CN111605959A

CN111605959A - Automatic warehousing system, warehousing logistics system and automatic warehousing method

Info

Publication number: CN111605959A
Application number: CN201910138696.7A
Authority: CN
Inventors: 李洪涛
Original assignee: Beijing Jingdong Century Trading Co Ltd; Beijing Jingdong Shangke Information Technology Co Ltd
Current assignee: Beijing Jingbangda Trade Co Ltd; Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2019-02-25
Filing date: 2019-02-25
Publication date: 2020-09-01
Anticipated expiration: 2039-02-25
Also published as: CN111605959B; WO2020173217A1

Abstract

The invention belongs to the field of warehouse logistics, and particularly discloses an automatic warehousing system, a warehouse logistics system and an automatic warehousing method. The automatic warehousing system comprises a warehousing transmission line, a plurality of unloading channels are arranged along the length direction of the warehousing transmission line, and outlets of the unloading channels are respectively in one-to-one correspondence with the warehouses; the butt joint transmission system is used for receiving the goods unloaded from the transport vehicle and transmitting the goods to the warehousing transmission line; the scanning device is used for scanning and identifying goods; and the control module is configured to convey the goods to the unloading channel corresponding to the target warehouse according to the information of the goods. The warehouse logistics system comprises the automatic warehousing system, and the automatic warehousing method is applied to the automatic warehousing system. The automatic warehousing system, the warehousing logistics system and the automatic warehousing method provided by the invention can improve the automation, the accuracy and the high efficiency of automatic warehousing of goods.

Description

Automatic warehousing system, warehousing logistics system and automatic warehousing method

Technical Field

The invention relates to the technical field of warehouse logistics, in particular to an automatic warehousing system, a warehouse logistics system and an automatic warehousing method.

Background

With the rapid rise of electronic commerce and the continuous development of logistics industry, how to improve logistics efficiency and realize the automatic, unmanned and intelligent operation of warehouse logistics systems becomes a difficult problem to be solved by modern logistics. The warehouse logistics comprises a plurality of logistics links such as goods warehousing, unstacking, sorting, loading, sorting, stacking and goods delivery, wherein the goods warehousing and the goods delivery realize the butt joint between a freight vehicle and the warehouse, and other processes such as unstacking, sorting and delivery are basically completed in the warehouse.

The prior art provides an intelligent logistics loading and unloading conveying system, wherein a warehousing end conveying assembly of the intelligent logistics loading and unloading conveying system comprises a unloading transition line, a quick unloading conveying line, an unloading cache line, a lifting mechanism and a general assembly material conveying line which are sequentially connected. The unloading transition line is used for being in butt joint with the transport vehicle to complete logistics unloading and conveying, and after the logistics are unloaded from the transport vehicle, the logistics are conveyed to the general assembly logistics conveying line through the quick unloading conveying line, the unloading buffer line and the lifting mechanism in sequence until warehousing operation is completed, so that automatic warehousing of goods is realized.

In the process of implementing the invention, the inventor finds that although the warehousing end conveying assembly provided by the prior art can finish automatic unloading from a transport vehicle and automatic conveying from goods to a warehouse, the goods after unloading are all conveyed to a general assembly material conveying line, if only one warehouse exists in the logistics storage area, all the goods on the general assembly logistics conveying line are conveyed to the warehouse, and the final goods warehousing operation is finished; however, if a plurality of warehouses exist in the logistics storage area, and the types of goods correspondingly stored in each warehouse are different, information identification needs to be carried out on the goods on the assembly material conveying line manually, the goods on the assembly logistics conveying line are distributed to different forklifts or conveying lines according to the identified goods information, and the goods are conveyed to the corresponding warehouses by the forklifts or the conveying lines. Therefore, the inventor finds that when a plurality of warehouses exist in a logistics storage area, the warehousing end conveying assembly provided by the prior art is difficult to realize efficient warehousing of goods, and needs auxiliary manpower or other equipment to realize correspondence between the goods types and the warehouse types, so that the operation links are more, the efficiency is low, the condition that the goods types are inconsistent with the warehouse types is easy to occur, and the automation, the high efficiency and the intelligent operation of the warehousing operation of the goods are not facilitated.

Disclosure of Invention

The invention aims to provide an automatic warehousing system, which improves the automation and high-efficiency operation of warehousing goods, improves the accuracy of warehousing goods and meets the warehousing requirements of goods corresponding to a plurality of warehouses.

Another object of the present invention is to provide a warehouse logistics system, which improves the automation and high-efficiency operation of the warehouse logistics system.

Still another object of the present invention is to provide an automatic warehousing method which improves automation and efficient operation of warehousing goods and improves accuracy of warehousing goods.

In order to achieve the purpose, the invention adopts the following technical scheme:

an automated warehousing system comprising:

the warehouse entry transmission line is provided with a plurality of unloading channels along the length direction, and outlets of the unloading channels correspond to the warehouses one by one respectively;

the butt joint transmission system is used for receiving goods unloaded from a transport vehicle and transmitting the goods to the warehousing transmission line;

a scanning device for scanning and identifying the goods;

and the control module is configured to convey the goods to the goods discharging channel corresponding to the target warehouse according to the goods information.

Preferably, the docking transmission system includes:

and the front end of the butt joint transmission line is used for receiving goods unloaded from the transport vehicle, and the rear end of the butt joint transmission line is vertically butted with the warehousing transmission line.

Preferably, the docking transmission system further comprises:

and the intermediate transmission device is arranged between the rear end of the butt joint transmission line and the warehousing transmission line and is used for conveying the goods of the butt joint transmission line to the warehousing transmission line.

Preferably, the warehousing transmission lines are arranged along the arrangement direction of the warehouse, and the butt-joint transmission lines are in butt joint with the middle positions of the warehousing transmission lines.

Preferably, the intermediate transmission device includes:

the fixed seat is fixedly arranged relative to the butt joint transmission line;

the grabbing component is arranged on the fixed seat and can rotate horizontally and lift vertically relative to the fixed seat, and the grabbing component is used for grabbing goods.

Preferably, the intermediate transmission device further includes:

the rotating seat is rotatably connected with the fixed seat;

the rotation driving assembly is configured to drive the rotating seat to rotate relative to the fixed seat;

and the grabbing component is connected with the rotating seat through the grabbing lifting adjusting component.

Preferably, the rotary drive assembly comprises:

the driving motor is connected with the fixed seat;

the driving gear is sleeved on an output shaft of the driving motor;

and the gear ring structure is arranged on the rotating seat and matched with the driving gear.

Preferably, the intermediate transmission device further includes:

and the inner ring of the slewing bearing is connected with the fixed seat, the outer ring of the slewing bearing is connected with the rotating seat, and the outer ring of the slewing bearing is of the gear ring structure.

Preferably, the grasping assembly includes:

and the sucking disc is used for grabbing or placing the goods in a vacuum suction mode.

Preferably, the grasping assembly further includes:

the backup pad with it connects to snatch lift adjustment subassembly, be provided with a plurality ofly in the backup pad the sucking disc.

Preferably, the rotating base is provided with a plurality of groups of grabbing assemblies at intervals along the circumference of the rotating base in the rotating direction.

Preferably, the rotary base includes:

the central seat part is rotationally connected with the fixed seat;

and the extension arm part extends outwards along the radial direction of the rotating shaft of the center seat part, and one end of the extension arm part, which is far away from the center seat part, is provided with the grabbing assembly and the lifting adjusting assembly.

Preferably, the warehousing transmission line comprises:

the main transmission line is arranged along the arrangement direction of the warehouse;

and one end of each warehouse-dividing transmission line is connected with the main transmission line, the other end of each warehouse-dividing transmission line is connected with the corresponding warehouse inlet, the warehouse-dividing transmission lines form the discharging channel, and the transmission direction of each warehouse-dividing transmission line is perpendicular to the transmission direction of the main transmission line.

Preferably, the warehousing transmission line further comprises:

the lifting transmission platform is parallel to the main transmission line in the vertical direction and arranged at intervals, a transition transmission line is arranged on the lifting transmission platform and configured to drive the goods on the lifting transmission platform to be transmitted by the branch warehouse transmission line.

Preferably, the main transmission line includes a plurality of transmission segments arranged side by side along a length direction thereof, the number of the transmission segments is not less than the number of the sub-library transmission lines, and each of the sub-library transmission lines corresponds to one of the transmission segments.

Preferably, the transmission segment includes:

the first transmission segment is arranged in one-to-one correspondence with the warehousing transmission line and is butted with the warehousing transmission segment;

and the second transmission segment is arranged between two adjacent first transmission segments.

Preferably, the scanning device comprises a first scanning device disposed on the docking transmission line.

Preferably, the scanning device comprises a second scanning device disposed on the first transmission segment, and one second scanning device is disposed on each first transmission segment.

Preferably, the automatic warehousing system further comprises:

and the regulating device is arranged at one end of the butt joint transmission line close to the warehousing transmission line and is configured to regulate the position and/or the pose of the goods on the butt joint transmission line.

Preferably, the organizing device comprises:

the two regulating rotating arms are respectively arranged on two sides of the butt joint transmission line along the width direction;

tumbler drive assembly, with the one end of regular tumbler is connected, and is configured into the drive two the other end of regular tumbler is relative and synchronous horizontal rotation, so that two regular tumbler respectively with the goods is followed butt joint transmission line width direction's both sides face contact.

