CN215709064U

CN215709064U - Transfer device and warehousing system

Info

Publication number: CN215709064U
Application number: CN202121353894.4U
Authority: CN
Inventors: 杨穗梅; 谢超
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2022-02-01
Anticipated expiration: 2031-06-17

Abstract

The application provides a transfer device and a warehousing system, relates to the technical field of intelligent warehousing and is used for solving the technical problem that the transfer device is low in operation efficiency; the temporary storage shelf comprises a support frame and a conveying mechanism arranged on the support frame, one end of the conveying mechanism is in butt joint with a goods inlet and outlet of the elevator, the other end of the conveying mechanism is in butt joint with a goods inlet and outlet of the conveying line assembly, and the conveying line assembly conveys goods to the elevator or the elevator can temporarily store the goods conveyed to the conveying line assembly to the conveying mechanism. The warehousing system comprises a transfer robot and the transfer device. The application is used for improving the operating efficiency of the transfer device.

Description

Transfer device and warehousing system

Technical Field

The application relates to the technical field of intelligent warehousing, in particular to a transfer device and a warehousing system.

Background

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of end logistics is continuously improved, and intelligent warehousing is an important link in the logistics process.

In the intelligent warehousing, the transfer robot and the transfer device are main equipment capable of realizing automatic transfer operation, and heavy physical labor of human beings can be reduced through the transfer robot and the transfer device.

However, the conventional relay device has low work efficiency.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, embodiments of the present invention provide a transfer device and a warehousing system, which can improve the operation efficiency of a loading device.

In order to achieve the above object, the embodiments of the present application provide the following technical solutions:

in a first aspect, an embodiment of the present application provides a transfer device, which includes: the device comprises a lifting machine, a temporary storage rack and a conveying line assembly; the temporary storage shelf comprises a support frame and a conveying mechanism arranged on the support frame, one end of the conveying mechanism is in butt joint with a goods inlet and outlet of the elevator, the other end of the conveying mechanism is in butt joint with a goods inlet and outlet of the conveying line assembly, the conveying line assembly conveys goods to the elevator, or the elevator conveys goods to the conveying line assembly and can be temporarily stored on the conveying mechanism.

In an alternative embodiment, the temporary storage rack further includes a driving mechanism, the driving mechanism is connected to the conveying mechanism, and the driving mechanism drives the conveying mechanism to rotate along the conveying direction of the goods.

In an optional embodiment, the transfer device further includes a controller, the controller is electrically connected to the driving mechanism, and the controller is configured to control the driving mechanism so that the driving mechanism drives the conveying mechanism to rotate along the conveying direction of the goods.

In an alternative embodiment, the drive mechanism is a drive motor.

In an alternative embodiment, the transport mechanism is at least two layers.

In an alternative embodiment, the conveyor line assembly includes a base and at least two layers of conveyor lines disposed on the base, at least one of the at least two layers of conveyor lines having a direction of conveyance opposite to a direction of conveyance of the other conveyor lines, and the at least two layers of conveyor lines being respectively docked with the at least two layers of conveyor mechanisms, one layer of conveyor line being docked with the one layer of conveyor mechanisms.

In an alternative embodiment, the end of the conveying mechanism facing the hoisting machine is provided with a detecting piece for detecting the position of the goods entrance and exit of the hoisting machine.

In an alternative embodiment, the detection element is one of an infrared sensor, a pressure-sensitive switch and a travel switch.

In an alternative embodiment, the conveying mechanism is provided with a gravity sensing member.

In an alternative embodiment, the transfer mechanism comprises a rolling transfer element rotatable about its own axis of rotation in the transfer direction of the goods for transferring the goods onto the lift or onto the transfer line assembly.

In an alternative embodiment, the rolling conveyor is a rotating roller or a conveyor belt.

In an alternative embodiment, the elevator comprises two upright columns and at least one layer of lifting mechanism arranged between the two upright columns, and the lifting mechanism can move up and down along the upright columns.

In an optional embodiment, the transfer device further includes a fluent goods shelf, and a goods entrance and exit of the fluent goods shelf is butted with a goods entrance and exit at an end of the lifting machine far away from the temporary storage shelf, so as to transfer the goods on the lifting machine to the transfer robot through the fluent goods shelf, or transfer the goods on the transfer robot to the lifting machine through the fluent goods shelf.

In a second aspect, an embodiment of the present application further provides a storage system, which includes: the transfer device is used for transferring and transporting the transfer robot during loading or unloading.

Compared with the prior art, the transfer device and the warehousing system provided by the embodiment of the application have the following advantages:

in the transfer device provided by the embodiment of the application, the temporary storage shelf is arranged between the lifting machine and the conveying line assembly and comprises the support frame and the conveying mechanism arranged on the support frame, wherein one end of the transmission mechanism is butted with a goods inlet and outlet of the elevator, and the other end of the transmission mechanism is butted with the goods inlet and outlet of the transmission line component, so that when the transmission line component transmits goods to the elevator, the goods can be transferred to the temporary storage shelf, when the goods inlet and outlet of the hoister are in butt joint with the transfer mechanism, the goods are transferred to the hoister, therefore, the conveying line assembly does not need to wait, when the hoister conveys the goods to the conveying line assembly, the goods conveyed by the hoister are temporarily stored on the temporary storage shelf, when the transfer line assembly transfers goods, the goods are transferred to the transfer line assembly, so that the elevator does not need to wait, and the operation efficiency of the transfer device can be improved.

In addition to the technical problems solved by the embodiments of the present application, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above, other technical problems that can be solved by the transit device and the warehousing system provided by the embodiments of the present application, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a first schematic structural diagram of a transfer device according to an embodiment of the present disclosure;

fig. 2 is a second schematic structural diagram of a transfer device according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a third transfer device according to an embodiment of the present application;

fig. 4 is a schematic diagram of a fourth structure of a transfer device according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a warehousing system according to a second embodiment of the present application;

fig. 6 is a flowchart of a cargo transportation method provided in the third embodiment of the present application;

fig. 7 is a flowchart of a cargo transportation method according to the fourth embodiment of the present application;

fig. 8 is a flowchart of a cargo transportation method according to a fifth embodiment of the present application;

fig. 9 is a flowchart of a cargo transportation method according to a sixth embodiment of the present application;

fig. 10 is a schematic structural view of a cargo transporter according to a seventh embodiment of the present application;

fig. 11 is a schematic structural diagram of a transfer device according to an eighth embodiment of the present application;

fig. 12 is a schematic structural diagram of a warehousing system according to a ninth embodiment of the present application.

Reference numerals:

100-a transfer device; 10-a hoisting machine; 101-a column; 102-a lifting mechanism; 11-temporary storage racks;

111-a support frame; 112-a transport mechanism; 1121-rolling conveyor; 12-a transfer line assembly; 121-a substrate;

122-a transmission line; 13-fluent shelves; 200-cargo; 300-a warehousing system; 301-transfer robot.

Detailed Description

The inventor of the present application found in the actual working process that the main reason for the low working efficiency of the transfer device in the related art is: the prior transfer device comprises a fluent goods shelf, a lifting machine and a transmission line, wherein a goods access of the fluent goods shelf is in butt joint with one end of the lifting machine, the other end of the lifting machine is in butt joint with the transmission line, however, when the transmission line conveys goods to one end close to the lifting machine, if a lifting mechanism used for bearing the goods on the lifting machine is not lifted to a position in butt joint with the goods access of the transmission line, the transmission line needs to stop conveying and wait, after the lifting mechanism is in butt joint with the goods access of the transmission line, the transmission line conveys the goods to the lifting mechanism, and therefore the technical problem that the operation efficiency of the transfer device is low is caused.

In order to solve the above problems, an embodiment of the present invention provides a transfer device and a warehousing system, in the transfer device, a temporary storage rack is arranged between a lifting machine and a transfer line assembly, the temporary storage rack comprises a support frame and a transfer mechanism arranged on the support frame, wherein one end of the transfer mechanism is butted with a goods entrance of the lifting machine, and the other end of the transfer mechanism is butted with a goods entrance of the transfer line assembly, so that when the transfer line assembly transfers goods to the lifting machine, the goods can be transferred to the temporary storage rack, and when the goods entrance of the lifting machine is butted with the transfer mechanism, the goods are transferred to the lifting machine, so that the transfer line assembly does not need to wait, when the lifting machine transfers the goods to the transfer line assembly, the goods transferred by the lifting machine are temporarily stored on the temporary storage rack, and when the transfer line assembly transfers the goods, the goods are transferred to the transfer line assembly, thus, the elevator does not wait, and the working efficiency of the transfer device can be improved.

