CN106395218B - Overhead baggage rack unit, shelf, goods sorting system and goods sorting method - Google Patents
Overhead baggage rack unit, shelf, goods sorting system and goods sorting method Download PDFInfo
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- CN106395218B CN106395218B CN201610818531.0A CN201610818531A CN106395218B CN 106395218 B CN106395218 B CN 106395218B CN 201610818531 A CN201610818531 A CN 201610818531A CN 106395218 B CN106395218 B CN 106395218B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 210000001364 upper extremity Anatomy 0.000 claims description 16
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 2
- 238000003860 storage Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 238000007726 management method Methods 0.000 description 2
- 229910001339 C alloy Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000010960 cold rolled steel Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
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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
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of overhead baggage rack unit, shelf, goods sorting system and goods sorting methods.Overhead baggage rack unit includes hollow and the open main supporting structure in front side and the open pallet bearing structure in hollow and front side that is supported on main supporting structure, pallet bearing structure includes being used to support the pallet loading end of pallet, overhead baggage rack unit has hollow region and the front side being connected to hollow region open, wherein, front side opening, hollow region and pallet loading end are set as：Hollow region can be entered from front side opening by carrying the robot of pallet, and pallet is positioned on pallet loading end in hollow region；Pallet can be removed from pallet loading end and be carried in unloaded robot in hollow region, and the robot for carrying pallet can be driven out to hollow region from front side opening.The present invention can improve the load rate of robot.
Description
Technical Field
The invention relates to the technical field of storage, in particular to a goods shelf unit, a goods shelf, a goods sorting system and a goods sorting method.
Background
In the warehousing industry, amazon's goods sorting system that utilizes a Kiva robot to sort goods upgrades goods sorting from a traditional person-to-goods sorting mode to a goods-to-person sorting mode.
The goods sortation system provides a novel automated order fulfillment solution. The picking, packing and transporting operations of the distribution center are accomplished by using hundreds of mobile robots (Kiva robots), movable shelves, workstations and sophisticated control software. The main equipment includes a storage facility and a carrying facility (Kiva robot). The storage facility of the cargo sortation system employs portable plastic racks (Pods). The storage devices in the goods sorting system are classified into Inventory shelves (Inventory shelves) and delivery shelves (Shipping shelves) according to the storage properties.
The storage shelf is shaped like a square table with four legs and a square of 1 meter and is made of metal material. The upper plane of the stock shelf is provided with a tray, and the tray bears commodities. The Kiva robot lifts and travels along with this stock shelf and pallet when it carries the pallet.
The conveying shelf is a 1-meter square multi-layer shelf, and four support legs are arranged below the shelf. During the transport, the Kiva robot can bore the space of carrying goods shelves below, and the jacking is carried goods shelves and is advanced.
In the process of implementing the invention, designers find that the goods sorting system in the prior art has the following disadvantages:
1. the robot must first put an inventory shelf on top of the pallet before carrying the pallet, and the pallet cannot be carried without the process.
2. In the operation process, not only the tray needs to be managed, but also the stock shelf needs to be managed, and the management cost is high.
3. If the whole-tray commodities are stored on the high-level shelf, the whole-tray commodities must be moved to the Kiva robot by using special equipment after the trays are put off the shelf.
Disclosure of Invention
The invention aims to provide a goods shelf unit, a goods shelf, a goods sorting system and a goods sorting method, aiming at realizing that when a robot carries a tray, the tray is not required to be carried together with a stock goods shelf, thereby improving the effective load rate of the robot.
The present invention provides in a first aspect a shelving unit comprising a hollow open-front main support structure and a hollow open-front tray carrying structure supported on the main support structure, the tray carrying structure comprising a tray carrying surface for supporting a tray, the shelving unit having a hollow area and a front opening communicating with the hollow area, wherein the front opening, the hollow area and the tray carrying surface are arranged such that: a robot carrying a pallet can enter the hollow area from the front side opening and place the pallet on the pallet carrying surface in the hollow area; the empty robot can be taken off from the tray carrying surface in the hollow area and carry the tray, and the robot carrying the tray can be driven out of the hollow area from the front side opening.
Preferably, the main bearing structure includes four landing legs that the interval set up, four landing legs are including setting up in the left front landing leg in left place ahead, setting up in the right front landing leg in right front, setting up in the left back landing leg in left back and setting up in the right back landing leg in right back, tray load-bearing structure with four landing legs are connected respectively.
