CN108750520A - A kind of layering storage arrangement and system based on gantry structure - Google Patents

Abstract

The invention relates to the technical field of storage structures, and specifically discloses a layered storage device based on a gantry structure. The horizontal and vertical brackets are divided to form multiple sub-warehouses, and multiple cargo boxes can be stacked in each sub-warehouse; the gantry is erected along the horizontal direction of the warehouse; the picking robot is hoisted on the gantry, and make lateral movement on the gantry; the horizontal cargo lane is arranged along the longitudinal direction of the warehouse; the picking platform is located at one end of the horizontal cargo lane and is connected with the horizontal cargo lane; the horizontal shuttle Located in the horizontal cargo lane, and capable of shuttling in the horizontal cargo lane to transport cargo boxes. The invention also discloses a layered storage system based on the gantry structure. The layered storage device based on the gantry structure provided by the invention improves the work efficiency of division of labor.

Description

A layered storage device and system based on a gantry structure

technical field

The present invention relates to the technical field of storage structures, in particular to a layered storage device based on a gantry structure and a layered storage system based on a gantry structure including the layered storage device based on a gantry structure.

Background technique

With the development of the logistics industry, higher requirements are put forward for the storage structure and storage equipment. For goods of different weights and sizes, targeted structural design is required in order to obtain better space utilization and work efficiency. At the same time, for the reconstruction of old warehouses, due to the influence of buildings, the current common vertical warehouses are often difficult to adapt to, so a design with more site universality is urgently needed.

At present, the common vertical storage system is basically composed of shelves, containers, stackers, conveyors and other equipment. The loading and unloading of goods is done by the stacker from the side of the shelf, so a running channel of the stacker needs to be reserved between every two sets of shelves, which wastes a lot of space.

From the perspective of site adaptability, firstly, due to the high cost of mechanization, in order to ensure sufficient cost performance, this type of vertical warehouse usually needs to be built relatively high, which places restrictions on the use of the warehouse. Second, the high-rise structure needs a solid foundation, so such shelves are usually permanent or semi-permanent buildings, and once constructed, it is difficult to relocate and rebuild. Third, for the old warehouses with support columns in the site, the traditional three-dimensional warehouse cannot bypass the columns.

For the above problems, a new solution is proposed in the prior art. The boxes are stacked one by one, and several robots are used to perform the pick-and-place operation of the boxes on the top of the boxes (similar to the stacking operation). This solution solves the site adaptability problem very well, and at the same time obtains a very high space utilization rate. However, the solutions in the prior art have too high requirements for the control of the picking robots, especially in large warehouses, and the difficulty increases exponentially with the number of robots. At the same time, each robot is designed to be exactly the same. Although it can gain the advantage of improving system flexibility, it also means that each robot is an all-around player, the cost is too high, and the efficiency of the monomer is low.

Therefore, how to improve the efficiency of division of labor and reduce the difficulty of control has become a technical problem to be solved urgently by those skilled in the art.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art, and provides a layered storage device based on a gantry structure and a layered storage system based on a gantry structure including the layered storage device based on a gantry structure. Solve the problems in the prior art.

As the first aspect of the present invention, a layered storage device based on a gantry structure is provided, wherein the layered storage device based on a gantry structure includes: warehouses, gantry frames, picking robots, horizontal cargo lanes, picking platforms and level shuttles,

The warehouse is divided by horizontal and vertical brackets to form multiple sub-warehouses, and multiple cargo boxes can be stacked in each sub-warehouse;

The gantry is erected along the transverse direction of the warehouse;

The picking robot is hoisted on the gantry and moves laterally on the gantry;

The horizontal cargo lane is arranged along the longitudinal direction of the warehouse;

The picking platform is located at one end of the horizontal cargo aisle and is connected to the horizontal cargo aisle, and the picking platform can sort a plurality of containers to obtain the required goods;

The horizontal shuttle vehicle is located in the horizontal cargo lane, and can shuttle in the horizontal cargo lane to transport the container.

Preferably, the layered storage device based on the gantry structure includes a fixed lifting mechanism, one end of the fixed lifting mechanism is connected to the picking platform, and the other end is connected to one end of the horizontal cargo lane, and the fixed lifting mechanism can Elevating the container from the picking platform to the horizontal cargo lane.