In order to make the aforementioned objects, features and advantages of the embodiments of the present application more comprehensible, embodiments of the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without inventive step, are within the scope of the present disclosure.

Example one

Fig. 1 is a first schematic structural diagram of a transfer device according to an embodiment of the present disclosure; fig. 2 is a second schematic structural diagram of a transfer device according to an embodiment of the present application; fig. 3 is a third schematic structural diagram of a transfer device according to an embodiment of the present application.

Referring to fig. 1 to 3, an embodiment of the present invention provides a transfer device for transferring transportation when a transfer robot loads or unloads a material, wherein the transfer device 100 includes a lift 10, a temporary storage rack 11, and a conveyor line assembly 12.

The temporary storage rack 11 comprises a support frame 111 and a conveying mechanism 112 arranged on the support frame 111, one end of the conveying mechanism 112 is butted with a goods 200 entrance of the lifting machine 10, the other end of the conveying mechanism 112 is butted with a goods 200 entrance of the conveying line assembly 12, and the goods 200 conveyed to the lifting machine 10 by the conveying line assembly 12 or the goods 200 conveyed to the conveying line assembly 12 by the lifting machine 10 can be temporarily stored on the conveying mechanism 112.

In particular, by providing a buffer storage rack 11 between the elevator 10 and the conveyor line assembly 12, the buffer storage rack 11, one end of the transfer mechanism 112 is abutted against the entrance/exit of the cargo 200 of the elevator 10, and the other end of the transfer mechanism 112 is abutted against the entrance/exit of the cargo 200 of the transfer line assembly 12, so that, when the transfer line assembly 12 transfers the cargo 200 to the elevator 10, the goods 200 can be transferred to the temporary storage shelf 11, when the goods 200 inlet and outlet of the lifting machine 10 are butted with the transfer mechanism 112, the goods 200 are transferred to the lifting machine 10, thus, the conveyor line assembly 12 does not wait, and when the elevator 10 transfers the goods 200 to the conveyor line assembly 12, the goods 200 transferred by the elevator 10 are temporarily stored on the temporary storage shelf 11, when the conveyor line assembly 12 is conveying the cargo 200, the cargo 200 is then conveyed to the conveyor line assembly 12, thus, the hoist 10 does not wait, and the work efficiency of the relay device 100 can be improved.

In some embodiments, the transfer mechanism 112 includes a rolling transfer member 1121, and the rolling transfer member 1121 is rotatable about its own rotation axis in the transfer direction of the cargo 200 to transfer the cargo 200 on the transfer mechanism 112 to the lift 10 or to transfer the cargo 200 on the transfer mechanism 112 to the transfer line assembly 12.

Illustratively, the rolling transfer member 1121 may be a plurality of rotating rollers, and when the rolling transfer member 1121 is a rotating roller, the plurality of rotating rollers are arranged in parallel along the transfer direction of the cargo 200, and each rotating roller rotates around its own axis, so as to achieve the purpose that the transfer mechanism 112 moves along the transfer direction of the cargo 200.

Alternatively, the rolling transmission member 1121 may also be a conveyor belt, such as a belt, etc., for which the embodiment is not limited.

In some embodiments, the temporary storage rack 11 further includes a driving mechanism connected to the conveying mechanism 112, and when the temporary storage rack 11 needs to convey the goods 200 to the elevator 10 or the conveyor line assembly 12, the driving mechanism drives the conveying mechanism 112 to move along the conveying direction of the goods 200 so as to convey the goods 200 to the elevator 10 or the conveyor line assembly 12.

In order to improve the automation degree of the transfer device 100, in this embodiment, the transfer device 100 further includes a controller, the controller is electrically connected to the driving mechanism, and the controller controls the driving mechanism to start and stop, when the controller controls the driving mechanism to start, the driving mechanism drives the conveying mechanism 112 to move along the conveying direction of the goods 200, and when the controller controls the driving mechanism to stop, the conveying mechanism 112 stops moving, and at this time, the goods 200 are temporarily stored on the driving mechanism.

Optionally, a detection component is disposed at an end of the transmission mechanism close to the elevator 10, for example, an infrared sensor, a pressure sensitive switch, a travel switch, etc., and the detection component detects whether the entrance and the exit of the goods 200 of the elevator 10 are in butt joint with the transmission mechanism 112, and the detection component can also detect whether the goods 200 are on the elevator 10, and in addition, a gravity sensing component is disposed on the transmission mechanism 112, specifically, when the detection component detects that the entrance and the exit of the goods 200 of the elevator 10 are in butt joint with the transmission mechanism 112, and the goods 200 are on the elevator 10, and the gravity sensing component on the transmission mechanism 112 detects that no goods 200 are on the transmission mechanism 112, the detection component or the gravity sensing component feeds back the signal to the controller, and the controller controls the transmission mechanism 112 to drive the transmission mechanism 112 to rotate towards one side of the transmission line assembly 12, so as to transmit the goods 200 on the elevator 10 to the transmission line assembly 12, or after the goods 200 on the elevator 10 are transmitted to the transmission mechanism, the conveying mechanism 112 stops rotating, and the goods 200 are temporarily stored on the conveying mechanism 112 as required; when the detecting element detects that the elevator 10 is in butt joint with the inlet and outlet of the goods 200, the gravity sensing element detects gravity, and the detecting element detects that no goods 200 are on the elevator 10, the controller controls the driving mechanism to drive the conveying mechanism 112 to move towards one side of the elevator 10 according to a signal fed back by the detecting element or the gravity sensing element, so as to convey the goods 200 on the conveying mechanism 112 to the elevator 10.

In one embodiment, the driving mechanism may be a driving motor, and the controller changes the conveying direction of the conveying mechanism 112 by controlling the driving motor to rotate forward or backward.

In addition, as shown in fig. 1 to fig. 3, the conveying mechanism 112 may have at least two layers, and the conveying directions of the at least two layers of conveying mechanism 112 may be the same or different, for example, the conveying direction of the at least one layer of conveying mechanism 112 is opposite to that of the other conveying mechanisms 112.

By providing the transfer mechanism 112 in multiple stages, the buffer capacity of the buffer stocker 11 can be increased, and the work efficiency between the hoist 10 and the transfer line unit 12 can be improved.

On this basis, the conveying line assembly 12 includes a base 121 and at least two layers of conveying lines 122 disposed on the base 121, the conveying direction of at least one layer of conveying line 122 in the at least two layers of conveying lines 122 is opposite to the conveying direction of the other conveying lines 122, and the at least two layers of conveying lines 122 are respectively butted with the at least two layers of conveying mechanisms 112, and one layer of conveying line 122 is butted with one layer of conveying mechanism 112, so that the goods 200 on the conveying line 122 can be simultaneously conveyed to the hoisting machine 10 through the conveying mechanism 112, and the goods 200 on the hoisting machine 10 can also be simultaneously conveyed to the conveying line 122, of course, when the hoisting machine 10 is not butted with the goods 200 entrance/exit of the conveying mechanism 112, the goods 200 on the conveying line 122 can be temporarily stored on the conveying mechanism 112 to wait, and the operation efficiency of the transfer device 100 can be improved.

In some embodiments, the elevator 10 includes two opposite columns 101 and an elevator mechanism 102 horizontally installed between the two columns 101, the elevator mechanism 102 is used for carrying the cargo 200 and can move up and down relative to the columns 101, and in this application, as shown in fig. 1, the up refers to moving up along the vertical direction of the columns 101, and the down refers to moving down along the vertical direction of the columns 101.

Thus, the goods 200 are placed on the lifting mechanism 102, and move up and down along with the lifting mechanism 102, so as to place the goods 200 on the conveying mechanisms 112 at different levels, or convey the goods 200 to the fluent goods shelf 13 and other devices at different heights through the lifting mechanism 102.