Preferably, the left front leg, the left rear leg and the pallet load bearing structure form an entrance through which the unloaded robot passes; and/or the right front leg, the right rear leg and the pallet bearing structure form an entrance through which the unloaded robot passes; and/or the right rear supporting leg, the left rear supporting leg and the tray bearing structure form an entrance for the empty robot to pass through.
Preferably, tray bearing structure includes three tie-beams, three tie-beams including connect in the left tie-beam on the upper portion of left front leg and left back landing leg, connect in right tie-beam on right front leg and right back landing leg upper portion and connect in the back tie-beam on left back landing leg and right back landing leg upper portion, the tray loading face includes at least the top surface of left tie-beam, the top surface of right tie-beam with preceding both in the top surface of back tie-beam.
Preferably, the left connecting beam, the right connecting beam and the rear connecting beam form a door frame beam.
Preferably, the door frame beam is cut from a single sheet of material.
Preferably, the shelving unit further comprises a secondary support structure connected between the primary support structure and the pallet carrying structure.
Preferably, the secondary support structure comprises a reinforcing bar connected between the primary support structure and the pallet carrying structure, the reinforcing bar, the primary support structure and the pallet carrying structure forming a triangular structure.
Preferably, the shelf unit further comprises a connecting part for combining two or more shelf units to form a combined shelf.
Preferably, the connecting portion includes a connecting hole or a snap structure.
Preferably, the connection part includes a connection hole provided on the main support structure, the connection hole being provided around 1/3 and/or 2/3 of the height of the main support structure.
In a second aspect the present invention provides a rack comprising a rack unit as defined in any one of the first aspects of the invention.
Preferably, the shelf is a combined shelf, the combined shelf comprises more than two shelf units, and the front side of each shelf unit is open towards the outer side of the combined shelf.
Preferably, adjacent shelf units in the combined shelf are fixedly connected.
Preferably, two or more shelf units of the combined shelf form a row of shelf unit rows, wherein the front sides of the shelf units of the row of shelf unit rows are open in the same direction; or, the one-row shelf unit row includes a first shelf unit group and a second shelf unit group, a front side of each shelf unit of the first shelf unit group is open to a first direction, and a front side of each shelf unit of the second shelf unit group is open to a second direction opposite to the first direction.
Preferably, two or more shelf units of the combined shelf form two rows of shelf units arranged side by side, the front side of each shelf unit of the first row of shelf units in the two rows of shelf units is open to face a first direction, and the front side of each shelf unit of the second row of shelf units in the two rows of shelf units is open to face a second direction opposite to the first direction.
A third aspect of the present invention provides a goods sorting system, including a robot and a shelf, where the shelf is the shelf according to any one of the second aspect of the present invention, and the robot carrying a tray can enter a hollow area of a shelf unit of the shelf from a front side opening of the shelf unit, and place the tray on a tray carrying surface of the shelf unit in the hollow area; the empty robot can be taken off from the tray carrying surface in the hollow area and carry the tray, and the robot carrying the tray can be driven out of the hollow area from the front side opening.
A fourth aspect of the present invention provides a cargo sorting method for sorting cargo using the cargo sorting system according to the third aspect of the present invention, the cargo sorting method including: the robot bearing the tray enters a hollow area of the shelf unit from the front side opening of the shelf unit, and the tray is placed on a tray bearing surface of the shelf unit in the hollow area; the empty robot takes the tray from the tray carrying surface of the shelf unit in the hollow area and carries the tray on the robot, and the robot carrying the tray is driven out of the hollow area from the front side opening of the shelf unit.
Based on the goods shelf unit, the goods shelf, the goods sorting system and the goods sorting method provided by the invention, the goods shelf unit comprises a main supporting structure with a hollow cavity and an open front side and a tray bearing structure with a hollow cavity and an open front side, the tray bearing structure comprises a tray bearing surface for supporting a tray, the goods shelf unit is provided with a hollow area and a front side opening communicated with the hollow area, wherein the front side opening, the hollow area and the tray bearing surface are set as follows: the robot bearing the tray can enter the hollow area from the front side opening, and the tray is placed on the tray bearing surface in the hollow area; the empty robot can remove and carry the pallet from the pallet carrying surface in the hollow area, and the robot carrying the pallet can exit the hollow area from the front opening. It can be seen that the arrangement of the open front side, the hollow area and the pallet carrying surface of the shelf unit enables the robot to carry the pallet and the goods thereon without carrying the pallet together with the stock shelf, thereby improving the effective load rate of the robot.