Preferably, the organizing device further comprises:

the fixed shaft is vertically arranged at the rear end of the butt joint transmission line, and the regular rotating arm is rotationally connected with the fixed shaft;

and piston rods which are horizontally arranged are arranged at two ends of the piston cylinder, and the piston rods at the two ends are respectively connected with one end, close to the warehousing transmission line, of the corresponding regulating rotating arm.

Preferably, when the two regulating rotating arms are respectively contacted with two opposite side surfaces of the goods, the minimum distance between the two regulating rotating arms is equal to the size of the goods along the width direction of the butt joint transmission line.

Preferably, the regulating rotating arms are arc-shaped structures, and when two regulating rotating arms are respectively contacted with two opposite side surfaces of the goods, connecting lines of two ends of each arc-shaped structure are parallel to the length direction of the butt joint transmission device.

Preferably, the organizing device further comprises:

and the clamping roller is vertically arranged at one end of the regular rotating arm, which is used for contacting the goods, and the clamping roller is rotationally connected with the regular rotating arm.

A warehouse logistics system comprising an automated warehousing system as described above.

An automatic warehousing method adopting the automatic warehousing system comprises the following steps:

the control module controls the butt joint transmission system to operate, and goods unloaded from the transport vehicle are conveyed to the warehousing transmission line;

the scanning device scans the goods, identifies the goods information of the goods and sends the goods information to the control module;

the control module controls the operation of the warehousing transmission line according to the goods information and transmits the goods to the goods discharging channel corresponding to the goods.

Preferably, the docking transmission system comprises a docking transmission line, a first scanning device is arranged on the docking transmission line, a direction control transmission section docked with the docking transmission line and a first transmission section docked with the delivery channel are arranged on the warehousing transmission line, and a second scanning device is arranged on the first transmission section;

the control module is according to goods information control the operation of branch storehouse transmission line will goods transmit to with in the lower goods passageway that goods correspond, specifically include:

the control module controls the running direction of the direction control transmission section according to the scanning result of the first scanning device;

and the control module controls whether goods enter the goods discharging channel corresponding to the first transmission section or not according to the scanning result of the second scanning device.

The invention has the beneficial effects that:

according to the automatic warehousing system provided by the embodiment of the invention, the scanning device is arranged to scan goods and identify goods information, the warehousing transmission line is arranged, the goods discharging channel corresponding to the warehouse is arranged on the warehousing transmission line, the control module controls the warehousing transmission line to operate according to the goods information to convey the goods to the corresponding goods discharging channel, namely the goods can be conveyed to the warehouse corresponding to the goods according to the information of the goods, the situation that the goods and the warehouse have non-corresponding warehousing errors is overcome, the corresponding warehousing of the goods is met, and the efficiency and the accuracy of the warehousing of the goods are improved; and through set up the lower goods passageway that corresponds with each warehouse on warehousing transmission line, can realize the goods of many warehouses warehouse entry operation simultaneously, overcome and adopt auxiliary assembly such as fork truck etc. to the goods that belong to each warehouse carry out the needs of letter sorting transport, simplify the structure of automatic warehouse entry system, improve the efficiency that the goods was put in storage.

According to the warehouse logistics system provided by the embodiment of the invention, the automatic warehousing system is adopted, so that the problems of low warehousing efficiency of goods, non-correspondence between the goods and the warehouse and the like are solved, and the accuracy and efficiency of warehousing of the goods are improved.

The automatic warehousing method provided by the invention is applied to the automatic warehousing system, so that the problems of low warehousing efficiency of goods, non-correspondence between the goods and a warehouse and the like are solved, and the accuracy and the efficiency of warehousing the goods are improved.

Drawings

Fig. 1 is a side view of an automated warehousing system provided by an embodiment of the present invention;

fig. 2 is a top view of an automated warehousing system provided by an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an intermediate transmission device according to an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 at I;

FIG. 5 is a schematic structural diagram of a warping device provided by an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a part of a warehousing transmission line provided by an embodiment of the present invention.

The figures are labeled as follows:

1-butting transmission lines;

2-intermediate transmission means; 21-a fixed seat; 22-a rotating base; 221-a central seat portion; 222-an extension arm portion; 23-a rotary drive assembly; 231-a drive motor; 232-a drive gear; 233-gear ring structure; 24-a gripping elevation adjustment assembly; 241-a lifting drive member; 242 — a fixed plate; 243-connecting plate; 244 — a lift guide assembly; 25-a grasping assembly; 251-a support plate; 253-suction cup;

3-a warping device; 31-regularizing rotating arms; 311-connecting arm; 312-an auxiliary arm; 32-a fixed shaft; 33-a boom drive assembly; 331-a piston rod; 332-cylinder body; 34-a stop; 35-a pinch roller;

4-warehousing transmission line; 41-main transmission line; 411 — first transmission segment; 412-a second transmission segment; 413-steering the transport segment; 414-first transmission member; 42-a sub-bank transmission line; 421-a second transport; 43-a transition transfer device; 431-a lifter plate; 432-third transport.

51-a first scanning device; 52-a second scanning device;

6-warehouse;

7-a transport vehicle;

8-goods, 81-labels.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Fig. 1 is a side view of an automatic warehousing system provided by an embodiment of the present invention, and fig. 2 is a top view of the automatic warehousing system provided by the embodiment of the present invention, as shown in fig. 1 and 2, the embodiment provides an automatic warehousing system which is applied to a warehousing logistics process to realize the docking of goods 8 between a transport vehicle 7 and a warehouse 6, so as to realize automation and efficient warehousing operation of the goods 8.

Specifically, the automatic warehousing system comprises a docking transmission system, a warehousing transmission line 4, a scanning device and a control module. The butt joint transmission system is used for receiving goods 8 unloaded from the transport vehicle 7 and transporting the goods 8 to the warehousing transmission line 4, a tag 81 is arranged on the goods 8, and goods information is carried on the tag 81; the warehousing transmission line 4 is used for conveying goods 8 to the corresponding warehouse 6, a plurality of goods discharging channels are arranged on the warehousing transmission line 4 along the length direction of the warehousing transmission line, and the number and the positions of the goods discharging channels correspond to the number and the positions of the warehouse 6 one by one; the scanning device is arranged in the butt joint transmission system and is used for scanning the labels 81 on the goods 8, identifying goods information and transmitting the goods information to the control module; and the control module is respectively connected with the scanning device and the warehousing transmission line 4 and controls the warehousing transmission line 4 to convey the goods 8 to the goods discharging channel corresponding to the corresponding warehouse 6 according to the goods information.

According to the automatic warehousing system provided by the embodiment, the scanning device is arranged in the butt joint transmission system, so that when the butt joint transmission system carries and conveys goods 8, the labels 81 on the goods 8 can be scanned, and the information of the goods 8 can be identified; by arranging the warehousing transmission line 4 and arranging the goods discharging channel corresponding to the warehouse 6 on the warehousing transmission line 4, the control module controls the warehousing transmission line 4 to operate according to the goods information to convey the goods 8 to the corresponding goods discharging channel, namely, the goods 8 can be conveyed to the warehouse 6 corresponding to the goods 8 according to the information of the goods 8, the corresponding warehousing of the goods 8 is met, and the warehousing efficiency and the warehousing accuracy of the goods 8 are improved; and the goods discharging channels corresponding to the warehouses 6 are arranged on the warehousing transmission line 4, so that the goods 8 of the warehouses 6 can be warehoused simultaneously, the goods 8 belonging to the warehouses 6 are sorted and transported without additionally arranging a forklift or a transporting device and the like, the structure of the automatic warehousing system is simplified, and the warehousing efficiency of the goods 8 is improved.

In the present embodiment, it is preferable that the goods 8 for transportation and warehousing are regularly packed goods such as bins having a regular shape and the like. However, the present invention is not limited thereto, and the article 8 may be an irregularly packed article such as a special-shaped packing box, packed clothes, or the like.

In this embodiment, the goods 8 unloaded from the transporting vehicle 7 can be directly placed on the docking transmission system, which can reduce the intermediate links, but because the docking transmission system can only dock one transporting vehicle 7 at a time, when the period of transporting the goods 8 by the transporting vehicle 7 is concentrated, the waiting process of the transporting vehicle 7 can be generated. In order to avoid waiting of the transport vehicle 7, a discharge accumulation place may be provided in the automatic warehousing system, the goods 8 of the transport vehicle 7 are collectively discharged to the discharge accumulation place, and the butt-joint conveying system conveys the goods 8 in the discharge accumulation place to the warehousing transmission line 4.

The unloading of the goods 8 from the transport vehicle 7 may be performed manually, or the goods 8 may be unloaded from the transport vehicle 7 by an unloading device such as a loading vehicle, a forklift, or an unloading line. The present embodiment is not particularly limited as to the manner of unloading the goods 8 from the transporting vehicle 7, but it is more preferable to unload the goods 8 on the transporting vehicle 7 by using an unloading device to improve the consistency and automation of warehousing of the goods 8.