In some embodiments, the lifting mechanisms 102 have at least two layers, and when the lifting mechanisms 102 are connected to the conveying mechanisms 112, the lifting mechanisms 102 of at least two layers can be simultaneously connected to the conveying mechanisms 112 of each layer, and the lifting mechanisms 102 of one layer are connected to the conveying mechanisms 112 of one layer, so that the operation efficiency of the transfer device 100 can be improved.

Wherein the lifting mechanism 102 may comprise a conveying member, such as a roller or a conveyor belt, which may rotate in the conveying direction of the goods 200 to convey the goods 200 from one end of the lifting mechanism 102 to the other.

In addition, at least one of the at least two stages of the lifting mechanisms 102 may have a different transfer direction from the lifting mechanisms 102 of the other stages, so that the transfer of the cargos 200 in two different directions can be simultaneously performed, thereby improving the work efficiency of the loading device.

Fig. 4 is a schematic diagram of a fourth structure of the transfer device according to the first embodiment of the present application.

On the basis of the above-described embodiment, referring to fig. 4, the transfer device 100 further includes a fluent goods shelf 13, and the goods 200 gate of the fluent goods shelf 13 is butted against the goods 200 gate at the end of the elevator 10 far from the temporary storage shelf 11 to transfer the goods 200 on the elevator 10 to the transfer robot 301 through the fluent goods shelf 13, or transfer the goods 200 on the transfer robot 301 to the elevator 10 through the fluent goods shelf 13.

The fluent goods shelf 13 comprises a support and a conveying mechanism arranged on the support, one end of the conveying mechanism is in butt joint with a goods 200 inlet and outlet of the transfer robot 301, the other end of the conveying mechanism is in butt joint with a goods 200 inlet and outlet of the elevator 10, the goods 200 on the goods 200 lifting assembly are conveyed to the transfer robot 301 through the traction force of the conveying mechanism, and the transfer robot 301 is loaded with the goods 200; or the goods 200 on the transfer robot 301 are transferred to the elevator 10 to finish the unloading of the transfer robot 301, and manual loading or unloading is not needed, so that the automation degree is high, and the operation efficiency is high.

In specific implementation, after the fork on the transfer robot 301 transfers the goods 200 to the fluent goods shelf 13, the fluent goods shelf 13 transfers the goods 200 to the lifting machine 10 from one end close to the transfer robot 301, the lifting machine 10 transfers the goods 200 to the temporary storage goods shelf 11, and after the temporary storage goods shelf 11 is butted with the goods 200 inlet and outlet of the conveying line 122, the goods 200 on the temporary storage goods shelf 11 are conveyed to the conveying line 122, so that the unloading of the transfer robot 301 is completed; or, the goods 200 on the conveying line 122 are transferred to the temporary storage rack 11 and temporarily stored on the temporary storage rack 11, after the entrance and exit of the goods 200 of the elevator 10 are butted with the temporary storage rack 11, the temporary storage rack 11 transfers the goods 200 to the elevator 10, after the entrance and exit of the goods 200 at the other end of the elevator 10 are butted with the fluent rack 13, the goods 200 are transferred to the fluent rack 13, the fluent rack 13 transfers the goods 200 from one end close to the elevator 10 to one end close to the transfer robot, the transfer robot 301 takes out the goods from the fluent rack 13 through the forks and places the goods in the basket carried on the transfer robot, and the loading of the transfer robot 301 is completed.

The fork on the transfer robot 301 may be an insertion fork, a suction cup fork, or a push-pull fork, and this embodiment is not particularly limited.

In addition, the pack basket on the transfer robot 301 may be a carrying board installed on the transfer robot, the goods are placed on the carrying board, and the carrying board may be set to be multi-layered along the lifting direction of the transfer robot, so that the transfer robot can carry a plurality of goods at a time, thereby improving the transfer efficiency of the transfer robot 301.

In some embodiments, the goods are transported by the transfer device, the goods are transferred from the workbench/sorting station to the transfer robot, and the goods transferred by the transfer robot are transferred to the workbench/sorting station, so as to complete the goods warehouse-in/warehouse-out operation between the transfer robot and the workbench/sorting station.

The transfer device provided by the embodiment of the application arranges the temporary storage shelf between the lifting machine and the conveying line assembly, the temporary storage shelf comprises a support frame and a conveying mechanism arranged on the support frame, wherein one end of the transmission mechanism is butted with a goods inlet and outlet of the elevator, and the other end of the transmission mechanism is butted with the goods inlet and outlet of the transmission line component, so that when the transmission line component transmits goods to the elevator, the goods can be transferred to the temporary storage shelf, when the goods inlet and outlet of the hoister are in butt joint with the transfer mechanism, the goods are transferred to the hoister, therefore, the conveying line assembly does not need to wait, when the hoister conveys the goods to the conveying line assembly, the goods conveyed by the hoister are temporarily stored on the temporary storage shelf, when the transfer line assembly transfers goods, the goods are transferred to the transfer line assembly, so that the elevator does not need to wait, and the operation efficiency of the transfer device can be improved.

Example two

Fig. 5 is a schematic structural diagram of a warehousing system according to a second embodiment of the present application.

Referring to fig. 5, in the warehousing system provided by the embodiment of the present application, the warehousing system 300 includes the transfer robot 301 and the transfer device 100 provided by the above embodiment, and the transfer device 100 is used for transferring transportation when the transfer robot 301 is loaded or unloaded.

The structure and the working principle of the transfer device are the same as those of the transfer device 100 provided in the above embodiment, and are not described in detail herein.

The transfer robot 301 is a conventional transfer robot, and the present embodiment is not particularly limited thereto.

The warehousing system provided by the embodiment of the application comprises a transfer robot and a transfer device, wherein in the transfer device, a temporary storage rack is arranged between a lifting machine and a conveying line assembly, the temporary storage rack comprises a support frame and a conveying mechanism arranged on the support frame, one end of the conveying mechanism is butted with a goods inlet and outlet of the lifting machine, the other end of the conveying mechanism is butted with a goods inlet and outlet of the conveying line assembly, so that when the conveying line assembly conveys goods to the lifting machine, the goods can be conveyed to the temporary storage rack, when the goods inlet and outlet of the lifting machine are butted with the conveying mechanism, the goods are conveyed to the lifting machine, therefore, the conveying line assembly does not need to wait, when the lifting machine conveys the goods to the conveying line assembly, the goods conveyed by the lifting machine are temporarily stored on the temporary storage rack, when the conveying line assembly conveys the goods, the goods are conveyed to the conveying line assembly, thus, the elevator does not wait, and the working efficiency of the transfer device can be improved.

EXAMPLE III

Fig. 6 is a flowchart of a cargo transportation method according to a third embodiment of the present application. With continuing reference to fig. 1 to 3, the cargo transportation method is applied to a transfer device 100, the transfer device 100 is used for transferring and transporting cargo during loading or unloading of a transfer robot, and includes a hoist 10, a temporary storage rack 11 and a conveyor line assembly 12, the temporary storage rack 11 includes a support frame 111 and a conveying mechanism 112 disposed on the support frame 111, one end of the conveying mechanism 112 is butted with a cargo entrance of the hoist 10, and the other end of the conveying mechanism 112 is butted with a cargo entrance of the conveyor line assembly 12, as shown in fig. 6, the cargo transportation method includes the following steps:

step S601, determining a cargo to be transported.

The goods to be transported refers to goods to be transported through the transfer device, and the form of the goods to be transported may be a bin provided by a warehousing system or a container provided by a user, and the number of the goods to be transported may be one or more.

Specifically, each cargo to be transported may be determined according to a task order received by the warehousing system.

Specifically, when the goods to be transported are the goods to be put in storage, the goods to be transported need to be sequentially conveyed through the conveying line assembly of the transfer device, the temporary storage shelf and the elevator, and the goods to be transported on the conveying line assembly can be determined to be the goods to be transported.

Specifically, when the goods to be transported are the goods that need to be delivered from the warehouse, the goods that need to pass through the lifting machine of transfer device, the goods that store in goods shelves and fortune transmission line subassembly in proper order promptly, can be based on and confirm one or more goods on the lifting machine as the goods to be transported.

