意图。参照图15所示，本实施例提供的搬运方法包括：
S101、控制搬运机器人100在第一通道300内移动。
当搬运机器人100在第一通道300内移动时，搬运机器人100可以取与 第一通道300相邻的货架200上的货物。此时，搬运机器人100中的活动立柱122可以相对于固定立柱121上升，以取货架200上高处的货物。
S102、控制搬运机器人100中的活动立柱122为下降状态。
当搬运机器人100需要从第一通道300转移至第二通道400内移动时，控制搬运机器人100中的活动立柱122相对于固定立柱121下降，这样可以降低搬运机器人100的整体高度，以便于搬运机器人100顺利进入第二通道400内。
之后，搬运机器人100可以不旋转，搬运机器人100从第二通道400移动至另一第一通道300内时再旋转以改变移动方向，或者，搬运机器人100也可以在第二通道400内旋转，以改变移动方向，又或者，搬运机器人100也可以在第二通道400内停留，以等待移动方向前方的机器人移动。
实施例三
本申请实施例提供一种搬运方法，采用上述实施例一提供的仓储***，其中仓储***的结构与工作原理均已在上述实施例一中进行了说明，此处不再一一赘述。
图16为本申请实施例三提供的搬运方法的流程示意图。参照图16所示，本实施例提供的搬运方法包括：
S201、控制搬运机器人100在第一通道300内移动。
S202、控制搬运机器人100中的活动立柱122为下降状态。
其中，S201与前述实施例二中S101的步骤相同，S202与前述实施例二中S102的步骤相同，此处不再一一赘述。
S203、控制搬运机器人100在第二通道400内移动，并旋转。
这样，搬运机器人100可以在第二通道400内旋转，以改变移动方向，移动至另一第一通道300或者另一第二通道400等。
实施例四
本申请实施例提供一种搬运方法，采用上述实施例一提供的仓储***，其中仓储***的结构与工作原理均已在上述实施例一中进行了说明，此处不 再一一赘述。
图17为本申请实施例四提供的搬运方法的流程示意图。参照图17所示，本实施例提供的搬运方法包括：
S301、控制搬运机器人100在第一通道300内移动。
S302、控制搬运机器人100中的活动立柱122为下降状态。
其中，S301与前述实施例二中S101的步骤相同，S302与前述实施例二中S102的步骤相同，此处不再一一赘述。
S303、控制搬运机器人100经过第二通道400将货物运输至输送线500上或者运输至工作站。
具体的，控制搬运机器人100经过第二通道400将货物运输至输送线500上包括：控制搬运机器人100在第二通道400内排队，以将货物运输至输送线500上或者工作站。
应该理解的是，搬运机器人100可以在第一通道300和第二通道400内移动，以搬取货物，之后，搬运机器人100可经第一通道300和第二通道400移动至输送线500所在的位置，输送线500可以将搬运机器人100取来的货物输送至工作站。或者，搬运机器人100可经第一通道300和第二通道400移动至工作站所在的位置，搬运机器人100可直接将货物搬运至工作站。以完成货物的出库。
实施例五
本申请实施例提供一种搬运方法，采用上述实施例一提供的仓储***，其中仓储***的结构与工作原理均已在上述实施例一中进行了说明，此处不再一一赘述。
图18为本申请实施例五提供的搬运方法的流程示意图。参照图18所示，本实施例提供的搬运方法包括：
S401、控制搬运机器人100在第一通道300内移动。
S402、控制搬运机器人100中的活动立柱122为下降状态。
其中，S401与前述实施例二中S101的步骤相同，S402与前述实施例二中S102的步骤相同，此处不再一一赘述。
S403、控制搬运机器人100将输送线500上或者工作站的货物运出后，经过第二通道400将货物运输至对应的存放库位。
搬运机器人100在第一通道300和第二通道400内移动，以将输送线500上或者工作站货物搬运至货架200对应的存放位置，以完成货物的入库。
实施例六
本申请实施例提供一种搬运方法，采用上述实施例一提供的仓储***，其中仓储***的结构与工作原理均已在上述实施例一中进行了说明，此处不再一一赘述。