In this embodiment, it is preferable that the docking transmission system includes a docking transmission line 1 and an intermediate transmission device 2, a front end of the docking transmission line 1 is used for receiving the goods 8 unloaded from the transport vehicle 7, and the intermediate transmission device 2 is disposed between a rear end of the docking transmission line 1 and the warehousing transmission line 4, and is used for conveying the goods 8 on the docking transmission line 1 to the warehousing transmission line 4.

As above, the butt transfer line 1 receives the goods 8 in such a manner that the goods 8 unloaded from the transporting carriage 7 are directly received, or the goods 8 unloaded from the transporting carriage 7 are indirectly received by the unloading station. And because butt joint transmission line 1 does not possess the function that goods 8 snatched, consequently, goods 8 or unload goods 8 of gathering ground on transport vechicle 7 can place on butt joint transmission line 1 through the manual work, also can adopt the arm to place on butt joint transmission line 1. Preferably, the unloading is carried out in a manner of unloading the transport vehicle 7 in an unloading accumulation manner, the unloading accumulation manner is arranged at the front end position of the butt joint transmission line 1, the middle distance from the goods 8 to the butt joint transmission line 1 is reduced, and the conveying efficiency is improved. More preferably, the docking transmission system further comprises a mechanical arm, wherein the mechanical arm can have a self-moving function, and can also be of a fixed mechanical arm structure, and the gripping of the goods 8 by the mechanical arm can carry out the transportation of the goods 8 on the docking transmission line 1 in the unloading and gathering place.

In this embodiment, adopt the mode of transfer chain to realize goods 8 in transport vechicle 7 or unload gather with warehouse entry transmission line 4 between the transport, can realize that a plurality of goods 8 carry in step and interval on the transmission line, can guarantee the continuity and the preface of goods 8 transport and transmission, improve the efficiency that goods 8 carried. In another embodiment, the docking conveyor system may also employ a transfer robot to effect transfer of the goods 8 between the transport vehicle 7 or discharge accumulation and the warehousing conveyor line 4. The transfer robot can be a mechanical arm structure with a self-driving function, and the goods 8 can be grabbed and placed on the transport vehicle 7 or the unloading and gathering place through the taking and placing function of the mechanical arm on the goods 8, and the goods 8 can be placed on the warehousing transmission line 4. In this case, in order to avoid an excessively long primary conveyance path of the conveyance robot, the unloading accumulation is preferably provided at a position close to the warehousing transportation line 4. In another embodiment, the goods 8 can be conveyed between the transport vehicle 7 or the unloading accumulation area and the warehousing transmission line 4 by a forklift cooperating with a conveying mechanical arm, a part of the goods 8 are conveyed to a position close to the warehousing transmission line 4 from the transport vehicle 7 or the unloading accumulation area at one time by the forklift, and then the goods 8 on the forklift are conveyed to the warehousing transmission line 4 one by the conveying mechanical arm. Under this kind of mode, unload to gather ground or transport vechicle 7 to park the ground and can set up the position on keeping away from warehouse entry transmission line 4, and the transport arm can be for non-movable arm structure, through 8 transport of fork truck's many goods, reduces transfer robot's reciprocal transport stroke.

In this embodiment, the butt joint transmission line 1 may be any one of a belt transmission, a roller transmission, a drum transmission, and the like, and the embodiment does not limit the specific transmission manner of the butt joint transmission line 1. And the structure of the transmission line is set as a conventional technical means in the field, and the description of the embodiment is omitted.

Fig. 3 is a schematic structural diagram of an intermediate transmission device provided in an embodiment of the present invention, and fig. 4 is a partially enlarged view of a point I in fig. 3, as shown in fig. 3 and 4, in this embodiment, preferably, the intermediate transmission device 2 includes a fixed seat 21 and a grabbing component 25, where the fixed seat 21 is fixedly disposed relative to the docking transmission line 1, and the grabbing component 25 is disposed on the fixed seat 21 and configured to be capable of horizontally rotating and vertically lifting relative to the fixed seat 21. The grabbing component 25 is used for grabbing goods 8 transferred to the rear end of the butt joint transmission line 1, after the goods 8 are grabbed, the grabbing component 25 is lifted to enable the goods 8 to be separated from the butt joint transmission line 1, the grabbing component 25 rotates to enable the goods 8 to be located above the warehousing transmission line 4, and the goods 8 are placed on the warehousing transmission line 4 after the grabbing component 25 descends.

In this embodiment, the fixing seat 21 is fixed relative to the ground, so that the intermediate transmission device 2 is independent of the docking transmission line 1 and the warehousing transmission line 4, which is beneficial to the structural simplification of the docking transmission line 1 and the warehousing transmission line 4 and the installation and the disassembly of the intermediate transmission device 2, and can prevent the interference between the operation of the intermediate transmission device 2 and the operation of the docking transmission line 1 and the warehousing transmission line 4, and ensure the continuous operation of the docking transmission line 1, the warehousing transmission line 4 and the intermediate transmission device 2. In other embodiments, the fixing seat 21 may also be fixed at the end of the docking transmission line 1 or on the warehousing transmission line 4.

Preferably, in this embodiment, in order to facilitate the horizontal rotation and vertical lifting of the grasping assembly 25 relative to the fixing base 21, the intermediate transfer device 2 further includes: the rotating seat 22 is rotatably connected with the fixed seat 21; the rotation driving assembly 23 is connected with the rotating seat 22 and drives the rotating seat 22 to rotate relative to the fixed seat 21; and the grabbing component 25 is connected with the rotating base 22 through the grabbing lifting adjusting component 24 so as to realize the vertical lifting of the grabbing component 25. By providing the swivel 22 and the gripping elevation adjustment assembly 24, the swivel arrangement of the gripping assembly 25 can be separated from the elevation arrangement, simplifying the structure of the intermediate transfer device 2. In other embodiments, the rotation driving assembly 23 may be directly connected to the grabbing elevating adjustment assembly 24 to drive the grabbing elevating adjustment assembly 24 to rotate, and the grabbing assembly 25 is disposed on the grabbing elevating adjustment assembly 24.

More specifically, in the present embodiment, a rotary bearing is disposed between the rotary seat 22 and the fixed seat 21, one of the rotary seat 22 and the fixed seat 21 is connected to an outer ring of the rotary bearing, and the other is connected to an inner ring of the rotary bearing, so as to improve the stability of the rotational connection of the rotary seat 22 with respect to the fixed seat 21.

Preferably, in the present embodiment, the rotation driving assembly 23 includes a driving motor 231, and the driving motor 231 is disposed on an outer surface of the fixing base 21. The output shaft of the driving motor 231 is vertically arranged upwards, and a driving gear 232 is sleeved on the output shaft. The rotary drive assembly 23 further comprises a ring gear structure 233 provided on the rotary base 22 for cooperating with the driving gear 232 for transmission. More preferably, in this embodiment, the outer ring of the slewing bearing is fixedly connected to the rotating base 22, and the outer ring of the slewing bearing is the above-mentioned gear ring structure 233, so that the gear ring structure 233 is a part of the slewing bearing, and the overall structure of the rotation driving assembly 23 is simplified. In another embodiment, the gear ring structure 233 may be sleeved on the outer surface of the rotary base 22, or the gear ring structure 233 may be integrally formed on the outer surface of the rotary base 22. In another embodiment, the inner ring of the slewing bearing may be the above-mentioned ring gear structure 233, the inner ring of the slewing bearing is connected to the rotating base 22, and the outer ring of the slewing bearing is connected to the fixed base 21. The fixing base 21 is a hollow structure, and the driving motor 231 is disposed inside the fixing base 21, so that the driving gear 232 sleeved on the driving motor 231 is in transmission with the gear ring structure 233 of the rotary bearing in a matching manner.

In the present embodiment, by providing the slewing bearing integrally with the gear structure, it is advantageous to simplify the overall structure of the intermediate transmission device 2. However, the present invention is not limited thereto, and any structure capable of rotating the rotary seat 22 relative to the fixed seat 21 may be adopted in the prior art, and details of this embodiment are not repeated.

In this embodiment, it is preferable that the rotating base 22 includes a center base portion 221 and an extension arm portion 222, and the center base portion 221 is connected to the slewing bearing to realize a rotational connection with respect to the fixed base 21. The center seat portion 221 is extended with an extension arm portion 222 along the radial direction of the rotation axis, and one end of the extension arm portion 222 away from the center seat portion 221 is provided with the above-mentioned grabbing elevating adjustment assembly 24 and grabbing assembly 25. By arranging the extension arm 222, the surface area of the rotating base 22 can be reduced while the action range of the grabbing component 25 on the rotating base 22 is ensured, the extension arm 222 can be favorably extended into the butt joint transmission line 1 and/or the warehousing transmission line 4, and the interference of the arrangement of the rotating base 22 and the structure and action between the butt joint transmission line 1 and/or the warehousing transmission line 4 is avoided.