Further, whether goods exist on the conveying line assembly or the hoisting machine or not can be judged based on goods sensors arranged on the conveying line assembly and/or the hoisting machine, such as a weight sensor, a visual sensor, a pressure sensor, an infrared sensor and the like, and if the goods exist, the goods are determined to be goods to be transported.

Specifically, the determining of the goods to be transported may be determining a goods identifier of the goods to be transported. The goods identification can be in the form of a code, a bar code, a two-dimensional code, and the like.

And step S602, transporting the goods to be transported to a transmission line assembly or a lifter based on the transmission mechanism of the temporary storage shelf.

The temporary storage rack is used for temporarily storing each to-be-transported goods from the conveying line assembly or the lifting machine, and may be the temporary storage rack 11 in the transfer device 100 provided in the embodiments shown in fig. 1 to 4 of the present application.

Specifically, when the goods to be transported are the goods on the lifting machine 10, can be after lifting machine 10 aligns with the temporary storage goods shelf 11, the goods to be transported will be transported to temporary storage goods shelf 11 by this lifting machine 10, or transport the goods to be transported on lifting machine 10 to temporary storage goods shelf 11 through temporary storage goods shelf 11, and then transport mechanism 112 through temporary storage goods shelf 11 will transport the goods to be transported to transmission line assembly 12, thereby will transport the goods to be transported to the operation panel through transmission line assembly 12, in order to carry out the letter sorting of the goods to be transported, the packing, operation such as warehouse-out.

Specifically, when the goods to be transported are the goods on the transmission line assembly 12, the goods to be transported can be transported to the temporary storage rack 11 through the transmission line assembly 12, and then after the elevator 10 is aligned with the temporary storage rack 11, the goods to be transported are transported to the elevator 10 through the temporary storage rack 11, or the goods to be transported on the temporary storage rack 11 are transported by the elevator 10, the elevator 10 is controlled to ascend, so that the goods to be transported are lifted to the height corresponding to the preset layer of the fluent goods rack, so that the goods to be transported are temporarily stored in the preset layer of the fluent goods rack, or the goods to be transported are lifted to the height corresponding to the preset layer of the back basket of the goods robot, so that the goods to be transported are temporarily stored in the preset layer of the back basket of the robot, and then the robot finishes warehousing of the goods to be transported.

Optionally, based on the transport mechanism of the goods shelves of keeping in, will wait to transport goods and transport to transfer line subassembly or lifting machine, include:

and based on the conveying direction of the goods to be conveyed, the goods to be conveyed are conveyed to the conveying line assembly or the lifting machine through the conveying mechanism.

Wherein the direction of transfer of the goods to be transported may comprise two opposite directions.

Specifically, the conveying direction of the goods to be transported can be determined according to the type of the order task corresponding to the goods to be transported.

The types of the order tasks can comprise warehousing types and ex-warehouse types, goods to be transported under the warehousing types need to be transported to the operation platform from the corresponding warehouse positions, and the goods to be transported under the ex-warehouse types need to be transported to the corresponding warehouse positions from the operation platform.

Specifically, the direction of the goods to be transported may be determined according to the current position of the goods to be transported, so that the goods to be transported are transported to the conveyor line assembly 12 or the elevator 10 through the transport mechanism 112 of the temporary storage rack 11 based on the determined transport direction.

Specifically, the conveying direction of the goods to be transported can be determined according to the position of the goods to be transported when the goods to be transported are transported to the transfer device. When the position of the goods to be transported is the position corresponding to the transfer line assembly 12 when the goods to be transported are transported to the transfer device 100, determining that the transfer direction is the warehousing direction; when the position where the goods to be transported are transported to the transfer device 100 is the position corresponding to the hoist 10, the transportation direction is determined to be the warehouse-out direction.

Specifically, when the conveying direction is the warehousing direction, the goods to be transported on the conveying line assembly 12 can be transported to the elevator 10 based on the conveying mechanism 112 of the temporary storage rack 11; when the conveying direction is the unloading direction, the goods to be transported on the elevator 10 can be transported to the conveying line assembly 12 based on the conveying mechanism 112 of the temporary storage rack 11.

Optionally, based on the direction of transfer of the goods to be transported, transport the goods to be transported to transfer line subassembly or lifting machine through transport mechanism, include:

when the conveying direction of the goods to be conveyed is a first direction, conveying the goods to be conveyed to a conveying line assembly based on a conveying mechanism of the temporary storage shelf; and/or when the conveying direction of the goods to be conveyed is the second direction, the goods to be conveyed are conveyed to the elevator based on the conveying mechanism of the temporary storage rack.

The first direction and the second direction are two opposite transportation directions, the first direction can correspond to the warehouse-out direction, and the second direction can correspond to the warehouse-in direction. When the conveying direction of the goods to be transported is a first direction, the goods to be transported is indicated to be transported to a shelf of the warehousing system through the transfer device 100; when the conveying direction of the goods to be transported is the second direction, it indicates that the goods to be transported need to be transported to the operation table through the transfer device 100 for packing, sorting and other operations.

The goods transportation method that this embodiment provided, to the transfer device including lifting machine, the goods shelves of keeping in and transmission line subassembly, when there is the goods that wait to transport that need transport through this transfer device, through the transport structure of the goods shelves of keeping in, with this goods that wait to transport to transmission line subassembly or lifting machine to the delivery warehouse or the warehouse entry of goods that the realization is waited to transport. The temporary storage shelf realizes transfer or cache of goods transported on the elevator or the transport line assembly, and when the transported goods are large in quantity, the elevator can transfer the goods to the temporary storage shelf to reduce waiting time of the elevator, so that the elevator does not need to wait for transporting the next batch of goods after all goods on the elevator are transported by the transport line assembly, and the working efficiency of the elevator and the efficiency of goods transportation are improved; simultaneously, when the quantity of the goods of transportation is more, through the goods buffer memory to the goods shelves of keeping in with transporting on the transfer line subassembly to need not to slow down the transmission speed of transfer line subassembly, with the interval between the goods of keeping transporting on the transfer line subassembly, improved the work efficiency of transfer line subassembly and freight's efficiency.

Example four

Fig. 7 is a flowchart of a cargo transportation method according to a fourth embodiment of the present application, where in the present embodiment, for a case where a conveying mechanism of a temporary storage rack is multi-tiered, the cargo transportation method according to the present embodiment is that, on the basis of the embodiment shown in fig. 6, after step S601, steps of determining a conveying direction of the conveying mechanism, determining a preset tier, and determining a conveying speed are added, and as shown in fig. 7, the cargo transportation method according to the present embodiment may include the following steps:

step S701, determining goods to be transported.

Step S702, determining a preset layer of a conveying mechanism corresponding to the goods to be transported.

The preset layer is a layer of a conveying mechanism used for conveying, temporarily storing or placing goods to be conveyed.

In some embodiments, each layer of the elevator corresponds to one layer of the temporary storage rack, and each layer of the temporary storage rack corresponds to one layer of the conveyor line assembly, so step S702 may be omitted.

Specifically, the preset layer of the transport mechanism corresponding to the goods to be transported can be determined according to the task order corresponding to the goods to be transported. That is, when initiating a task order, a preset layer of the transport mechanism corresponding to each to-be-transported cargo may be configured in the task order.

Specifically, the preset layer of the conveying mechanism corresponding to the goods to be transported can be determined according to the size information of the goods to be transported.

The size information of the goods to be transported may include the width of the goods to be transported, and may also include the height of the goods to be transported.

In some embodiments, the size information of each layer of the conveying structure of the buffer storage rack may be different, such as different heights or different widths, and therefore, different preset layers need to be determined for the goods with different size information, so as to facilitate the transportation of the goods with various sizes.

Optionally, determining a preset layer of the conveying mechanism corresponding to the goods to be transported includes:

and when the conveying direction of the goods to be conveyed is the first direction, determining the preset layer of the conveying mechanism corresponding to the goods to be conveyed according to the goods conveyed by the conveying line assembly.