图19为本申请实施例六提供的搬运方法的流程示意图。参照图19所示，本实施例提供的搬运方法包括：
S501、控制搬运机器人100在第一通道300内移动。
S502、控制搬运机器人100中的活动立柱122为下降状态。
其中，S501与前述实施例二中S101的步骤相同，S502与前述实施例二中S102的步骤相同此处不再一一赘述。
S503、控制搬运机器人100经第二通道400移动至货架200的外侧，或经第二通道400移动至货架200之间。
可以理解的是，搬运机器人100降低整体高度后，可以经过一个或者连续经过多个第二通道400移动至各列货架200中最外侧的货架200的外侧，以使搬运机器人100取放最外侧的货架200上的货物。或者，搬运机器人100经第二通道400移动至第一通道300，并沿第一通道300移动。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (18)

  1. 一种仓储***，其特征在于，包括：至少一个搬运机器人和多个货架，所述搬运机器人包括移动底盘和立柱单元，所述立柱单元包括固定立柱和活动立柱，所述固定立柱设置在所述移动底盘上，所述活动立柱与所述固定立柱连接，且所述活动立柱相对于所述固定立柱沿竖直方向升降；
    所述货架沿第一方向间隔排布多列，相邻的两列所述货架之间的间距形成供所述搬运机器人移动的第一通道，至少一列所述货架的底部具有供所述活动立柱为下降状态时的所述搬运机器人移动的至少一个第二通道，所述第一通道与所述第二通道连通，以使所述搬运机器人在各列所述货架之间移动。
  2. 根据权利要求1所述的仓储***，其特征在于，至少一相邻列所述货架中的所述第二通道相对设置。
  3. 根据权利要求1所述的仓储***，其特征在于，各列所述货架中所述第二通道位于各列的首部、中部或尾部中的至少一者。
  4. 根据权利要求3所述的仓储***，其特征在于，各列所述货架的首部、中部或尾部具有至少一个所述第二通道。
  5. 根据权利要求1至4任一项所述的仓储***，其特征在于，所述搬运机器人在所述第一通道内或所述第二通道内时，所述第一通道和所述第二通道均与所述搬运机器人之间具有间隙，以使所述搬运机器人可在所述第一通道内或所述第二通道内旋转。
  6. 根据权利要求5所述的仓储***，其特征在于，同一列所述货架中包括至少两个子货架，各所述子货架呈行列形式排布。
  7. 根据权利要求6所述的仓储***，其特征在于，同一列所述货架中沿行方向依次相邻的所述子货架的数量小于或等于四个。
  8. 根据权利要求6所述的仓储***，其特征在于，所述子货架包括支撑架和多个支撑板，所述支撑架包括至少两个支撑立柱，各所述支撑板沿竖直方向依次间隔设置在两个所述支撑立柱之间，以将所述支撑架分隔为多个用于放置货物的储货层；
    至少一个所述子货架具有所述第二通道，具有所述第二通道的所述子货架的底层的所述支撑板和两个所述支撑立柱之间形成所述第二通道。
  9. 根据权利要求8所述的仓储***，其特征在于，同一列所述货架中，相邻的所述子货架的相邻的所述支撑立柱之间具有间隙或抵接。
  10. 根据权利要求8所述的仓储***，其特征在于，同一列所述货架中，相邻的所述子货架的相邻侧所述支撑立柱为同一所述支撑立柱。
  11. 根据权利要求8所述的仓储***，其特征在于，未设置所述第二通道的所述子货架的底层的所述支撑板，其与所述支撑立柱的底部之间的间距小于或者等于各所述储货层之间的间距。
  12. 根据权利要求1至4任一项所述的仓储***，其特征在于，所述搬运机器人还包括搬运装置，所述搬运装置设置在所述活动立柱上，且所述搬运装置相对于所述活动立柱沿竖直方向升降。
  13. 根据权利要求2至4任一项所述的仓储***，其特征在于，还包括用于输送货物的输送线，所述输送线部分位于所述第二通道内；或者，所述输送线位于各所述货架围成的区域的至少一侧。
  14. 一种搬运方法，其特征在于，采用权利要求1至13任一项所述的仓储***，所述搬运方法包括：
    控制搬运机器人在第一通道内移动；