In order to improve the efficiency of the intermediate transfer device 2 in transferring the goods 8, in the present embodiment, it is preferable that the rotary base 22 is provided with a plurality of sets of gripping assemblies 25 at intervals in the circumferential direction of the rotation axis thereof, so that the transfer of a plurality of goods 8 can be realized within one rotation period of the rotary base 22. More preferably, the revolving bed 22 is provided with four grabbing components 25 at even intervals along the circumferential direction of the rotation axis thereof, that is, when one grabbing component 25 is used for placing the goods 8 in the warehousing transmission device, the grabbing component 25 opposite to the other grabbing component can be used for grabbing the goods 8 on the butt joint transmission line 1, so that the grabbing efficiency is improved, the control of the step of actions of the butt joint transmission line 1, the warehousing transmission line 4 and the intermediate transmission device 2 is facilitated, the overall size of the intermediate transmission device 2 can be reduced, the mutual collision or interference of the goods 8 grabbed by the two adjacent grabbing components 25 is avoided, and the safety of grabbing the goods 8 is improved.

In order to simplify the structure of the intermediate transfer device 2, in the present embodiment, further, the gripping elevating and lowering adjusting members 24 are provided in one-to-one correspondence with the gripping members 25. Namely, four extension arm parts 222 are correspondingly arranged on the rotary base 22, the tail end of each extension arm part 222 is provided with a grabbing lifting adjusting component 24, and each grabbing lifting adjusting component 24 is connected with one grabbing component 25. In other embodiments, multiple grasping assemblies 25 may be associated with the same grasping lift adjustment assembly 24.

Further, the grabbing elevation adjustment assembly 24 includes an elevation driving member 241 and an attachment plate 243. The lifting driving member 241 is connected to the connecting plate 243, and can drive the connecting plate 243 to vertically lift. The end of the extension arm 222 is vertically provided with a fixing plate 242, and the lifting driving member 241 is fixed to the fixing plate 242. The connecting plate 243 is provided with the above-mentioned grasping assembly 25. Further, in order to improve the lifting stability and accuracy of the grabbing assembly 25, the grabbing lifting adjusting assembly 24 further comprises a lifting guide assembly 244, the lifting guide assembly 244 comprises a vertically arranged slide rail and a slide block matched with the slide rail, one of the fixed plate 242 and the connecting plate 243 is provided with the slide rail, the other one of the fixed plate 242 and the connecting plate 243 is provided with the slide block, and the movement guide of the connecting plate 243 relative to the fixed plate 242 is realized through the matching of the slide rail and the slide block.

In this embodiment, the lifting driving member 241 is preferably a cylinder, a piston cylinder of the cylinder is fixed on the fixing plate 242, and a piston rod is connected to the connecting plate 243, so that the structure of the grabbing lifting adjusting assembly 24 can be simplified, and the size of the grabbing lifting adjusting assembly 24 can be reduced. In other embodiments, the grabbing lifting adjusting assembly 24 may also be in any other structural form capable of realizing the lifting movement of the connecting plate 243 relative to the fixing plate 242, and the lifting adjusting assembly is a conventional arrangement in the art, and the detailed structure of the grabbing lifting adjusting assembly 24 in other forms is not described again in this embodiment.

In this embodiment, it is preferable that the grasping assembly 25 includes a suction cup 253 and an air path assembly, the suction cup 253 is connected to the connection plate 243, and the air path assembly is connected to the suction cup 253 to vacuumize or inflate the suction cup 253. Snatch subassembly 25 through adopting the sucking disc formula and snatch article 8, can simplify the structure of snatching subassembly 25, reduce simultaneously and snatch the requirement of subassembly 25 to article 8 shape, weight etc. need not set up extra structure on article 8 and snatch subassembly 25 cooperation and snatch, and the cost is lower, convenient operation. In other embodiments, the gripper assembly 25 may also be a gripper-type structure, such as a pneumatic gripper, etc.

More preferably, the grasping assembly 25 further includes a support plate 251, and the support plate 251 is detachably connected to the connection plate 243 to facilitate installation, removal, and replacement of the grasping assembly 25 with respect to the grasping elevation adjustment assembly 24. The support plate 251 is horizontally disposed, and a plurality of suction cups 253 are provided on a lower surface of the support plate 251. By providing the plurality of suction cups 253 on the support plate 251, it is possible to realize suction of the goods 8 of different sizes and weights, improving the grasping flexibility and reliability of the grasping assembly 25. In other embodiments, only one suction cup 253 of a larger size may be provided to achieve gripping of the article 8.

In this embodiment, by providing the rotary grabbing structure, the goods 8 are transferred between the docking transmission line 1 and the warehousing transmission line 4, and on the one hand, the structure of the intermediate transmission device 2 is simplified, and the cost of the intermediate transmission device 2 is reduced. And can be through set up a plurality of assemblies 25 that snatch along its circumference on fixing base 21, can realize the transmission of snatching in succession of a plurality of goods 8, improve the butt joint efficiency between butt joint transmission line 1 and the transmission line 4 of putting in storage, improve efficiency and the continuity that goods 8 put in storage.

In another embodiment, the intermediate transfer device 2 may be a mechanical arm structure, and an end effector such as a gripper or a suction cup is disposed at the end of the mechanical arm, so that the goods 8 on the butt transfer line 1 are gripped and placed on the warehousing transfer line 4 by the six-degree-of-freedom movement of the mechanical arm and the cooperation of the end effector.

In another embodiment, the intermediate transfer device 2 may be a lifting platform, and in this case, the transfer surface of the warehousing transfer line 4 needs to be higher than the transfer surface of the docking transfer line 1. The lifting platform is provided with a transmission line, when goods 8 are transmitted to the middle transmission device 2 through the butt joint transmission line 1, the lifting platform rises to be parallel to the warehousing transmission line 4, and the goods 8 on the lifting platform are transmitted to the warehousing transmission line 4 through the transmission line on the lifting platform.

In another embodiment, the intermediate transmission device 2 may be a push plate type transmission structure, that is, a push plate and a push plate driving device are disposed at the end of the docking transmission line 1, when the goods 8 reach the end of the docking transmission line 1, the push plate is driven to rotate so that the push plate is located at one side of the goods 8 far away from the warehousing transmission line 4, and the push plate is driven to move in a direction towards the warehousing transmission line 4, so as to push the goods 8 to be transmitted from the docking transmission line 1 to the warehousing transmission line 4.

In other embodiments, the intermediate transmission device 2 may also adopt other devices that can realize the transmission of the goods 8 between the docking transmission line 1 and the warehousing transmission line 4, which are not listed in this embodiment.

In this embodiment, the intermediate transmission device 2 is arranged to realize the butt joint of the goods 8 on the butt joint transmission line 1 and the warehousing transmission line 4, which is beneficial to simplifying the universal structural design of the butt joint transmission line 1 and the warehousing transmission line 4 and reducing the cost. In other embodiments, the docking transmission line 1 and the warehousing transmission line 4 can also be directly docked. For example, the butt joint transmission line 1 adopts a belt transmission method in which a plurality of transmission belts are arranged at intervals in the width direction. The warehousing transmission line 4 adopts a roller or roller transmission mode, the warehousing transmission line 4 is partially overlapped with one end of the butt-joint transmission line 1, and the roller or roller of the warehousing transmission line 4 is arranged between the gaps of two adjacent belts at the overlapped part. Under this kind of butt joint mode, because the coincidence part has two different transmission directions, when goods 8 transported the coincidence region through butt joint transmission line 1, need to carry out the pause to butt joint transmission line 1, start the transmission line 4 that puts in storage simultaneously and realize the transmission of goods 8 on putting in storage transmission line 4.

Further, in order to improve the grabbing stability and reliability of the grabbing device to the goods 8, the automatic warehousing system provided by the embodiment further comprises a regulating device 3 arranged at the rear end of the butt joint transmission line 1, and the regulating device is used for regulating the position and/or the pose of the goods 8 transmitted to the rear end of the transmission line on the butt joint transmission line 1, so that the grabbing device can grab the goods 8 conveniently.

FIG. 5 is a schematic structural diagram of a regulating device provided in an embodiment of the present invention, and as shown in FIG. 5, the regulating device 3 preferably includes two regulating arms 31 and a arm driving assembly 33 in this embodiment. Two regulating swivel arms 31 are respectively provided at both sides of the docking transmission line 1 in the width direction, and a swivel arm driving assembly 33 is connected to one end of the regulating swivel arm 31 and simultaneously drives the other end of the two regulating swivel arms 31 to rotate so that the opposite ends of the two regulating swivel arms 31 come close to or go away from each other. When the goods 8 are transferred to the rear end of the butt joint transmission line 1, the rotating arm driving assembly 33 drives the two regular rotating arms to rotate simultaneously and oppositely, so that the opposite ends of the regular rotating arms 31 are close to each other until the goods 8 are respectively abutted to the two opposite side surfaces of the goods 8 along the width direction of the butt joint transmission line 1, and the positions of the goods 8 on the butt joint transmission line 1 are adjusted.

Preferably, the two regulating rotating arms 31 are symmetrically arranged relative to the center line of the butt joint transmission line 1, so that the center line of the regulated goods 8 is coincident with the center line of the butt joint transmission line 1, and the grabbing component 25 is more beneficial to grabbing the goods 8. In other embodiments, the two aligning arms 31 may also be symmetrically disposed with respect to a line parallel to the centerline such that the centerline of the article 8 is parallel to the centerline of the docking conveyor line 1.