Specifically, each layer of the conveying mechanism of the temporary storage rack can correspond to each layer of the conveying line assembly one to one. When the direction of transfer of goods that await the transport is first direction, wait to transport the goods promptly and need loop through the lifting machine, keep in goods shelves and transfer line subassembly and transport to the operation panel, accomplish the warehouse-out of waiting to transport the goods through processing such as the letter sorting of operation panel, packing. After determining the goods to be transported, such as after determining the goods identifier of the goods to be transported, the preset layer of the transport mechanism corresponding to the goods to be transported may be determined based on the number and/or location of the goods being transported on each layer of the transport line assembly before the goods to be transported are transported to the temporary storage shelf.

Further, the layer with the least quantity of the goods being transported by the conveyor line assembly can be determined as the preset layer of the conveying mechanism corresponding to the goods to be transported; or, the layer of the goods transported by the transporting line assembly, which is farthest from the transporting mechanism or the temporary storage rack, may be determined as the preset layer of the transporting mechanism corresponding to the goods to be transported; or for each layer of the conveying line assembly, the first number of the goods being transported on the layer at the current moment and the first distance between the goods closest to the conveying mechanism or the temporary storage rack and the conveying mechanism or the temporary storage rack in the layer of the goods being transported can be determined, and the layer with the smallest first number of the goods being transported in each layer with the first distance larger than the preset distance is determined to be the preset layer of the conveying mechanism corresponding to the goods to be transported.

Specifically, when the transfer direction of the goods to be transported is the second direction, the goods to be transported need to pass through the transfer line assembly, the temporary storage shelf and the elevator in sequence to be transported to the fluent shelf, and then the goods to be transported are carried to the warehouse position corresponding to the warehouse by the robot, and the warehouse entry of the goods to be transported is completed. After determining the goods to be transported, before the goods to be transported is transported to the temporary storage rack, the preset layer of the transport mechanism corresponding to the goods to be transported may be determined based on the second preset layer of the transport mechanism corresponding to each goods before the goods to be transported that is being transported on the transport line assembly.

Further, for each layer of the conveying mechanism, the second quantity of each cargo before the cargo to be transported, which is being transported on the conveying line assembly corresponding to the layer, may be counted, and it is determined that one layer of the corresponding conveying mechanism with the smallest second quantity is the preset layer of the conveying mechanism corresponding to the cargo to be transported.

In some embodiments, the transfer speeds of different levels of the transfer mechanism may be different, and the maximum number of items that may be transported on different levels may also be different. The difference between the maximum number and the second number corresponding to each layer of the conveyor line mechanism may be calculated, and the layer of the conveyor line mechanism having the maximum difference between the maximum number and the second number is determined as the preset layer of the conveyor line mechanism corresponding to the cargo to be transported.

Step S703, determining the conveying direction of the goods to be transported according to the transportation task of the goods to be transported and/or the position of the goods to be transported.

Wherein the transportation task may be part of an order task of the warehousing system.

Specifically, if the transportation task is an ex-warehouse task, determining that the conveying direction of the goods to be transported is a first direction; and if the transportation task is a warehousing task, determining that the conveying direction of the goods to be transported is a second direction. The type of the transportation task can be determined according to the type of the order task, when the type of the order task is an ex-warehouse type, each transportation task divided by the order task is an ex-warehouse task, and when the type of the order task is an in-warehouse type, each transportation task divided by the order task is an in-warehouse task.

Specifically, the conveying direction of the goods to be transported can be determined according to the current position of the goods to be transported.

Further, if the goods to be transported are determined to be positioned on a lifting machine, a fluent goods shelf, a robot or a goods shelf and the like according to the current position of the goods to be transported, determining that the conveying direction of the goods to be transported is a first direction; and if the goods to be transported are determined to be positioned on the conveying line assembly or the operation table and the like according to the current position of the goods to be transported, determining that the conveying direction of the goods to be transported is the second direction.

Further, if the transportation task corresponding to the goods to be transported is an ex-warehouse task and the goods to be transported is located on a lifting machine, a fluent goods shelf, a robot or a goods shelf and the like according to the position of the goods to be transported, determining that the conveying direction of the goods to be transported is a first direction; and if the transportation task corresponding to the goods to be transported is a warehousing task and the goods to be transported is positioned on the conveying line assembly or the operation platform according to the position of the goods to be transported, determining that the conveying direction of the goods to be transported is the second direction.

Step S704, determining a conveying direction of a preset layer of the conveying mechanism based on the conveying direction of the goods to be transported.

Specifically, when the conveying direction of the goods to be transported is a first direction, the conveying direction of a preset layer of the conveying mechanism is determined to be a third direction; and when the conveying direction of the goods to be conveyed is the first direction, determining that the conveying direction of the preset layer of the conveying mechanism is the fourth direction. The goods to be transported are transported to the transporting line assembly from the elevator by the preset layer of the transporting mechanism in the third direction; and in the fourth downward direction, the goods to be transported are transported to the elevator by the preset layer of the transport mechanism from the transport line assembly.

Illustratively, the third direction is a direction corresponding to point B pointed by point a of the preset layer of the transport mechanism, and the fourth direction is a direction corresponding to point a pointed by point B of the preset layer of the transport mechanism, where point a and point B are points on two opposite edges of the transport mechanism.

Step S705, determining a transfer speed of the transfer mechanism according to the goods corresponding to the hoist or the goods transported by the transfer line assembly.

The goods corresponding to the hoister can be the goods which need to be hoisted to operate, can comprise the goods which need to be delivered from the warehouse on the fluent goods shelf, and can also comprise the goods which need to be delivered into the warehouse and are temporarily stored on the goods shelf and positioned in front of the goods to be transported.

In some embodiments, the number of tiers of the transport mechanism and elevator may not match.

Specifically, when the conveying direction of the goods to be conveyed is the first direction, before the goods to be conveyed are conveyed to the conveying mechanism, the conveying speed of the conveying mechanism is determined according to each goods being conveyed on the conveying line assembly.

Further, the conveying speed of the conveying mechanism can be determined according to the position of each cargo being conveyed on the preset layer of the conveying line assembly, so that when the cargo to be conveyed is conveyed onto the conveying line assembly, the safe distance is kept between the cargo to be conveyed and the cargo closest to the cargo to be conveyed on the conveying line assembly.

Specifically, when the conveying direction of the goods to be conveyed is the second direction, before the goods to be conveyed are conveyed to the conveying mechanism, the conveying speed of the conveying mechanism is determined according to the goods which need to be operated by the elevator at present.

Furthermore, the operation time of the hoister can be determined according to the target layer of the fluent goods shelf corresponding to each goods corresponding to the hoister and the preset layer of the temporary storage goods shelf, and the transmission speed of the transmission mechanism is determined according to the operation time, so that after the hoister completes each operation before the goods to be transported, the transmission mechanism is controlled to transport the goods to be transported to one end, close to the hoister, of the transmission mechanism, and then the goods to be transported are transported to the target layer corresponding to the fluent goods shelf through the hoister.

Further, if the operation time is longer than the preset time, the preset layer of the conveying mechanism is controlled to stop running for a second time, and then the operation is carried out based on the minimum conveying speed. The second time is determined by the difference between the operation time and the preset time.

Optionally, determining the conveying speed of the conveying mechanism according to the goods corresponding to the elevator or the goods conveyed by the conveying line assembly, includes:

when the conveying direction of the goods to be conveyed is a first direction, determining the conveying speed of the conveying mechanism according to the position of the goods conveyed by the conveying line assembly and the conveying speed of the conveying line assembly so as to control the conveying mechanism to convey the goods to be conveyed to the conveying line assembly based on the conveying speed; and/or when the conveying direction of the goods to be conveyed is the second direction, determining the conveying speed of the conveying mechanism according to the number of layers of the lifting machine and the position of each goods corresponding to the lifting machine, so as to control the conveying mechanism to convey the goods to be conveyed to the lifting machine based on the conveying speed.

Specifically, when the conveying direction of the goods to be conveyed is the first direction, the target time required for conveying the last goods to the target position is determined according to the position of the last goods currently being conveyed on the preset layer of the conveying line assembly and the conveying speed of the conveying line assembly, and the conveying speed of the conveying mechanism is determined according to the target time, so that the goods to be conveyed are conveyed to the conveying line assembly after the target time. The target position is a position which is far away from the goods access opening of the temporary storage shelf close to the conveying line assembly and is larger than the safety distance.