The goods shelf, the goods sorting system and the goods sorting method have the advantages of the goods shelf unit.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic perspective view of a shelf unit according to an embodiment of the present invention.
Fig. 2 is a schematic perspective view of a shelf according to an embodiment of the present invention.
Fig. 3 is a schematic view showing a connection structure of two shelf units connected in the left-right direction in the shelf shown in fig. 2.
Fig. 4 is a schematic view showing a connection structure of four shelf units in the shelf shown in fig. 2.
Fig. 5 is a schematic perspective view of a cargo sorting system according to an embodiment of the present invention.
Fig. 6 is a schematic flow chart illustrating a process of placing pallets on shelf units by a robot in the goods sorting method according to the embodiment of the invention.
Fig. 7 is a schematic flow chart illustrating a process of taking out a tray from a shelf unit by a robot in the cargo sorting method according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the following description of the shelving unit, the term "front" refers to the side of the shelving unit on which the front side is open; "rear" refers to the side opposite to "front", and "left" and "right" refer to the left-right direction formed when viewed from the front to the rear. The up and down directions refer to up and down directions of the shelf unit in the operating state. Also, the directions described herein are consistent with the directions of fig. 1.
As shown in fig. 1, the shelving unit 100 of the present embodiment includes a hollow, open-front main support structure 110 and a hollow, open-front pallet carrying structure 120 supported on the main support structure 110. The tray bearing structure 120 includes a tray bearing surface for supporting the tray. The shelving unit 100 has a hollow area 130 and a front open mouth 140 in communication with the hollow area 130. Wherein, the front side opening 140, the hollow area 130 and the tray carrying surface are arranged as follows: the robot 300 carrying the pallet can enter the hollow area 130 from the front opening 140 and place the pallet on the pallet carrying surface in the hollow area 130; the empty robot 300 can remove and carry the pallet from the pallet carrying surface at the hollow area 130, and the robot 300 carrying the pallet can exit the hollow area 130 from the front opening 140.
It can be seen that the arrangement of the front side opening 140, the hollow area 130 and the pallet carrying surface of the shelving unit enables the robot 300 to carry pallets and goods thereon without having to carry them together with the inventory shelves, thereby enabling the payload rate of the robot 300 to be increased. Wherein the payload ratio refers to the ratio of the weight of the commodity to the total weight.
As shown in FIG. 1, main support structure 110 includes four legs spaced apart. The four legs include a left front leg 111 disposed on the left front side, a right front leg 112 disposed on the right front side, a left rear leg 113 disposed on the left rear side, and a right rear leg 114 disposed on the right rear side. The tray carrying structure 120 is connected to the four legs, respectively. The main support structure 110 is provided in the form of four legs, which provides a simple structure, is stable in support, can reduce the overall weight of the shelving unit 100, and provides convenient conditions for providing access openings 150, described below, on the left, right and rear sides of the shelving unit 100.
Wherein, the left front leg 111, the left rear leg 113 and the tray bearing structure 120 form an entrance 150 through which the empty robot 300 passes; and/or the right front leg 112, the right rear leg 114 and the pallet load bearing structure 120 form an access 150 for the empty robot 300 to pass through; and/or the rear right leg 114, rear left leg 113 and pallet load bearing structure 120 form an access opening 150 for the empty robot 300 to pass through. This arrangement allows the empty robot 300 to more freely enter and exit the hollow area 130 of the shelving unit 100, and reduces the time and occupied space required for the empty robot 300 to enter and exit the shelving unit 100 or replace the shelving unit 100, thereby improving the control flexibility and the work efficiency.
As shown in fig. 1, the pallet load bearing structure 120 includes three connecting beams. The three connection beams include a left connection beam 121 connected to upper portions of the left front leg 111 and the left rear leg 113, a right connection beam 122 connected to upper portions of the right front leg 112 and the right rear leg 114, and a rear connection beam 123 connected to upper portions of the left rear leg 113 and the right rear leg 114. The tray bearing surface includes at least the top surface of the left connecting beam 121, the top surface of the right connecting beam 122, and the front two of the top surfaces of the rear connecting beams 123. In this embodiment, the tray carrying surface includes a top surface of the left connecting beam 121, a top surface of the right connecting beam 122, and a top surface of the rear connecting beam 123.