In this embodiment, the boom drive assembly 33 is preferably disposed at an end of the organizing boom 31 near the warehousing transport line 4, which is advantageous for avoiding interference of the disposition of the boom drive assembly 33 with the movement of the goods 8 on the docking transport line 1, and for enabling both organizing booms 31 to be driven using the same boom drive. In other embodiments, the boom drive assemblies 33 can also be connected to the ends of the organizing booms 31 remote from the warehousing transportation line 4, in which case the boom drive assemblies 33 are disposed at the sides of the docking transportation line 1, and one boom drive assembly 33 is connected to each organizing boom 31, and the two boom drive assemblies 33 are driven synchronously by the control module.

In the present embodiment, it is more preferable that the organizing device 3 further comprises two fixed shafts 32, the two fixed shafts 32 are vertically arranged at the rear end of the docking transmission line 1, and each organizing swivel arm 31 is rotatably connected with the corresponding fixed shaft 32. The boom drive assembly 33 preferably comprises a drive piston cylinder with piston rods 331 disposed on either end of the drive piston cylinder and telescopable relative to the cylinder 332. Two piston rods 331 are horizontally arranged along the width direction of the docking transmission line 1, and each piston rod 331 is connected with one end of the regulating rotating arm 31 close to the warehousing transmission line 4. When the piston rod 331 extends out relative to the cylinder body 332, one ends of the two regulating rotating arms 31 connected with the piston cylinder are far away from each other, and because the middle parts of the regulating rotating arms 31 are rotatably connected with the fixed shaft 32, the other ends of the two regulating rotating arms 31 are close to each other to contact with goods 8, and regulation of the goods 8 is realized. When the piston rod 331 is retracted relative to the cylinder 332, the ends of the two normalization swivel arms 31 remote from the piston rod 331 are moved away from each other to be out of contact with the goods 8.

In the embodiment, by providing the driving piston cylinder with the double rods, the synchronous driving of the two regulating rotating arms 31 can be realized by a simple structure, the structure of the regulating device 3 is simplified, and the volume of the regulating device 3 is reduced. In other embodiments, the regulating rotating arm 31 can also be driven by a motor to rotate horizontally, and this embodiment will not be described in detail. In this embodiment, the driving piston cylinder is a cylinder, and in other embodiments, the driving piston cylinder may also be a hydraulic cylinder structure such as an oil cylinder.

Preferably, in this embodiment, the fixed shaft 32 is connected near one end of the regularizing rotation arm 31 close to the piston rod 331, which facilitates obtaining a large horizontal rotation of the other end of the regularizing rotation arm 31 by a small movement of the piston rod 331, reducing the volume of the driving piston cylinder and its space occupied on the docking transmission line 1, and thus reducing the size of the entire regularizing device 3.

More preferably, in the present embodiment, the organizing swivel arms 31 are arc-shaped structures, and the arc-shaped openings of the two organizing swivel arms 31 are oppositely arranged. When the front ends of the two regulating rotating arms 31 are abutted against the two sides of the goods 8, the connecting line of the two ends of the arc-shaped structure of the regulating rotating arm 81 is parallel to the length direction of the butt joint transmission line 1. This kind of arrangement, when being favorable to making the front end of two regular rocking

arms

31 and 8 both sides looks butt of goods, the arc structural design of two regular rocking arms 31 can make the distance between two regular rocking arms 31 be no less than the size of goods 8 along butt joint transmission line 1 width direction. That is, when the regulating rotating arm 31 acts on the goods 8, the goods 8 can continue to operate under the transmission action of the butt joint transmission line 1, the action area of the regulating rotating arm 31 and the goods 8 is increased, the regulating effect on the goods 8 is improved, the regulation of the goods 8 and the transmission of the goods 8 are synchronously performed, and the regulating efficiency of the goods 8 is improved; at the same time, the distance requirement between the two regulating swivel arms 31 and the end of the piston rod 331 can be reduced, thereby reducing the size of the regulating device 3.

In other embodiments, the organizing swivel arms 31 may also be straight arm structures. However, in this case, in order to ensure that the distance between the two regulating rotating arms 31 is not less than the width of the goods 8 when the front ends of the two regulating rotating arms 31 abut against both sides of the goods 8, the end of the two regulating rotating arms 31 to which the piston rod 331 is connected needs to be located outside the fixed shaft 32, and therefore, in the case where the goods 8 have the same size, the size of the regulating device 3 is increased.

To facilitate the transportation of the goods 8 on the docking transportation line 1 when the regulating swivel arm 31 abuts the goods 8, in this embodiment, the end of the regulating swivel arm 31 remote from the piston rod 331 is preferably connected with a vertically arranged clamping roller 35. The clamping roller 35 is pivotally connected to the aligning swivel arm 31 such that the clamping roller 35 can rotate about its own axis under the action of an external force. Therefore, when the regulating device 3 regulates the goods 8, the goods 8 are in rolling connection with the clamping rollers 35, and the transmission resistance of the goods 8 on the butt joint transmission line 1 is reduced.

To improve the structural strength of the adjusting tumbler 31, the adjusting tumbler 31 includes a connecting arm 311 and an auxiliary arm 312 that are spaced apart and parallel in the vertical direction, the connecting arm 311 and the auxiliary arm 312 are substantially identical in shape, and the connecting arm 311 is located above the auxiliary arm 312. The upper ends of the fixed shaft 31 and the clamping roller 35 are rotatably connected with the connecting arm 311; the lower ends of the fixed shaft 31 and the pinch roller 35 are rotatably connected to the auxiliary arm 312, and one end of the connecting arm 31 is connected to a piston rod 331. By providing the connecting arm 311 and the auxiliary arm 312, the structural strength of the regulating tumbler 31 can be improved, and at the same time, the area of action of the regulating tumbler 31 on the goods 8 is increased.

To avoid collision of the goods 8 with the rotating arm driving assembly 33 during transportation on the docking transmission line 1, in this embodiment, the regulating device 3 preferably further comprises a stopper 34 disposed at the end of the docking transmission line 1 for stopping transportation of the goods 8 on the docking transmission line 1, preventing collision of the goods 8 with the rotating arm driving assembly 33, and improving the safety performance of the regulating device 3.

In the embodiment, the rotary type regulating device 3 is used for regulating the goods 8, and in other embodiments, other structures can be used for regulating the position and/or the pose of the goods 8 on the butt joint transmission line 1. For example, a push type regular structure can be adopted, pushing pieces and pushing driving components are respectively arranged on two sides of the butt joint transmission line 1 along the width direction of the butt joint transmission line, and when the goods 8 are transported to the tail end of the butt joint transmission device, the pushing driving components drive the pushing pieces to move in opposite directions, so that the two pushing pieces are respectively contacted with two side faces of the goods 8, and the regularity of the goods 8 is realized.

In this embodiment, the warehousing transmission line 4 is arranged along the arrangement direction of the warehouse 6, and the length direction of the docking transmission line 1 and the length direction of the warehousing transmission line 4 are preferably perpendicular to each other, so that the docking between the warehousing transmission line 4 and the docking transmission line 1 is facilitated. In other embodiments, the docking transmission line 1 and the warehousing transmission line 4 may also be designed in a non-vertical manner under the condition that spatial arrangement is permitted, and the docking position and the docking manner may be flexibly designed according to the space of the warehousing park.

In this embodiment, preferably, the docking transmission line 1 is disposed at a position corresponding to the middle of the warehousing transmission line 4, so that the average transmission time of the goods 8 on the warehousing transmission line 4 can be reduced, and the warehousing efficiency of the goods 8 can be improved. In other embodiments, the docking transmission line 1 may also be disposed at any position corresponding to the warehousing transmission line 4, such as the end position of the warehousing transmission line 4.

In this embodiment, the warehousing transmission line 4 includes a long main transmission line 41 and a sub-warehouse transmission line 42 corresponding to the warehouse 6, the main transmission line 41 is arranged along the arrangement direction of the warehouse 6, one end of the sub-warehouse transmission line 42 is connected with the main transmission line 41, the other end of the sub-warehouse transmission line 42 is connected with the entrance corresponding to the warehouse 6, and the sub-warehouse transmission line 42 forms a goods discharge channel of the warehousing transmission line 4, so that each goods 8 on the main transmission line 41 can be conveyed to the corresponding warehouse 6 through the sub-warehouse transmission line 42. In the present embodiment, the sorting transmission line 42 is preferably disposed perpendicular to the main transmission line 41.

In this embodiment, preferably, in order to realize the butt joint between the main conveying line 41 and the sub-warehouse conveying line 42, a transition conveying device 43 is arranged between the main conveying line 41 and the sub-warehouse conveying line 42, and is used for realizing the transition conveying of the goods 8 between the main conveying line 41 and the sub-warehouse conveying line 42.

In this embodiment, preferably, the transition transmission device 43 is a lifting transmission platform, and the lifting transmission platform is provided with a transition transmission line. Under this kind of setting, the height that divides storehouse transmission line 42 and the one end that main transmission line 41 links to each other should be higher than the height that main transmission line 41 corresponds the department, and the goods 8 that transports to the lift transmission platform rises after the lift transmission platform and breaks away from the contact with main transmission line 41 to under the transmission of transition transmission line, get into and divide storehouse transmission line 42 and carry out the transmission.