Specifically, when the transportation direction of the goods to be transported is the second direction, the operation time required for the elevator to transport each corresponding goods to the corresponding target position can be determined according to the number of layers of the elevator and the position of each corresponding goods of the elevator, wherein the target position can be a target layer of the fluent goods shelf or a preset layer of the conveying mechanism of the temporary storage goods shelf, and then the conveying speed of the conveying mechanism is determined based on the operation time.

Further, if there are a plurality of goods to be transported and the preset layers corresponding to at least two goods to be transported are different, for example, the preset layers are the third preset layer and the fourth preset layer, the conveying directions and the conveying speeds of the third preset layer and the fourth preset layer may be determined by the above method, and the conveying directions and the conveying speeds of the third preset layer and the fourth preset layer may be different.

Step S706, controlling the preset layer of the conveying mechanism to run along the conveying direction and at the conveying speed.

And step S707, based on the preset layer of the conveying mechanism, the goods to be conveyed are conveyed to a conveying line assembly or a lifting machine.

Specifically, when the direction of transfer of the goods to be transported is the first direction, the goods to be transported is transported to the conveyor line assembly based on the preset layer of the transport mechanism, so that the goods to be transported is transported to the operation table through the conveyor line assembly. And when the conveying direction of the goods to be conveyed is the second direction, the goods to be conveyed are conveyed to the elevator based on the preset layer of the conveying mechanism, so that the goods to be conveyed are conveyed to the target layer of the fluent goods shelf through the elevator.

In this embodiment, after determining the goods to be transported, a preset layer of a suitable conveying mechanism of the temporary storage rack is allocated to the goods to be transported, so that the goods to be transported are transported through the preset layer, and the efficiency of goods transportation is improved; meanwhile, the conveying direction of the preset layer of the conveying mechanism is determined based on the conveying direction of the goods to be conveyed, and the conveying speed of the preset layer of the conveying mechanism is determined based on the conveying condition of the upstream or downstream equipment of the temporary storage rack, so that the goods to be conveyed are conveyed to the upstream or downstream equipment of the conveying mechanism as fast as possible on the premise of ensuring the safety of the transportation, the time for conveying the goods is shortened, and the efficiency of the goods transportation is further improved; the transportation of goods to be transported is carried out based on the determined direction of conveyance and the determined speed of conveyance on the preset layer, so that the upstream equipment and the downstream equipment of the temporary storage shelf, namely the elevator and the conveying line assembly, can carry out the operation of subsequent tasks more quickly, the operating efficiency of the elevator and the conveying line assembly is improved, and the goods transportation efficiency of the warehousing system is improved.

EXAMPLE five

Fig. 8 is a flowchart of a cargo transportation method according to a fifth embodiment of the present application, where in this embodiment, for a case that a conveying mechanism of a temporary storage rack is multi-layered, on the basis of the embodiment shown in fig. 6, a step related to determining whether a to-be-transported cargo satisfies a transportation condition is added after step S601, and as shown in fig. 8, the cargo transportation method according to this embodiment may include the following steps:

step S801, determining a cargo to be transported.

And S802, determining a preset layer of the conveying mechanism corresponding to the goods to be conveyed.

And S803, when the goods to be transported are placed on the preset layer of the conveying mechanism, acquiring detection information of the goods to be transported based on the conveying mechanism.

The detection information may include a cargo identifier of the cargo to be transported, and is used for determining whether the cargo to be transported is accurate, damaged, or not.

For example, the detection information may be a detection image of the goods to be transported, such as a detection image of a preset area including a goods identification code attached thereto, where the goods identification code may be in the form of a two-dimensional code, a barcode, a code, or the like, and the detection image may also be an image including the whole goods to be transported excluding the bottom surface, so as to determine whether the surface of the goods to be transported is damaged.

Specifically, the detection information of the goods to be transported can be acquired based on the goods detection device arranged on the conveying mechanism. The cargo detection device may include one or more of a vision sensor, a weight sensor, a pressure sensor, an infrared sensor, and the like.

And step S804, judging whether the goods to be transported meet the transportation conditions or not based on the detection information.

Specifically, whether the cargo identification in the detection information is consistent with the preset identification or not can be judged, and if not, it is determined that the cargo to be transported does not meet the transportation condition.

Specifically, when the goods identification in the detection information is consistent with the preset identification, whether the goods to be transported are damaged or not can be judged based on the detection information, and if yes, the goods to be transported do not meet the transportation condition.

Specifically, whether the weight of the goods in the detection information is within a preset weight range or whether the weight of the goods is consistent with the preset weight or not can be judged, and if not, it is determined that the goods to be transported do not meet the transportation condition.

Wherein, predetermine the weight scope and can be the transport mechanism of the goods shelves of keeping in or the safe weight scope that the layer can be transported in predetermineeing of transport mechanism.

In some embodiments, the preset weight ranges for different layers of the transport mechanism may be different. For example, the first layer corresponds to the largest preset weight range, and the highest layer corresponds to the smallest preset weight range.

Specifically, whether the size of the goods in the detection information is within a preset size range or whether the size of the goods is consistent with a preset size or not can be judged, and if not, the goods to be transported are determined not to meet the transportation condition.

The preset size range can be a safe size range which can be transported by a conveying mechanism of the temporary storage shelf or a preset layer of the conveying mechanism.

In some embodiments, the predetermined size ranges for different layers of the transport mechanism may be different.

Optionally, the detection information is one or more of a cargo identifier, a cargo size, and a cargo weight of the cargo to be transported, and based on the detection information, it is determined whether the cargo to be transported meets a transportation condition, where the determination includes at least one of:

judging whether the goods identification of the goods to be transported is a preset identification; judging whether the size of the goods is within a preset size range; and judging whether the weight of the goods is within a preset weight range.

And if the at least one item is not, determining that the goods to be transported do not meet the transportation conditions.

Specifically, it may be determined whether the weight of the cargo is within a preset weight range; if so, judging whether the goods identifier is a preset identifier or not; if so, judging whether the size of the goods is in a preset size range, and if so, determining that the goods to be transported meet the transportation condition.

Further, the detection information may include a detection image and a cargo weight, and the judgment of the transportation condition may be performed based on the cargo weight and the detection image at the same time, that is, whether the cargo weight is within a preset weight range is judged, and the cargo identification and the cargo size of the cargo to be transported are identified based on the detection image, and whether the cargo identification is the preset identification and whether the cargo size is within the preset size range is judged, and if yes, it is determined that the cargo to be transported satisfies the transportation condition.

And step S805, if yes, the goods to be transported are transported to a transport line assembly or a hoisting machine based on the preset layer of the transport mechanism.

Specifically, when the goods to be transported satisfy the transportation condition, the transportation of the goods to be transported is carried out on the basis of the preset layer of the transport mechanism so as to transport the goods to be transported to the transport line assembly or the elevator.

Optionally, when the goods to be transported do not satisfy the transportation condition, the method further includes:

and determining the direction of the preset layer of the conveying mechanism to be the opposite direction of the conveying direction of the goods to be conveyed so as to convey the goods to be conveyed back along the original path.

Specifically, when the goods to be transported do not satisfy the transportation condition, the goods to be transported need to be transported back along the transportation route thereof, that is, the transportation direction of the preset layer of the transportation mechanism is reversed, so that the goods to be transported is transported back along the original route.

Step 806, when the conveying direction of the goods to be transported is the first direction and the goods to be transported does not meet the transportation condition, controlling the robot to carry the goods to be transported to the operation platform or the storage position corresponding to the goods to be transported.

Specifically, when the conveying direction of the goods to be transported is the first direction, and the goods to be transported does not meet the transportation condition, in order to transport the goods to be transported back to the original storage position, that is, the storage position corresponding to the goods to be transported, a control instruction of the robot can be generated, so that the robot is controlled to transport the goods to be transported from the preset layer of the conveying mechanism to the original storage position of the goods to be transported.