As shown in fig. 1, the left and right connection beams 121 and 122 and the rear connection beam 123 form a door frame beam. The door frame beam is formed by cutting a single plate. The arrangement makes the bearing surface of the tray smooth, and the tray and the goods on the tray can be stably placed on the bearing surface of the tray. In addition, the processing is simple, and the connection with the main supporting structure 110 is convenient.
Preferably, the shelving unit 100 also includes a secondary support structure connected between the main support structure 110 and the pallet load bearing structure 120.
As shown in fig. 1, in the present embodiment, the auxiliary supporting structure includes a reinforcing bar 171 connected between the main supporting structure 110 and the tray carrying structure 120, and the reinforcing bar 171, the main supporting structure 110 and the tray carrying structure 120 form a triangular structure. This setting makes the overall stability of goods shelves unit better, and whole weight is lighter. Specifically, two reinforcing rods 171 in different directions are arranged between each leg and the corresponding connecting beam.
The shelf unit 100 further includes a connecting portion for combining two or more shelf units to form a combined shelf. The connecting portion may include a connecting hole or a snap structure.
Of course, the connecting portion may not be necessary, and in order to connect different shelf units, an external connecting structure such as a U-shaped clip or a hoop may be provided to connect different shelf units together.
In this embodiment, the connection part includes a connection hole provided on the main support structure 110. The connecting holes can be arranged to adopt a pin or threaded connection structure to connect different shelf units, the connection and the disassembly are both convenient, and the connecting pieces are easy to obtain.
As shown in fig. 1 to 3, the coupling holes in the present embodiment are preferably provided around 1/3 of the height and/or around 2/3 of the height of the main support structure 110. The connecting holes are arranged at the positions, so that the structure of the goods shelf formed by the goods shelf units is stable.
As shown in fig. 1, in the present embodiment, the coupling holes include a first coupling hole 161 for coupling two shelf units 100 together from the left-right direction. The direction of the first coupling hole 161 is set in the left-right direction of the shelf unit 100. The attachment holes also include a second attachment hole 162 for attaching the rear sides of two shelving units 100 together. The axis of the second coupling hole 162 is arranged in the front-rear direction of the shelf unit 100.
Wherein, the four legs are provided with first connecting holes 161. Second connecting holes 162 are also formed in the left rear leg 113 and the right rear leg 114.
To make the shelving unit 100 strong and lightweight, the main support structure 110, the pallet load bearing structure 120, and the output support structure may all be fabricated from cold rolled steel.
The shelving unit 100 of this embodiment is adapted to store a single pallet in a single tier.
As shown in fig. 2 to 5, the present embodiment further provides a shelf, which includes the aforementioned shelf unit 100.
In this embodiment, the shelf is a combination shelf, the combination shelf includes more than two shelf units 100, and the front side opening 140 of the shelf unit 100 faces the outside of the combination shelf.
Preferably, adjacent shelf units 100 in the modular shelf are fixedly connected. As shown in fig. 2 to 5, in the present embodiment, the adjacent shelf units 100 are fixedly connected by a screw connection structure 200.
In this embodiment, the threaded connection 200 includes a bolt and a nut engaged with the bolt. The bolts are connected by nuts after passing through the corresponding connecting holes. The length of the bolt should not be too long, and interference with the bolt when the robot 300 passes through the entrance is prevented. To ensure the connection strength. The material of the bolt and the nut can be low-carbon alloy steel.
In other embodiments, adjacent shelving units 100 may be fixedly connected together by pins, clips, hoops, or the like.
In one embodiment, more than two shelving units 100 of a combined shelf may form a column of shelving units. The front openings 140 of the shelf units 100 of a column of rows of shelf units may all be oriented the same. Alternatively, a row of shelf units includes a first shelf unit group and a second shelf unit group, the front openings 140 of the shelf units 100 of the first shelf unit group face a first direction, and the front openings 140 of the shelf units 100 of the second shelf unit group face a second direction opposite to the first direction. The shelf units 100 of the first shelf unit group may be all adjacent to each other, or may be arranged to intersect with the shelf units 100 of the second shelf unit group. This setting makes the setting of combination goods shelves and the control of robot 300 all comparatively nimble.