Preferably, the portal frame includes multiple portal frames, and the multiple portal frames are arranged in parallel at intervals.

Preferably, the gantry includes a gantry structure integrally spanning the warehouse.

Preferably, the gantry comprises a gantry structure in which a multi-section gantry is combined to span the warehouse.

Preferably, the gantry is located on the top of the warehouse, and the horizontal cargo lane is located on the top floor of the warehouse.

Preferably, the picking robot includes a plurality of actuators, each of which can pick up a container.

Preferably, the horizontal cargo lanes include a plurality of horizontal cargo lanes arranged at intervals, and the horizontal shuttle vehicles are arranged on each of the horizontal cargo lanes.

As a second aspect of the present invention, a hierarchical storage system based on a gantry structure is provided, wherein the hierarchical storage system based on a gantry structure includes a control device and the aforementioned hierarchical storage device based on a gantry structure, The control device is connected to the pick-up robot in the layered storage device based on the gantry structure, and the pick-up robot can transmit the picked-up container data to the control device, and can Perform a pickup action.

Preferably, the control device is connected to the horizontal shuttle vehicle in the gantry-based layered storage device, and the control device can control the horizontal shuttle vehicle to shuttle bidirectionally in the horizontal cargo lane.

The layered storage device based on the gantry structure provided by the present invention is provided with a gantry, and the picking robot is hoisted on the gantry, and can move laterally along the gantry to realize picking up the container, and the level of the cargo box set on the horizontal cargo lane The shuttle car cooperates to complete the picking and delivery of the container, and the horizontal shuttle shuttles in the horizontal cargo lane to transport the container to the picking platform to complete the picking. The structure is simple, and it avoids frequent staggering of a large number of picking robots. The efficiency of the system is improved, and the difficulty of control is greatly reduced. In addition, the horizontal shuttle is a mature product in the logistics industry. It is cheap, reliable, high-quality and efficient. The introduction of the horizontal shuttle not only greatly reduces the workload of the system in principle, but also replaces a large number of tasks originally done by the picking robot.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description, together with the following specific embodiments, are used to explain the present invention, but do not constitute a limitation to the present invention. In the attached picture:

Fig. 1 is a structural schematic diagram of a layered storage device based on a gantry structure provided by the present invention.

Fig. 2 is a schematic diagram of division of the working area of the picking robot provided by the present invention.

Fig. 3 is a schematic diagram of the division of the working area of the horizontal shuttle provided by the present invention.

Detailed ways

Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

As a first aspect of the present invention, a hierarchical storage device based on a gantry structure is provided, wherein, as shown in FIG. Picking robot 3, horizontal cargo lane 4, picking platform 5 and horizontal shuttle vehicle 6,

The warehouse 1 is divided into multiple sub-warehouses by horizontal and vertical brackets, and multiple cargo boxes can be stacked in each sub-warehouse;

The gantry 2 is erected along the transverse direction of the warehouse 1;

The picking robot 3 is arranged on the gantry 2 and moves laterally on the gantry 2;

The horizontal cargo lane 4 is arranged along the longitudinal direction of the warehouse 1;

The picking platform 5 is located at one end of the horizontal cargo lane 4 and is connected to the horizontal cargo lane 4, and the picking platform 5 can pick a plurality of containers to obtain the required goods;

The horizontal shuttle vehicle 6 is located in the horizontal cargo lane 4, and can shuttle in the horizontal cargo lane 4 to transport cargo boxes.

The layered storage device based on the gantry structure provided by the present invention is provided with a gantry, and the picking robot is hoisted on the gantry, and can move laterally along the gantry to realize picking up the container, and the level of the cargo box set on the horizontal cargo lane The shuttle car cooperates to complete the picking and delivery of the container, and the horizontal shuttle shuttles in the horizontal cargo lane to transport the container to the picking platform to complete the picking. The structure is simple, and it avoids frequent staggering of a large number of picking robots. The efficiency of the system is improved, and the difficulty of control is greatly reduced. In addition, the horizontal shuttle is a mature product in the logistics industry. It is cheap, reliable, high-quality and efficient. The introduction of the horizontal shuttle not only greatly reduces the workload of the system in principle, but also replaces a large number of tasks originally done by the picking robot.