Specifically, when the conveying direction of the goods to be transported is the first direction, and the goods to be transported does not meet the transportation condition, a control instruction of the robot may be generated, so that the robot is controlled to transport the goods to be transported to the operation console from the preset layer of the conveying mechanism, and the related personnel at the operation console further detect the goods to be transported to determine the cause of the abnormality.

Step S807, when the conveying direction of the goods to be conveyed is the second direction and the goods to be conveyed does not meet the conveying condition, the goods to be conveyed is conveyed to the second preset layer of the conveying mechanism by the elevator.

The second preset layer is opposite to the conveying direction of the preset layer.

Specifically, when the transfer direction of the goods to be transported is the second direction and the goods to be transported does not satisfy the transport condition, a control instruction of the elevator can be generated, so that the elevator is controlled to transport the goods to be transported to the second preset layer from the preset layer of the transfer mechanism.

And step S808, transporting the goods to be transported to the conveying line assembly based on the second preset layer.

Specifically, the goods to be transported can be transported to the transmission line assembly through the second preset layer of the transmission mechanism, then the goods to be transported can be transported to the operation table through the transmission line assembly, and therefore the goods to be transported can be detected or replaced by related personnel of the operation table, and the correct goods to be transported can be stored in a warehouse.

For example, the conveying mechanism may include two layers, the conveying direction of the first layer is a third direction, the conveying direction of the second layer is a fourth direction, the third direction is opposite to the fourth direction, the third direction is a direction corresponding to warehouse-out, and the fourth direction is a direction corresponding to warehouse-in. When the direction of transfer of goods that await the transport is the second direction, then predetermine the layer and be the second floor, when should be waited the transport goods and unsatisfied the transportation condition, can generate the control command of lifting machine to control the lifting machine, will be waited the transport goods and transport to the first layer by the second floor, thereby will be waited the transport goods and go out the warehouse, transport to the operation panel through the transfer line subassembly promptly.

In this embodiment, when goods are transported based on the temporary storage shelf, the goods to be transported need to be detected based on the conveying mechanism of the temporary storage shelf, so as to determine whether the goods to be transported meet transportation conditions, such as whether the goods to be transported are accurate goods or whether the goods to be transported are damaged, and only when the transportation conditions are met, the goods to be transported are put in or out of a warehouse, thereby ensuring the accuracy and safety of goods transportation; meanwhile, when the goods to be transported do not meet the transportation conditions, automatic handling of abnormal conditions can be achieved, for example, the goods to be transported are returned on the original way, or the robot is controlled to transport the goods to be transported to the operation table, so that further detection is carried out, the efficiency of abnormal handling is improved, smooth transportation of the goods is guaranteed, and the safety, accuracy and efficiency of goods transportation are improved.

EXAMPLE six

Fig. 9 is a flowchart of a cargo transportation method according to a sixth embodiment of the present application, where in this embodiment, for a case that a transfer direction of a to-be-transported cargo is a second direction, that is, the to-be-transported cargo is a cargo to be warehoused, in this embodiment, the transfer device further includes a fluent shelf, and a cargo gateway of the fluent shelf is in butt joint with a cargo gateway at one end of the elevator, which is far away from the temporary storage shelf, so as to transfer the cargo on the elevator to the transfer robot through the fluent shelf, or transfer the cargo on the transfer robot to the elevator through the fluent shelf. In this embodiment, on the basis of the embodiment shown in fig. 6, after step S601, a step of determining a target floor of a fluent goods shelf and a step of generating a control signal of a hoist are added, and as shown in fig. 9, the cargo transportation method provided by this embodiment may include the following steps:

step S901, determining a cargo to be transported.

And step S902, determining a preset layer of the conveying mechanism corresponding to the goods to be transported.

And step S903, determining a target layer of the fluent goods shelf corresponding to the goods to be transported.

Specifically, the target layer of the fluent goods shelf can be determined according to the order task corresponding to the goods to be transported. When the order task is initiated, the target layer of the fluent goods shelf can be configured for each goods to be transported in the order task.

Specifically, the transportation directions of different layers of the fluent shelf may be different, and the target layer of the fluent shelf corresponding to the goods to be transported may be determined according to the transportation direction of each layer of the fluent shelf and each goods being transported.

Further, from the layers of the fluent goods shelf whose transport direction matches the second direction, the layer that is the least in the number of the goods being transported may be determined as the target layer of the goods to be transported.

Optionally, determining a target layer of the fluent goods shelf corresponding to the goods to be transported includes:

and determining a target layer of the fluent goods shelf corresponding to the goods to be transported according to the size of the goods to be transported.

In particular, the maximum size of goods that can be transported on different levels of the fluent shelf may vary. Therefore, one layer of the fluent goods shelf matched with the goods size can be determined as a target layer of the goods to be transported based on the goods size of the goods to be transported.

In step S904, a hoisting control signal for the hoisting machine is generated based on the target floor.

Specifically, the lifting control signal of the lifting machine can be generated according to the height of the target layer, so that when the goods to be transported are transported to the lifting machine, the lifting machine is controlled to lift or lower the goods to be transported to the height corresponding to the target layer.

Step S905, after the goods to be transported on the conveying line assembly are conveyed to the preset layer of the conveying mechanism of the temporary storage shelf, based on the conveying mechanism, the detection information of the goods to be transported is collected.

And step S906, judging whether the goods to be transported meet the transportation conditions or not based on the detection information.

And step S907, if yes, transporting the goods to be transported to the elevator based on the preset layer of the transport mechanism.

Step S908, controlling the hoist based on the hoist control signal to hoist the goods to be transported to the target layer of the fluent goods shelf.

In the embodiment, for goods to be transported which need to be warehoused, the goods to be transported can be safely and quickly warehoused by configuring a preset layer of a proper conveying mechanism and a target layer of a fluent goods shelf for the goods to be transported; meanwhile, when the goods to be transported are transported to the transport mechanism, the goods to be transported are detected based on the transport mechanism so as to judge whether the goods to be transported meet the transport conditions, if so, warehousing of the goods to be transported is completed based on the preset layer of the transport mechanism, the elevator and the target layer of the fluent goods shelf, and the safety and the accuracy of goods transportation are improved.

EXAMPLE seven

Fig. 10 is the structure schematic diagram of the cargo transportation device that this application embodiment seven provided, and cargo transportation device is applied to the transfer device, and the transfer device includes lifting machine, the goods shelves and the transfer mechanism of transfer line subassembly of keeping in, and the goods access & exit butt joint of support frame and setting on the support frame is included to the goods shelves of keeping in, transfer mechanism's one end and lifting machine, and transfer mechanism's the other end and the goods access & exit butt joint of transfer line subassembly, as shown in fig. 10, this cargo transportation device includes: a cargo determination module 1010 and a cargo transport module 1020.

The cargo determining module 1010 is configured to determine a cargo to be transported; and the cargo transportation module 1020 is used for transporting the cargo to be transported to a transmission line assembly or a lifting machine based on the transmission mechanism of the temporary storage rack.

Optionally, the cargo transportation module 1020 is specifically configured to:

when the conveying direction of the goods to be conveyed is a first direction, conveying the goods to be conveyed to a conveying line assembly based on a conveying mechanism of the temporary storage shelf; and/or when the conveying direction of the goods to be conveyed is the second direction, conveying the goods to be conveyed to the elevator based on the conveying mechanism of the temporary storage shelf; wherein, the first direction and the second direction are two opposite transportation directions.

Optionally, the apparatus further comprises:

the delivery direction determining module is used for determining the delivery direction of the goods to be transported according to the transportation task of the goods to be transported and/or the position of the goods to be transported after the goods to be transported are determined; and determining the conveying direction of the preset layer of the conveying mechanism based on the conveying direction of the goods to be conveyed so as to convey the goods to be conveyed to the conveying line assembly or the lifting machine based on the preset layer of the conveying mechanism.

Optionally, the apparatus further comprises:

and the preset layer determining module is used for determining the preset layer of the conveying mechanism corresponding to the goods to be conveyed after determining the goods to be conveyed so as to convey the goods to be conveyed to the conveying line assembly or the lifting machine along the conveying direction of the goods to be conveyed based on the preset layer.