In the present embodiment, as shown in fig. 2 or 5, two or more shelf units 100 of the shelf unit group form two shelf unit rows arranged side by side, the front openings 140 of the shelf units 100 of the first shelf unit row of the two shelf unit rows face a first direction, and the front openings 140 of the shelf units 100 of the second shelf unit row of the two shelf unit rows face a second direction opposite to the first direction. The arrangement can more fully utilize the storage space; meanwhile, the two shelf unit rows adopt a back-to-back combination mode, so that the structure of the combined shelf is more stable.
In this embodiment, the first column of shelf units and the second column of shelf units are preferably arranged symmetrically. As shown in fig. 2 and 5, the shelf units 100 in the first column of shelf units and the shelf units 100 in the second column of shelf units are aligned in a one-to-one correspondence in a direction perpendicular to the columns.
The present embodiment also provides a goods sorting system including a robot 300 and a front shelf. Wherein the robot 300 carrying the pallet can enter the hollow area 130 of the shelving unit 100 from the front side opening 140 of the shelving unit 100 of the shelf and place the pallet on the pallet carrying surface of the shelving unit 100 in the hollow area 130. The empty robot 300 can remove and carry the pallet from the pallet carrying surface at the hollow area 130, and the robot 300 carrying the pallet can exit the hollow area 130 from the front opening 140. The robot 300 is a floor mobile transfer robot.
In the goods sorting system of the present invention, the shelf unit 100 of the shelf is a frame-type structure as a minimum unit, and four legs are used as supporting points. The rear side of the shelving unit 100 is reinforced by the rear connecting beam 123 for stability of the entire shelving unit 100 and shelf. The top surfaces of the left connecting beam 121, the right connecting beam 122 and the rear connecting beam 123 form a pallet carrying surface with three shelf supporting belts, so that the pallet can be stably carried on the pallet carrying surface. The open front 140 of the shelving unit 100 facilitates the direct entry of the tray-carrying robot 300 into the hollow area 130. The gates 150 on the left, right and rear sides of the shelving unit 100 facilitate the travel and position change of the empty-load robot 300. The four support legs of the shelf unit 100 are respectively provided with connecting holes which can be connected with other shelf units 100, and the threaded connection structure 200 can achieve stable structure and orderly arrangement when a plurality of shelf units 100 form a shelf.
In the goods sorting system, the goods shelf does not need to be fixed on the ground, and the goods shelf can be easily arranged in the plane warehouse. And enables the robot 300 moving on the floor to directly carry the trays without using other devices such as inventory racks and special pick-and-place tray devices. Because the robot 300 can directly carry the tray, the link of the robot 300 and the equipment such as the stacker and the tray shuttle vehicle is smoother.
The embodiment also provides a goods sorting method. The goods sorting method utilizes the goods sorting system to sort the goods. The goods sorting method comprises the following steps: the robot 300 carrying the pallet enters the hollow area 130 of the shelving unit 100 from the front side opening 140 of the shelving unit 100, and places the pallet on the pallet carrying surface of the shelving unit 100 in the hollow area 130; the empty robot 300 removes the pallet from the pallet loading surface of the shelving unit 100 in the hollow area 130 and loads the pallet onto the robot 300, and the robot 300 loaded with the pallet exits the hollow area 130 through the front opening 140 of the shelving unit 100.
As shown in fig. 6, in the present embodiment, the specific process of the robot 300 placing the pallet on the pallet carrying surface of the shelf unit 100 is as follows:
the robot 300 carrying the pallet moves in front of the front opening 140 of the shelving unit 100, facing the shelving unit 100, in preparation for entering the hollow area 130;
the robot 300 lifts the pallet to a height above the loading surface of the pallet;
the robot 300 carries the pallet to drive into the hollow area 130 of the shelving unit 100 from the front opening 140, and stops when in place;
the robot 300 puts down the pallet in the hollow area 140, places the pallet on the pallet carrying surface, the state of the robot 300 becomes no-load, and adjusts the posture to be ready for exiting;
the empty robot 300 exits the hollow area 130 from the front opening 140 or a certain doorway 150 of the shelving unit 100.