Specifically, fig. 6 is a schematic view of a partial structure of the warehousing transportation line provided by the embodiment of the present invention, as shown in fig. 6, the main transportation line 41 adopts a rotating transportation member such as a roller or a drum as the first transportation member 414, and the third transportation members 432 are arranged in parallel and at intervals along the length direction of the main transportation line 41. The lift transport platform includes lift support columns, lift plate 431, transport lift drive assemblies, and transition transport lines. The two lifting support columns are respectively arranged on two sides of the main conveying line 41 in the width direction, the two lifting plates 431 are oppositely arranged on two sides of the main conveying line 41 in the width direction in the length direction of the main conveying line 41, and the lifting plates 431 are connected with the corresponding lifting support columns through conveying lifting driving assemblies. The transition transmission line sets up between two lifter plates 431, and the transition transmission line adopts the belt to transmit as third transmission piece 432, and many belts set up along the length direction interval of main transfer chain, and every third transmission piece 432 all sets up between two adjacent first transmission pieces 414.

When the lifting and transferring platform is level with the main transferring line 41, the goods 8 are conveyed to the position where the main transferring line 41 is overlapped with the lifting and transferring platform along the length direction of the main transferring line 41 by the first transferring member 414; the lifting transmission platform is lifted to be in butt joint with the warehouse separation transmission line 42, so that the goods 8 are driven by the transition transmission line to be lifted and separated from the main transmission line 41; the third transmission part 432 in the transition transmission line operates to drive the goods 8 to operate along the direction vertical to the length direction of the main transmission line 41; because the transmission directions of the transition transmission line and the warehouse separation transmission line 42 are basically the same, the goods 8 are driven by the transition transmission line and the warehouse separation transmission line 42 to be transmitted to the warehouse separation transmission line 42 for transmission until the goods are moved to the entrance of the corresponding warehouse 6. The type of the second transmission element 421 in the branch transmission line 42 may be the same as the type of the first transmission element 414 in the main transmission line 41.

In another embodiment, the main transmission line 41 may be driven by a belt, and the transition transmission line may be driven by a roller or a drum, which may also achieve the overlapping arrangement of the transition transmission line in the area on the main transmission line 41.

In another embodiment, the lifting transmission platform may be disposed not overlapping with the main transmission line 41, but overlapping with the sub-warehouse transmission line 42. That is, the main transmission line 41 is a segmented transmission line, and the adjacent two transmission lines are butted by using a lifting transmission platform. When the goods 8 are transported to the lifting transport platform, the goods 8 are separated from the lifting transport platform by lowering the lifting transport platform, that is, the goods 8 are transported on the separate warehouse transport line 42.

In another embodiment, other transition transmission devices 43 besides the lifting transmission platform may be used to connect the main transmission line 41 and the sub-warehouse transmission line 42, for example, any one of the structures of the intermediate transmission devices 2 may be used as the transition transmission device 43, and the description of this embodiment is omitted.

In another embodiment, the main transmission line 41 and the branch transmission line 42 may be directly butted without providing a transition transmission line. Taking the example that the first transmission member 414 of the main transmission line 41 is driven by rollers, one end of the sub-warehouse transmission line 42 coincides with one end of the main transmission line, and the sub-warehouse transmission line 42 uses belts as the second transmission member 421, a plurality of belts are arranged at intervals along the width direction of the sub-warehouse transmission line 42, and each belt is arranged between two adjacent rollers of the main transmission line 41. The warehouse-dividing transmission line 42 is vertically lifted integrally or lifted towards one end of the main transmission line 41 through a lifting device. After the goods 8 are conveyed to the area overlapped with the sub-warehouse conveying line 42 through the main conveying line 41, the lifting device drives the sub-warehouse conveying line 42 to be lifted, the sub-warehouse conveying line 42 is separated from the main conveying line 41, and the goods 8 are conveyed on the sub-warehouse conveying line 42. In this arrangement, the transitional transmission device 43 is not required, but the overall elevation of the warehouse-dividing transmission line 42 is required, which results in a relative increase in cost.

In the present embodiment, the main transmission line 41 preferably adopts a segmented transmission manner, that is, the main transmission line 41 includes a plurality of transmission segments arranged side by side along the length direction thereof. Each transmission segment is connected with the control module, so that the control module can independently control the operation of each transmission segment. The number of the transmission segments is not less than that of the sub-base transmission lines 42, and each sub-base transmission line 42 is correspondingly connected with one transmission segment. Therefore, the operation and starting time of each transmission section and the operation direction of each transmission section are controlled, so that the goods 8 on the main transmission line 41 can be operated to the corresponding transmission section and enter the corresponding warehouse-in transmission line 42 for warehouse-in processing.

In this embodiment, it is preferable that the transmission segment includes a first transmission segment 411 interfacing with each of the sub-library transmission lines 42, and the interfacing between the first transmission segment 411 and the sub-library transmission lines 42 is performed by any one of the above-described interfacing between the main transmission line 41 and the sub-library transmission lines 42. A second transmission subsection 412 is arranged between two adjacent first transmission subsections 411, so that on one hand, the length of the first transmission subsection 411 is shortened, and the butt joint arrangement of the first transmission subsection 411 and the sub-warehouse transmission subsections is facilitated; on the other hand, in the docking process of the goods 8 transitioning from the first transportation segment 411 to the warehouse-splitting transportation segment, the first transportation segment 411 needs to pause to enable the goods 8 to smoothly transit from the first transportation segment 411 to the warehouse-splitting transportation segment, and therefore, the arrangement of the second transportation segment 412 can ensure that when the goods 8 are docked on the first transportation segment 411, another goods 8 can be launched on the second transportation segment 412, the warehousing continuity of the goods 8 is ensured, and the warehousing efficiency of the goods 8 is improved.

In the present embodiment, it is preferable that the transmission segment where the main transmission line 41 interfaces with the intermediate transmission device 2 is the second transmission segment 412. That is, the article 8 gripped by the intermediate conveyance device 2 from the butt conveyance line 1 is placed on the second conveyance line. For convenience of description, the second transmission line corresponding to the intermediate transmission device 2 is named as a direction control transmission section 413, the control module determines, through the tag 81 information obtained by the scanning device, which side of the warehouse 6 the goods 8 are located in the direction control transmission section 413, and determines, through the position of the warehouse 6 relative to the direction control transmission section 413 transmission line, the running direction of the direction control transmission section 413, so that the goods 8 run into the corresponding first transmission section 411 and the branch-warehouse transmission line 42.

The scanning device is used for scanning the tag 81 on the article 8 and identifying the article information carried by the tag 81. In this embodiment, the tag 81 may be one or more of a two-dimensional code, a barcode, or an RFID code, and the type of the scanning device is set corresponding to the type of the tag 81, for example, when the tag 81 is an RFID code, the scanning device is a radio frequency reader, and when the tag 81 is a two-dimensional code, the scanning device is a barcode scanner, etc. The present embodiment does not specifically limit the types of the tag 81 and the scanning device, as long as the tag 81 can carry the goods information, and the scanning device can scan and identify the form of the electronic tag 81 of the goods information carried by the tag 81 and the form of the scanning device.

In this embodiment, the goods information at least includes the name of the goods 8, so as to perform classification and identification on the goods 8 before warehousing, so that the goods 8 can enter the corresponding warehouse 6. The goods information may also include information relating to the goods 8 such as a place of manufacture, a date of expiration, and the like.

In the present embodiment, in order to improve the efficiency of warehousing the goods 8, it is preferable that the docking transmission line 1 is provided with a first scanning device 51 for scanning and identifying the tags 81 of the goods 8 when the goods 8 are transported on the docking transmission line 1. Through setting up first scanning device 51 on butt joint transmission line 1, can be discerned when goods 8 transmit on butt joint transmission line 1, need not additionally carry out the process of scanning discernment, guarantee the continuity of goods 8 transmission, improve the efficiency that goods 8 put in storage.

In this embodiment, the first scanning device 51 may be disposed above the docking transmission line 1, and at this time, the tag 81 of the article 8 running on the docking transmission line 1 is attached to the upper surface of the article 8. In another embodiment, the first scanning device 51 may be disposed on one or both sides of the docking transmission line 1, and the tag 81 of the article 8 is attached to two opposite sides of the article 8. In another embodiment, the first scanning device 51 may be disposed below the docking transmission line 1, and the scanning head is disposed opposite to the docking transmission line 1, in which case the tag 81 is disposed on the lower surface of the article 8. The above arrangement of the tag 81 and the first scanning device 51 needs to ensure that the tag 81 is placed at a position corresponding to the position of the first scanning device 51 when the goods 8 are placed on the docking transmission line 1. In yet another embodiment, the article 8 may be labeled 81 on each side, in which case, regardless of the placement of the article 8 on the docking transmission line 1, or regardless of the position of the first scanning device 51, the article 8 can be scanned and identified by the scanning device as long as it passes through the scanning range of the first scanning device 51.

In other embodiments, the first scanning device 51 may be disposed separately from the docking transmission line 1, for example, the first scanning device 51 is disposed at the front end of the docking transmission line 1. The scanning device is manually or otherwise caused to scan the tag 81 on the article 8 and identify the article information before the article 8 is placed on the docking transmission line 1. Other ways may be to have the mechanical arm grasp the item 8 and transport the item 8 into the scanning orientation of the first scanning device 51 and drive the item 8 to rotate in six degrees of freedom so that the tag 81 affixed to the item 8 can be identified by the scanning device.