It should be noted that, on the horizontal plane, the direction parallel to the horizontal freight aisle 4 is called the longitudinal direction, and the direction perpendicular to the horizontal freight aisle 4 is called the transverse direction.

Specifically, in order to facilitate the transport of containers from the picking platform 5 to the horizontal cargo lane 4, the layered storage device 10 based on the gantry structure includes a fixed lifting mechanism 7, one end of the fixed lifting mechanism 7 is connected to the picking The platform 5 is connected, and the other end is connected with one end of the horizontal cargo lane 4 , and the fixed lifting mechanism 7 can lift the container from the picking platform 5 onto the horizontal cargo lane 4 .

Specifically, in order to facilitate the hoisting of multiple pick-up robots 3 , the gantry 2 includes a plurality of gantry frames, and the gantry frames are arranged in parallel at intervals.

As a specific embodiment of the gantry, the gantry 2 includes a gantry structure integrally spanning the warehouse 1 .

As another specific embodiment of the gantry, the gantry 2 includes a gantry structure in which a multi-section gantry is combined and spans the warehouse 1 .

Preferably, the gantry 2 is located on the top of the warehouse 1 , and the horizontal cargo lane 4 is located on the top floor of the warehouse 1 .

It can be understood that when the horizontal cargo lane 4 is located on the top floor of the warehouse 1, since the picking platform 5 is located at one end of the horizontal cargo lane 4 and is connected to the horizontal cargo lane 4, the picking The platform 5 is also located on the top floor of the warehouse 1 .

Specifically, in order to improve the picking efficiency of the picking robot 3, the picking robot 3 includes a plurality of actuators, each of which can pick up a container.

Specifically, the horizontal cargo lane 4 includes a plurality of horizontal cargo lanes arranged at intervals, and each of the horizontal cargo lanes is provided with the horizontal shuttle vehicle.

The working principle of the layered storage device based on the gantry structure provided by the present invention will be described in detail below with reference to FIG. 2 and FIG. 3 .

The layered storage device based on the gantry structure provided by the present invention is a warehouse 1 composed of several cargo boxes. A horizontal gantry 2 is erected on the top of the warehouse 1. The gantry 2 can span the entire warehouse area or can be The multi-section gantry combination spans the entire warehouse area. The picking robot 3 moves laterally on the gantry 2 . The pick-up robot 3 has some kind of actuator for picking up the bottom container, and this mechanism as a whole can make a small range of longitudinal movement on the pick-up robot to cover the working area that a single pick-up robot needs to cover. When the picking robot 3 moves above the container to be picked, the container is taken out by the actuator and passed to the horizontal shuttle vehicle 6 staying on the horizontal cargo lane 4, which can cover a whole row of vertical areas and can Overhead over a column of vertical areas. For the cargo boxes in the middle and bottom layers, the upper cargo boxes can be taken out one by one and placed aside until the designated cargo boxes are taken out. After the horizontal shuttle car 6 obtains the container, it passes the container to the picking platform 5 to complete the picking work, and then sends the container to a suitable location to wait for the picking robot to retrieve the container.

The layered storage device based on the gantry structure provided by the present invention, in order to ensure system efficiency and reliability, the working areas of the picking robots 3 on the same gantry 2 can overlap and can change at any time. Cargo Robot 3 work areas do not overlap. The picking robot 3 does not have to deliver the goods to the edge of the warehouse near the picking platform, but only needs to deliver the boxes to the horizontal shuttle. Horizontal shuttle car 5 is responsible for two-way delivery of goods.

It should be noted that the working area/responsible area shown in Figure 2 and Figure 3 is not completely fixed, and can be adjusted in real time by the controller according to specific work requirements, which is intended to illustrate the working principle.

Therefore, the layered storage device based on the gantry structure provided by the present invention solves the problem that the container that is higher than the top of the warehouse often occurs in the prior art to be taken out by using the picking robot to hoist it on the gantry above the warehouse. The movement obstacle problem of the cargo robot, which has great advantages for quickly obtaining the middle and bottom cargo boxes; and the three-degree-of-freedom manipulator structure technology based on the gantry structure is mature and low in cost; it minimizes the long-distance vertical transportation of the picking robot The movement of the cargo box can greatly improve the work efficiency.