As shown in fig. 7, in the present embodiment, the robot 300 takes out the pallet from the pallet carrying surface of the shelving unit 100 as follows:
the empty robot 300 drives into the hollow area 130 from the front opening 140 of the shelving unit 100 or a certain entrance 150 of the shelving unit 100, and stops when in place;
the robot 300 lifts the pallet in the hollow area 140 to a height above the carrying surface of the pallet.
The robot 300 is posed facing the front opening 140 of the shelving unit 100 ready to exit.
The pallet carrying robot 300 exits the hollow area 130 from the front opening 140 of the shelving unit 100.
The robot 300 lowers the height of the pallet, adjusts the posture, and moves the pallet to the destination.
As can be seen from the above description, the above embodiments of the present invention have at least one of the following technical effects:
1. the robot does not need to lift the inventory shelves to move together, but can directly lift the trays, so that the effective load rate of the robot is improved.
2. The management of the storage shelves is reduced in the whole operation process, and the operation cost is effectively reduced.
3. The robot can directly jack up the tray and carry, and is more convenient to plug into with other equipment.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (18)
1. A shelving unit (100), characterized in that the shelving unit (100) comprises a hollow open-front main support structure (110) and a hollow open-front tray carrying structure (120) supported on the main support structure (110), the tray carrying structure (120) comprising a tray carrying surface for supporting a tray, the shelving unit (100) having a hollow area (130) and an open front side (140) communicating with the hollow area (130), wherein the open front side (140), the hollow area (130) and the tray carrying surface are arranged to:
a robot (300) carrying a pallet, said robot (300) being a ground mobile transfer robot, being able to access said hollow area (130) from said front opening (140) and place said pallet on said pallet carrying surface in said hollow area (130);
the empty robot (300) can remove and carry the pallet from the pallet carrying surface in the hollow area (130), and the robot (300) carrying the pallet can exit the hollow area (130) from the front opening (140).
2. The shelving unit (100) as defined in claim 1, wherein the main support structure (110) comprises four spaced apart legs including a left front leg (111) disposed at a left front, a right front leg (112) disposed at a right front, a left rear leg (113) disposed at a left rear, and a right rear leg (114) disposed at a right rear, the pallet load bearing structure (120) being connected to the four legs, respectively.
3. The shelving unit (100) as defined in claim 2,
the left front leg (111), the left rear leg (113) and the pallet load bearing structure (120) form an entrance (150) for the empty robot (300) to pass through; and/or the presence of a gas in the gas,
the right front leg (112), the right rear leg (114) and the pallet load bearing structure (120) form an access opening (150) for the empty robot (300) to pass through; and/or the presence of a gas in the gas,
the right rear leg (114), the left rear leg (113) and the pallet load bearing structure (120) form an entrance (150) for the empty robot (300) to pass through.
4. The shelving unit (100) as defined in claim 2, wherein the pallet load bearing structure (120) comprises three connecting beams including a left connecting beam (121) connected to upper portions of the left front leg (111) and the left rear leg (113), a right connecting beam (122) connected to upper portions of the right front leg (112) and the right rear leg (114), and a rear connecting beam (123) connected to upper portions of the left rear leg (113) and the right rear leg (114), the pallet load bearing surface comprising at least a top surface of the left connecting beam (121), a top surface of the right connecting beam (122), and a front two of the top surfaces of the rear connecting beams (123).
5. The shelf unit (100) according to claim 4, characterised in that the left connecting beam (121), the right connecting beam (122) and the rear connecting beam (123) form a door frame beam.
6. The shelving unit (100) as defined in claim 5, wherein the door frame beams are cut from a single piece of sheet material.
7. The shelving unit (100) as defined in claim 1, wherein the shelving unit (100) further comprises a secondary support structure connected between the main support structure (110) and the pallet load bearing structure (120).
8. The shelving unit (100) as defined in claim 7, wherein the auxiliary support structure comprises a reinforcing bar (171) connected between the main support structure (110) and the pallet carrying structure (120), the reinforcing bar (171), the main support structure (110) and the pallet carrying structure (120) forming a triangular structure.
9. The shelving unit (100) as defined in claim 1, wherein the shelving unit (100) further comprises a connection portion for combining two or more of the shelving units to form a combination shelf.
10. The shelving unit (100) as defined in claim 9, wherein the connecting portion comprises a connecting hole or a snap-fit structure.