In other embodiments, the first scanning device 51 may also be disposed on the intermediate transmission device 2, such as on the side of the fixed support opposite to the docking transmission line 1. At this time, correspondingly, the article 8 is provided with the above-mentioned tag 81 on the side facing the intermediate transfer device 2.

In the present embodiment, in order to improve the warehousing accuracy of the goods 8 and the corresponding warehouse 6 and simplify the control of the automatic warehousing automation, it is preferable that the second scanning device 52 is provided on the main conveying line 41. And more preferably, each first transportation section 411 is provided with a second scanning device 52, and the operation and stop of the corresponding first transportation section 411 and the operation and start of the transition transportation device 43 and the warehouse-dividing transportation device corresponding to the first transportation section 411 are controlled by the goods information scanned by the second scanning device 52.

Specifically, when the article 8 runs on the main transmission line 41 and passes through one first transmission section 411, the second scanning device 52 on the first transmission section 411 scans the tag 81 on the article 8 and identifies the article information carried by the tag 81, and sends the article information to the control module; the control module judges whether the warehouse 6 corresponding to the first transmission subsection 411 is matched with the goods information or not according to the goods information, if so, the control module controls the first transmission subsection 411 to stop running after detecting that the goods 8 run to the lifting transmission platform corresponding to the first transmission subsection 411, the lifting transmission platform rises to be butted with the warehouse-dividing transmission line 42, and when the control module detects that the first transmission subsection 411 is level with the corresponding warehouse-dividing transmission line 42, the control module controls the transition transmission subsection running and the warehouse-dividing transmission line 42 on the lifting transmission platform to run, and the goods 8 enter the corresponding warehouse 6 through the warehouse-dividing transmission line 42; if not, the control module continues to operate through the first transportation segment 411, and continuously transports the goods 8 to a second transportation segment 412 at the front end of the first transportation segment 411, so that the goods 8 are transported to the next first transportation segment 411 through the second transportation segment 412, and are detected and judged.

By arranging the second scanning device 52 on the first transmission section 411, the operation of the first transmission section 411, the corresponding transition transmission device 43 and the sub-warehouse transmission line 42 can be controlled more accurately, the problems that the quantity of the goods 8 on the butt joint transmission line 1 and/or the main transmission line 41 is large, errors such as complex control logic and erroneous judgment are caused by only depending on the scanning result of the first scanning device 51 to control the inlet transmission line are avoided, the operation control of the warehousing transmission line 4 is simplified, the warehousing accuracy of the goods 8 and the corresponding warehouse 6 is ensured, and the warehousing efficiency of the goods 8 is improved. Meanwhile, the second scanning device 52 is configured to determine the position of the goods 8 passing through the second scanning device 52, and determine whether the goods 8 are moved beyond the position corresponding to the warehouse 6 by corresponding to the position of the warehouse 6 corresponding to the goods 8, and if so, the goods 8 can be returned and conveyed to the first conveying section 411 corresponding to the warehouse 6 by controlling the moving directions of the second conveying section 412 and the first conveying section 411. That is, the second scanning device 52 is arranged to enable the warehousing transmission line 4 to have the warehousing error correction function, so that the goods 8 are prevented from entering the wrong warehouse 6, and the warehousing accuracy of the goods 8 is further improved.

In this embodiment, in order to facilitate the operation control of each device, each device is provided with an in-place detection device. For example, a first in-place detection device is arranged at the front end of the butt joint transmission line 1 and used for controlling the start and stop of the butt joint transmission line 1; a second in-place detection device is arranged at the rear end of the butt joint transmission line 1 and is used for controlling the operation of the warping device 3 and the intermediate transmission device 2; a third in-place detection device is arranged on the direction-controlling conveying subsection 413 and is used for controlling the starting and stopping of the direction-controlling conveying subsection 413 according to whether the goods 8 are placed on the direction-controlling conveying subsection 413 or not; each intermediate transition device is provided with a fourth in-place detection device for controlling the operation of the transition transmission device 43 according to whether the goods 8 reach the transition transmission position; each sub-warehouse transmission line 42 is provided with a fifth in-place detection device for controlling the operation and stop of the corresponding sub-warehouse transmission line 42. And a sixth in-place detection device can be arranged on each segmented transmission line and used for controlling the operation and the stop of each segmented transmission line.

The control module is connected with the butt joint transmission line 1, the intermediate transmission device 2, the main transmission line 41, the transition transmission device 43, the arranging device 3, the branch warehouse transmission line 42, the scanning device and each in-place detection device, and controls the operation of the butt joint transmission line 1, the intermediate transmission device 2, the main transmission line 41, the transition transmission device 43, the arranging device 3 and the branch warehouse transmission line 42 according to the detection signal of each in-place detection device and the scanning information of the scanning device

Under the control of the control module, the automatic warehousing method of the automatic warehousing system provided by the embodiment includes the following steps:

step S1: the control module controls the butt joint transmission line 1 to start and operate;

the step can be that the operation of the butt joint transmission line 1 is started manually through a starting switch arranged on the butt joint transmission line 1, or the operation of the butt joint transmission line 1 is started after a first in-place detection module at the front end of the butt joint transmission line 1 detects that goods 8 are placed on the butt joint transmission line 1;

step S2: the goods 8 run on the butt joint transmission line 1 and pass through the first scanning device 51, the first scanning device 51 scans and identifies the tags 81 on the goods 8, and sends the identified goods information to the control module;

step S3: the second in-place detection module detects whether the goods 8 move to the regular position and sends the detection result to the control module;

step S4: the control module receives the in-place information detected by the second in-place detection module, controls the regulating device 3 to operate and regulates the goods 8;

step S5: after the control module regulates the goods 8 by the regulating device 3, the control module controls the intermediate transmission device 2 to transmit the goods 8 on the butt-joint transmission line 1 to the main transmission line 41;

the method specifically comprises the following steps:

step S51: after the regulating device 3 regulates the goods 8, the control module controls the middle transmission device 2 to rotate and descend to enable the grabbing component 25 to be in contact with the goods 8;

in this step, the regulating device 3 may be provided with a device for detecting the product 8 for determining whether the two regulating rotating arms 31 are in uniform contact with the product 8, and when both the two regulating devices 3 are in contact with the product 8, regulating actions of the regulating device 3 or the product 8 are basically completed. The goods 8 detection device sends the detection result to the control module, and the control module controls the operation of the intermediate transmission device 2 according to the detection result.

The control module controls the rotation driving assembly 23 of the intermediate transmission device 2 to act, so that the rotary seat 22 rotates to enable one of the empty grabbing assemblies 25 to rotate to the position opposite to the goods 8, and the control module controls the grabbing lifting adjusting assembly 24 to act, so that the grabbing assemblies 25 are in contact with the goods 8 and grab the goods 8. The control module can directly control the rotation of the rotary drive assembly 23 by angle control, for example, for an intermediate transport device 2 with four gripper assemblies 25, the angle of rotation is 90 ° each time.

Step S52: the control module controls the grabbing component 25 to grab the goods 8;

step S53: after the grabbing device finishes grabbing the goods 8, the control module controls the grabbing lifting adjusting assembly 24 to move, so that the grabbing assembly 25 is lifted, and the goods 8 are separated from the butt joint transmission line 1;

step S54: the control module controls the operation of the rotary drive assembly 23 to rotate the goods 8 above the steering transport section 413.

The control of the rotation driving assembly 23 can be performed by angle control, for example, in the present embodiment, the rotation driving assembly 23 is controlled to rotate 180 °, so that the goods 8 can be switched from the upper side of the butt-joint transmission line 1 to the upper side of the main transmission line 41.

Step S55: the control module controls the grabbing lifting adjusting assembly 24 to move, and the goods 8 are placed on the direction control transmission section 413;

step S6: the third in-place detection device detects whether goods 8 exist in the control direction transmission section 413 or not, and sends a detection result to the control module, if yes, the detection module controls the control direction transmission section 413 to be started according to the goods information scanned by the first scanning device 51;

step S7: the control module controls the operation of the segment transmission line at the corresponding side of the transmission segment 413 according to the goods information scanned by the first scanning device 51;

step S8: when the goods 8 run through the first transmission section 411, the second scanning device 52 scans the goods 8 and identifies the goods information, matches the goods information with the information of the warehouse 6 corresponding to the first transmission section 411, if the goods information is matched with the information of the corresponding warehouse 6, the step S9 is executed, otherwise, the step S13 is executed;

step S9: the first conveying subsection 411 conveys the goods 8 to the transitional conveying device 43, the fourth in-place detection device detects whether the transitional conveying device 43 has the goods 8 or not, and sends a detection result to the control module;

step S10: the control module controls the corresponding first transmission section 411 to stop running and controls the lifting transmission platform to lift according to the goods 8 in-place information detected by the fourth in-place detection device;

step S11: when the lifting transmission platform is aligned with the warehouse separation transmission platform, the control module controls the transition transmission line and the warehouse separation transmission line 42 to operate so as to transfer the goods 8 from the transition transmission line to the warehouse separation transmission line 42;

step S12: the fifth in-place detection module detects that goods 8 are on the warehouse-splitting transmission line 42 and sends the detection result to the control module, the control module controls the transition transmission line to stop running, and the lifting transmission platform descends to be flush with the first transmission section 411.