As a second aspect of the present invention, a hierarchical storage system based on a gantry structure is provided, wherein the hierarchical storage system based on a gantry structure includes a control device and the aforementioned hierarchical storage device based on a gantry structure, The control device is connected to the pick-up robot in the layered storage device based on the gantry structure, and the pick-up robot can transmit the picked-up container data to the control device, and can Perform a pickup action.

The layered storage system based on the gantry structure provided by the present invention is equipped with a gantry, and the picking robot is hoisted on the gantry, and can move laterally along the gantry to realize picking up the container, and the level of the container installed on the horizontal cargo lane The shuttle car cooperates to complete the picking and delivery of the container, and the horizontal shuttle shuttles in the horizontal cargo lane to transport the container to the picking platform to complete the picking. The structure is simple, and it avoids frequent staggering of a large number of picking robots. The efficiency of the system is improved, and the difficulty of control is greatly reduced. In addition, the horizontal shuttle is a mature product in the logistics industry. It is cheap, reliable, high-quality and efficient. The introduction of the horizontal shuttle not only greatly reduces the workload of the system in principle, but also replaces a large number of tasks originally done by the picking robot.

Specifically, the control device is connected to the horizontal shuttle vehicle in the layered storage device based on the gantry structure, and the control device can control the horizontal shuttle vehicle to shuttle bidirectionally in the horizontal cargo lane.

It can be understood that, the above embodiments are only exemplary embodiments adopted for illustrating the principle of the present invention, but the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also regarded as the protection scope of the present invention.

Claims (10)

1. A layered storage device based on a gantry structure, characterized in that the layered storage device based on a gantry structure includes: a warehouse, a gantry frame, a picking robot, a horizontal cargo lane, a picking platform and a horizontal shuttle, The warehouse is divided by horizontal and vertical brackets to form multiple sub-warehouses, and multiple cargo boxes can be stacked in each sub-warehouse; The gantry is erected along the transverse direction of the warehouse; The picking robot is hoisted on the gantry and moves laterally on the gantry; The horizontal cargo lane is arranged along the longitudinal direction of the warehouse; The picking platform is located at one end of the horizontal cargo aisle and is connected to the horizontal cargo aisle, and the picking platform can sort a plurality of containers to obtain the required goods; The horizontal shuttle vehicle is located in the horizontal cargo lane, and can shuttle in the horizontal cargo lane to transport the container. 2. The layered storage device based on the gantry structure according to claim 1, wherein the layered storage device based on the gantry structure comprises a fixed lifting mechanism, and one end of the fixed lifting mechanism is connected to the picking platform , the other end is connected to one end of the horizontal cargo lane, and the fixed lifting mechanism can lift the container from the picking platform to the horizontal cargo lane. 3. The hierarchical storage device based on the gantry structure according to claim 1, wherein the gantry comprises a plurality of gantry, and the plurality of gantry are arranged in parallel at intervals. 4. The layered storage device based on a gantry structure according to claim 3, wherein the gantry frame comprises a gantry structure integrally spanning the warehouse. 5 . The hierarchical storage device based on a gantry structure according to claim 3 , wherein the gantry comprises a gantry structure in which multiple sections of gantry are combined to span the warehouse. 6 . 6. The layered storage device based on the gantry structure according to any one of claims 1 to 5, wherein the gantry is located on the top of the warehouse, and the horizontal cargo lane is located on the top of the warehouse. The top of the warehouse. 7. The layered storage device based on the gantry structure according to any one of claims 1 to 5, wherein the picking robot includes a plurality of actuators, each of which can pick up a container . 8. The layered storage device based on the gantry structure according to any one of claims 1 to 5, characterized in that, the horizontal cargo lanes comprise a plurality of horizontal cargo lanes arranged at intervals, each of the horizontal cargo lanes All are provided with the horizontal shuttle car. 9. A layered storage system based on a gantry structure, characterized in that the layered storage system based on a gantry structure includes a control device and the layered storage system based on a gantry structure according to any one of claims 1 to 8 device, the control device is connected with the pick-up robot in the layered storage device based on the gantry structure, and the pick-up robot can transmit the picked-up container data to the control device, and can according to the control device Feedback to perform the pickup action. 10. The layered storage system based on the gantry structure according to claim 9, wherein the control device is connected to the horizontal shuttle in the layered storage device based on the gantry structure, and the control device can control The horizontal shuttle shuttles in both directions in the horizontal cargo lane.