11. The shelving unit (100) as defined in claim 10, wherein the connecting portion includes a connecting aperture provided on the main support structure (110), the connecting aperture being provided near 1/3 and/or near 2/3 of the height of the main support structure (110).
12. A pallet, characterized in that the pallet comprises a pallet unit (100) according to any one of claims 1-11.
13. The pallet according to claim 12, characterized in that the pallet is a combination pallet comprising more than two of the pallet units (100), the front side of the pallet units (100) being open (140) towards the outside of the combination pallet.
14. The pallet according to claim 13, characterized in that adjacent pallet units (100) in the modular pallet are fixedly connected.
15. The pallet according to claim 13, characterized in that two or more pallet units (100) of the combined pallet form a column of pallet units, wherein,
the front side openings (140) of the shelf units (100) of the row of shelf unit rows are in the same direction; or,
the row of shelf units comprises a first shelf unit group and a second shelf unit group, wherein the front side opening (140) of each shelf unit (100) of the first shelf unit group faces a first direction, and the front side opening (140) of each shelf unit (100) of the second shelf unit group faces a second direction opposite to the first direction.
16. The rack according to claim 13, characterized in that the two or more rack units (100) of the modular rack form two rows of rack units arranged side by side, the front side openings (140) of the rack units (100) of a first row of the two rows of rack units facing in a first direction, and the front side openings (140) of the rack units (100) of a second row of the two rows of rack units facing in a second direction opposite to the first direction.
17. Goods sorting system comprising a robot (300) and a rack, characterized in that the rack is a rack according to any one of claims 12 to 16, wherein,
-the robot (300) carrying a pallet is able to access the hollow area (130) of the shelving unit (100) from the front side opening (140) of the shelving unit (100) and place the pallet on the pallet carrying surface of the shelving unit (100) at the hollow area (130);
the empty robot (300) can remove and carry the pallet from the pallet carrying surface in the hollow area (130), and the robot (300) carrying the pallet can exit the hollow area (130) from the front opening (140).
18. A method of sorting goods using the goods sorting system of claim 17, the method comprising:
-the robot (300) carrying a pallet enters the hollow area (130) of the shelving unit (100) from the front side opening (140) of the shelving unit (100), placing the pallet on the pallet carrying surface of the shelving unit (100) in the hollow area (130);
the empty robot (300) removes the pallet from the pallet carrying surface of the shelving unit (100) in the hollow area (130) and carries the pallet on the robot (300), and the robot (300) carrying the pallet exits the hollow area (130) from the front opening (140) of the shelving unit (100).
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| CN201610818531.0A CN106395218B (en) | 2016-09-13 | 2016-09-13 | Overhead baggage rack unit, shelf, goods sorting system and goods sorting method |
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| AU2019318657B2 (en) | 2018-08-10 | 2022-03-10 | Beijing Geekplus Technology Co., Ltd. | Dense storage-based article moving method and device, storage medium and dense storage system |
| CN109279249B (en) * | 2018-10-17 | 2020-06-05 | 北京极智嘉科技有限公司 | Goods intensive storage method, device, system and storage medium |
| CN110143393B (en) * | 2019-06-17 | 2024-02-06 | 隆链智能科技（上海）有限公司 | Stereoscopic warehouse picking system based on four-way shuttle and control method thereof |
| CN113753510B (en) * | 2021-09-06 | 2023-09-15 | 红云红河烟草(集团)有限责任公司 | Efficient full-automatic loading and unloading system with small occupied area |
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| JP2001225906A (en) * | 2000-02-10 | 2001-08-21 | Sumitomo Heavy Ind Ltd | Automated storage and retrieval warehouse |
| WO2008038393A1 (en) * | 2006-09-28 | 2008-04-03 | Hirata Corporation | Automatic warehouse |
| CN201647542U (en) * | 2010-01-28 | 2010-11-24 | 浙江吉利汽车有限公司 | Lower storage transfer device of automobile trunk shell plate |
| CN203266614U (en) * | 2013-04-16 | 2013-11-06 | 中国重汽集团成都王牌商用车有限公司 | Stacked goods shelf with guiding and limiting device |
| CN104973370A (en) * | 2015-06-18 | 2015-10-14 | 芜湖扬宇机电技术开发有限公司 | Storage shelf |
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