Step S13: the control module controls the first transportation section 411 to continue to run, and returns to step S8 after the goods 8 on the first transportation section 411 are transported to the next first transportation section 411 through the second transportation section 412 in front.

The embodiment also provides a warehouse logistics system, which comprises the automatic warehouse entry system.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An automated warehousing system, comprising:

the warehouse entry transmission line (4) is provided with a plurality of unloading channels along the length direction, and outlets of the unloading channels correspond to the warehouses (6) one by one respectively;

the butt joint transmission system is used for receiving the goods (8) unloaded from the transport vehicle (7) and transmitting the goods (8) to the warehousing transmission line (4);

a scanning device for scanning and identifying the goods;

a control module configured to convey the goods (8) into the shipment lane corresponding to a target warehouse (6) according to the information of the goods.

2. The automated warehousing system of claim 1, wherein the docking transport system comprises:

the front end of the butt joint transmission line (1) is used for receiving goods (8) unloaded from a transport vehicle (7), and the rear end of the butt joint transmission line is vertically butted with the warehousing transmission line (4).

3. The automated warehousing system of claim 2, wherein the docking transport system further comprises:

the intermediate transmission device (2) is arranged between the rear end of the butt joint transmission line (1) and the warehousing transmission line (4) and is used for conveying the goods (8) of the butt joint transmission line (1) to the warehousing transmission line (4).

4. The automated warehousing system of claim 2 or 3, characterized in that the warehousing transmission line (4) is arranged along the arrangement direction of the warehouse (6), and the butt-joint transmission line (1) is butt-jointed with the middle position of the warehousing transmission line (4).

5. The automated warehousing system according to claim 3, characterized in that the intermediate transmission device (2) comprises:

the fixing seat (21) is fixedly arranged relative to the butt joint transmission line (1);

snatch subassembly (25), set up on fixing base (21), and be configured as relatively fixing base (21) horizontal rotation and vertical lift, it is used for snatching to snatch subassembly (25) goods (8).

6. The automated warehousing system of claim 5, characterized in that the intermediate transport device (2) further comprises:

the rotating seat (22) is rotatably connected with the fixed seat (21);

a rotation driving assembly (23) configured to drive the rotary base (22) to rotate relative to the fixed base (21);

the grabbing component (25) is connected with the rotating base (22) through the grabbing lifting adjusting component (24).

7. The automated warehousing system of claim 6, characterized in that the rotary drive assembly (23) comprises:

the driving motor (231) is connected with the fixed seat (21);

the driving gear (232) is sleeved on an output shaft of the driving motor (231);

and the gear ring structure (233) is arranged on the rotating seat (22) and is matched with the driving gear (232).

8. The automated warehousing system of claim 7, characterized in that the intermediate transport device (2) further comprises:

and the inner ring of the slewing bearing is connected with the fixed seat (21), the outer ring of the slewing bearing is connected with the rotating seat (22), and the outer ring of the slewing bearing is the gear ring structure (233).

9. The automated warehousing system of claim 6, characterized in that the grasping assembly (25) comprises:

a suction cup (253) for gripping or placing the goods (8) by means of vacuum suction.

10. The automated warehousing system of claim 9, characterized in that the grasping assembly (25) further comprises:

the supporting plate (251) is connected with the grabbing lifting adjusting assembly (24), and a plurality of suckers (253) are arranged on the supporting plate (251).

11. The automated warehousing system of any of claims 6-10, characterized in that the rotating base (22) is provided with a plurality of sets of gripping assemblies (25) at intervals circumferentially along its direction of rotation.

12. The automated warehousing system of claim 11, characterized in that the carousel (22) comprises:

a central seat part (221) which is rotatably connected with the fixed seat (21);

an extension arm part (222) extending outward in a radial direction of a rotation axis of the center seat part (221), an end of the extension arm part (222) away from the center seat part (221) being provided with the grab assembly (25) and the elevation adjustment assembly.

13. The automated warehousing system according to claim 4, characterized in that the warehousing transmission line (4) comprises:

a main transport line (41) arranged along the direction of arrangement of the warehouse (6);

and one end of each warehouse-dividing transmission line (42) is connected with the main transmission line (41), the other end of each warehouse-dividing transmission line is connected with the corresponding warehouse (6) inlet, each warehouse-dividing transmission line (42) forms the discharging channel, and the transmission direction of each warehouse-dividing transmission line (42) is perpendicular to the transmission direction of the main transmission line (41).

14. The automated warehousing system of claim 13, characterized in that the warehousing transmission line (4) further comprises:

the lifting transmission platform is characterized in that the warehouse separation transmission line (42) and the main transmission line (41) are arranged in the vertical direction in a parallel and spaced mode, a transition transmission line is arranged on the lifting transmission platform and is configured to drive goods (8) on the lifting transmission platform to be transmitted to the warehouse separation transmission line (42).

15. The automated warehousing system of claim 13, characterized in that said main transport line (41) comprises a plurality of transport segments arranged side by side along its length, the number of said transport segments being not less than the number of said sub-warehousing transport lines (42), and each of said sub-warehousing transport lines (42) corresponding to one of said transport segments.

16. The automated warehousing system of claim 15, wherein the transport segment comprises:

the first transmission segments (411) are arranged in one-to-one correspondence with the warehousing transmission lines (4) and are in butt joint with the warehousing transmission segments;

a second transmission segment (412), one second transmission segment (412) being disposed between two adjacent first transmission segments (411).

17. The automated warehousing system according to claim 2, characterized in that the scanning means comprise first scanning means (51) arranged on the docking transmission line (1).

18. An automated warehousing system according to claim 16, characterized in that the scanning means comprise second scanning means (52) arranged on the first transport section (411), and one second scanning means (52) is arranged on each first transport section (411).

19. The automated warehousing system of claim 4, further comprising:

the regulating device (3) is arranged at one end, close to the warehousing transmission line (4), of the butt joint transmission line (1), and the regulating device (3) is configured to regulate the position and/or the pose of the goods (8) on the butt joint transmission line (1).

20. The automated warehousing system of claim 19, characterized in that said organizing means (3) comprises:

the two regulating rotating arms (31) are respectively arranged on two sides of the butt joint transmission line (1) along the width direction;

tumbler drive assembly (33), with the one end of regular tumbler (31) is connected, and is configured as the drive two the other end of regular tumbler (31) is relative and synchronous horizontal rotation, so that two regular tumbler (31) respectively with goods (8) are followed butt joint transmission line (1) width direction's both sides face contact.

21. The automated warehousing system of claim 20, characterized in that the organizing device (3) further comprises:

the fixed shaft (32) is vertically arranged at the rear end of the butt joint transmission line (1), and the regulating rotating arm (31) is rotatably connected with the fixed shaft (32);

and two ends of the piston cylinder are respectively provided with a piston rod (331) which is horizontally arranged, and the piston rods (331) at the two ends are respectively connected with one end of the corresponding regulating rotating arm (31) close to the warehousing transmission line (4).

22. The automated warehousing system of claim 20, characterized in that when two said regularizing arms (31) are in contact with opposite sides of the goods (8), respectively, the minimum distance between the two said regularizing arms (31) is equal to the dimension of the goods (8) in the width direction of the docking transmission line (1).

23. The automated warehousing system of claim 22, characterized in that the regulating rotating arms (31) are arc-shaped structures, and when two regulating rotating arms (31) are respectively contacted with two opposite side surfaces of the goods (8), the connecting line of two ends of the arc-shaped structures is parallel to the length direction of the butt-joint conveying device.

24. The automated warehousing system of claim 22, characterized in that the organizing device (3) further comprises:

and the clamping roller (35) is vertically arranged on the regulating rotating arm (31) and is used for contacting one end of the goods (8), and the clamping roller (35) is rotationally connected with the regulating rotating arm (31).

25. A warehouse logistics system comprising the automated warehousing system of any of claims 1-24.

26. An automated warehousing method using the automated warehousing system of any of claims 1-24, comprising the steps of:

the control module controls the butt joint transmission system to operate, and goods (8) unloaded from the transport vehicle (7) are conveyed to the warehousing transmission line (4);

the scanning device scans the goods (8), identifies the goods information of the goods and sends the goods information to the control module;

the control module controls the operation of the warehousing transmission line (4) according to the goods information and transmits the goods (8) to a goods discharging channel corresponding to the goods (8).

27. The automated warehousing method according to claim 26, characterized in that the docking transmission system comprises a docking transmission line (1), a first scanning device (51) is arranged on the docking transmission line (1), a direction control transmission section (413) docked with the docking transmission line (1) and a first transmission section (411) docked with the entryway are arranged on the warehousing transmission line (4), and a second scanning device (52) is arranged on the first transmission section (411);

the control module is according to goods information control branch storehouse transmission line (42)'s operation, will goods (8) transmit to with in the lower goods passageway that goods (8) correspond, specifically include:

the control module controls the running direction of the steering transmission segment (413) according to the scanning result of the first scanning device (51);

the control module controls whether goods (8) enter the delivery passage corresponding to the first transmission section (411) or not according to the scanning result of the second scanning device (52).