    当所述搬运机器人需要从所述第一通道转移至第二通道内移动时，控制所述搬运机器人中的活动立柱为下降状态，以使所述搬运机器人经由第一通道移动至第二通道内，并控制所述搬运机器人在所述第二通道内移动。
  15. 根据权利要求14所述的搬运方法，其特征在于，所述搬运方法还包括：
    控制所述搬运机器人在所述第二通道内移动，并旋转，以使搬运机器人改变运行方向，移动至另一所述第一通道内。
  16. 根据权利要求14所述的搬运方法，其特征在于，所述搬运方法还包括：
    控制所述搬运机器人经过所述第二通道将货物运输至输送线上或者运输至工作站；或者，
    控制所述搬运机器人将输送线上或者工作站的货物运出后，经过所述第二通道将货物运输至对应的存放库位。
  17. 根据权利要求16所述的搬运方法，其特征在于，所述控制所述搬运 机器人经过所述第二通道将货物运输至输送线上，包括：
    控制所述搬运机器人在所述第二通道内排队，以将货物运输至输送线上或运输至工作站。
  18. 根据权利要求14所述的搬运方法，其特征在于，所述搬运方法还包括：
    控制所述搬运机器人经所述第二通道移动至货架的外侧，或经所述第二通道移动至所述货架之间。
PCT/CN2022/082888 2022-03-24 2022-03-24 仓储***及搬运方法 WO2023178627A1 (zh)

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GB1202417A (en) * 1967-12-12 1970-08-19 John Liller Faris Improvements in or relating to storage equipment
CN206520966U (zh) * 2017-02-16 2017-09-26 东莞市海通物流设备有限公司 一种通廊式货架
CN206735141U (zh) * 2017-05-16 2017-12-12 苏州必威物流装备有限公司 一种吊装式组合货架
CN109607019A (zh) * 2018-12-29 2019-04-12 珠海格力智能装备有限公司 立体库***
CN110270973A (zh) * 2018-12-29 2019-09-24 杭州慧盈智能科技有限公司 一种仓储物流机器人及其工作方法、自动更换电池方法
CN111977244A (zh) * 2020-09-08 2020-11-24 北京极智嘉科技有限公司 一种仓库搬运调度***及方法
CN215247306U (zh) * 2021-04-23 2021-12-21 浙江世仓智能仓储设备有限公司 一种仓储货架

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1202417A (en) * 1967-12-12 1970-08-19 John Liller Faris Improvements in or relating to storage equipment
CN206520966U (zh) * 2017-02-16 2017-09-26 东莞市海通物流设备有限公司 一种通廊式货架
CN206735141U (zh) * 2017-05-16 2017-12-12 苏州必威物流装备有限公司 一种吊装式组合货架
CN109607019A (zh) * 2018-12-29 2019-04-12 珠海格力智能装备有限公司 立体库***
CN110270973A (zh) * 2018-12-29 2019-09-24 杭州慧盈智能科技有限公司 一种仓储物流机器人及其工作方法、自动更换电池方法
CN111977244A (zh) * 2020-09-08 2020-11-24 北京极智嘉科技有限公司 一种仓库搬运调度***及方法
CN215247306U (zh) * 2021-04-23 2021-12-21 浙江世仓智能仓储设备有限公司 一种仓储货架

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