Optionally, the preset layer determining module is specifically configured to:

Optionally, the apparatus further comprises:

and the transmission speed determining module is used for determining the transmission speed of the transmission mechanism according to the goods corresponding to the hoister or the goods transmitted by the transmission line assembly after determining the goods to be transmitted.

Accordingly, the cargo transport module 1020 is specifically configured to:

and controlling the conveying mechanism to convey the goods to be conveyed to the conveying line assembly or the lifting machine based on the conveying speed.

Optionally, the transmission speed determining module is specifically configured to:

Optionally, the apparatus further comprises:

the detection information determining module is used for collecting the detection information of the goods to be transported based on the conveying mechanism when the goods to be transported are placed on a preset layer of the conveying mechanism; and the transportation condition judging module is used for judging whether the goods to be transported meet the transportation conditions or not based on the detection information.

Correspondingly, the cargo transportation module 1020 is specifically configured to transport the cargo to be transported to the conveyor line assembly or the elevator based on the transport mechanism if the cargo to be transported meets the transportation condition.

Optionally, the detection information is one or more of a cargo identifier, a cargo size, and a cargo weight of the cargo to be transported, and the transportation condition determining module is specifically configured to execute at least one of:

Optionally, the apparatus further comprises:

and the goods returning module is used for determining that the direction of the preset layer of the conveying mechanism is the opposite direction of the conveying direction of the goods to be conveyed when the goods to be conveyed do not meet the conveying condition so as to return the goods to be conveyed along the original path.

Optionally, the apparatus further comprises:

and the first exception handling module is used for controlling the robot to carry the goods to be transported to the operation platform or the storage position corresponding to the goods to be transported when the conveying direction of the goods to be transported is the first direction and the goods to be transported does not meet the transportation condition.

Optionally, the apparatus further comprises:

the second exception handling module is used for transporting the goods to be transported to a second preset layer of the transport mechanism through the lifting machine when the transport direction of the goods to be transported is a second direction and the goods to be transported does not meet the transport condition, wherein the transport direction of the second preset layer is opposite to that of the preset layer; and transporting the goods to be transported to the conveying line assembly based on the second preset layer.

Optionally, the transfer device still includes fluent goods shelves, and the goods access & exit of fluent goods shelves and the butt joint of the goods access & exit that the lifting machine kept away from storage goods shelves one end temporarily to convey the goods on the lifting machine to transfer robot through fluent goods shelves, perhaps convey the goods on the transfer robot to the lifting machine through fluent goods shelves, the device still includes:

the target layer determining module is used for determining a target layer of the fluent goods shelf corresponding to the goods to be transported when the conveying direction of the goods to be transported is the second direction; and the elevator control module is used for generating an elevator control signal of the elevator based on the target layer so as to control the elevator to elevate the goods to be transported to the target layer of the fluent goods shelf based on the elevator control signal.

Optionally, the target layer determining module is specifically configured to:

and when the conveying direction of the goods to be transported is the second direction, determining the target layer of the fluent goods shelf corresponding to the goods to be transported according to the size of the goods to be transported.

The cargo transportation device provided by the embodiment can execute the cargo transportation method provided by any embodiment corresponding to fig. 6 to 9 of the present application, and has the corresponding functional modules and beneficial effects of the execution method.

Example eight

Fig. 11 is a schematic structural diagram of a transfer device according to an eighth embodiment of the present invention, the transfer device is used for transferring and transporting goods during loading or unloading in a warehousing system, and as shown in fig. 11, the transfer device 100 includes a lifting machine 10, a temporary storage rack 11, a conveying line assembly 12, and a main control unit 14.

The temporary storage rack 11 includes a support frame and a conveying mechanism disposed on the support frame, one end of the conveying mechanism is in butt joint with a goods entrance of the elevator 10, the other end of the conveying mechanism is in butt joint with a goods entrance of the conveying line assembly 12, and the main control unit 14 is configured to execute the goods transportation method provided in the embodiment corresponding to fig. 6 to 9 of the present application.

In some embodiments, the transfer device 100 further includes a fluent shelf 13.

Example nine

Fig. 12 is a schematic structural diagram of a warehousing system according to a ninth embodiment of the present application, and as shown in fig. 12, the warehousing system 300 includes a warehousing shelf 302 and a transfer device 100.

The relay device 100 may be a relay device provided in any embodiment of the present application, such as the relay device provided in the embodiment shown in fig. 11. The warehousing shelf 302 may include a plurality of storage locations, each of which may be used to store one or more items.

In some embodiments, the warehousing system 300 further includes a transfer robot 301 for transferring goods, such as removing goods from their storage locations or placing goods on their corresponding storage locations.

In some embodiments, the warehousing system 300 also includes an unloader, a console, a scheduling device, and the like. The unloader is used to unload the goods on the transfer robot 301 at a time or load the goods on the fluent goods shelf 13 to the transfer robot 301.

One embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the cargo transportation method provided in any one of the embodiments corresponding to fig. 6 to 9 of the present application.

The computer readable storage medium may be, among others, ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

The present application also provides a program product comprising executable instructions stored in a readable storage medium. The at least one processor of the warehousing system, the fluent shelf or the transfer device may read the executed instructions from the readable storage medium, and the at least one processor executes the executed instructions to cause the cargo transportation device to implement the cargo transportation method provided in any one of the embodiments corresponding to fig. 6 to 9 of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor, or in a combination of the hardware and software modules in the processor.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (enhanced Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A relay device, comprising: the device comprises a lifting machine, a temporary storage rack and a conveying line assembly;

the temporary storage shelf comprises a support frame and a conveying mechanism arranged on the support frame, one end of the conveying mechanism is in butt joint with a goods inlet and outlet of the elevator, the other end of the conveying mechanism is in butt joint with a goods inlet and outlet of the conveying line assembly, the conveying line assembly conveys goods to the elevator, or the elevator conveys goods to the conveying line assembly and can be temporarily stored on the conveying mechanism.

2. The transfer device of claim 1, wherein the temporary storage rack further comprises a driving mechanism, the driving mechanism is connected to the conveying mechanism, and the driving mechanism drives the conveying mechanism to rotate along the conveying direction of the goods.

3. The transfer device of claim 2, further comprising a controller electrically connected to the driving mechanism, wherein the controller is configured to control the driving mechanism so that the driving mechanism drives the conveying mechanism to rotate in the conveying direction of the cargo.

4. The transfer apparatus of claim 2, wherein said drive mechanism is a drive motor.

5. The transfer device of any one of claims 1 to 4, wherein the conveying mechanism is at least two layers.

6. The transfer apparatus according to claim 5, wherein said transfer wire assembly includes a base and at least two layers of transfer wires provided on said base, a transfer direction of at least one of said transfer wires of said at least two layers being opposite to a transfer direction of the other transfer wires, and said at least two layers of transfer wires are butted against said at least two layers of transfer mechanisms, respectively, and said one layer of transfer wire is butted against said one layer of transfer mechanism.

7. The transfer device according to any one of claims 1 to 4, wherein a detection member is provided at an end of the transfer mechanism facing the lift, the detection member being configured to detect a position of a cargo doorway of the lift.

8. The relay device according to claim 7, wherein said detection member is one of an infrared sensor, a pressure sensitive switch, and a travel switch.

9. The transfer device of any one of claims 1 to 4, wherein a gravity sensor is provided on the transfer mechanism.

10. The transfer device of any one of claims 1 to 4, wherein the transfer mechanism includes a rolling transfer member that is rotatable about its own axis of rotation in a transfer direction of the goods to transfer the goods onto the lift or the transfer line assembly.

11. The transfer device of claim 10, wherein the rolling conveyor is a rotating roller or a conveyor belt.

12. The transfer device according to any one of claims 1 to 4, further comprising a fluent shelf, wherein a goods gate of the fluent shelf is butted against a goods gate of an end of the lift remote from the temporary storage shelf to transfer the goods on the lift to a transfer robot through the fluent shelf or transfer the goods on a transfer robot to the lift through the fluent shelf.

13. A warehousing system, comprising: a transfer robot and the transfer apparatus of any one of the above claims 1 to 12, the transfer apparatus being used for transfer transportation when loading or unloading the transfer robot.