CN111605959B

CN111605959B - Automatic warehousing system, warehousing logistics system and automatic warehousing method

Info

Publication number: CN111605959B
Application number: CN201910138696.7A
Authority: CN
Inventors: 李洪涛
Original assignee: Beijing Jingdong Qianshi 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: 2024-02-09
Anticipated expiration: 2039-02-25
Also published as: WO2020173217A1; CN111605959A

Abstract

The invention belongs to the field of warehouse logistics, and particularly discloses an automatic warehouse entry system, a warehouse logistics system and an automatic warehouse entry method. The automatic warehousing system comprises a warehousing transmission line, wherein a plurality of discharging channels are arranged along the length direction of the warehousing transmission line, and outlets of the discharging channels are respectively in one-to-one correspondence with a plurality of warehouses; the docking transmission system is used for receiving goods unloaded on the transport vehicle and transmitting the goods to the warehousing transmission line; scanning means for scanning and identifying the article; and the control module is configured to convey the goods into the goods discharging channel corresponding to the target warehouse according to the information of the goods. The warehouse logistics system comprises the automatic warehouse system, and the automatic warehouse method is applied to the automatic warehouse 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 warehouse entry system, a warehouse logistics system and an automatic warehouse entry method.

Background

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

The prior art provides an intelligent logistics loading and unloading conveying system, and a warehouse entry end conveying assembly of the intelligent logistics loading and unloading conveying system comprises a discharge transition line, a rapid discharge conveying line, a discharge buffer line, a lifting mechanism and a final assembly material conveying line which are connected in sequence. The unloading transition line is used for being in butt joint with the transport vehicle to finish logistics unloading and conveying, and after logistics are unloaded from the transport vehicle, the logistics are conveyed to the general assembly logistics conveying line after passing through the rapid unloading conveying line, the unloading buffer line and the lifting mechanism in sequence until the warehousing operation is finished, so that automatic goods warehousing is realized.

In the process of realizing the invention, the inventor finds that the warehouse entry end conveying component provided by the prior art can finish automatic unloading of the transport vehicle and automatic conveying of goods to a warehouse, but all the unloaded goods are conveyed to a general assembly material conveying line, and if only one warehouse exists in the logistics warehouse area, all the goods on the general assembly logistics conveying line are conveyed to the warehouse to finish final goods warehouse entry operation; however, if the logistics warehouse area is provided with a plurality of warehouses, and the types of the goods correspondingly stored in each warehouse are different, the goods on the general assembly material conveying line are required to be manually identified, the goods on the general assembly logistics conveying line are distributed to different forklift trucks or conveying lines according to the identified goods information, and the goods are conveyed to the corresponding warehouses by the forklift trucks or the conveying lines and other devices. Therefore, the inventor discovers that when a plurality of warehouses exist in the logistics warehouse area, the warehouse-in end conveying assembly provided by the prior art is difficult to realize efficient warehouse-in of goods, the correspondence between the types of the goods and the warehouse types can be realized only by assisting manual work or other equipment, the operation links are more, the efficiency is low, the condition that the types of the goods are inconsistent with the types of the warehouse-in warehouses easily occurs, and the automation, the high efficiency and the intelligent operation of the warehouse-in operation of the goods are not facilitated.

Disclosure of Invention

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

Another object of the present invention is to provide a warehouse logistics system, which improves the automation and efficient 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 operations of warehousing goods, and improves accuracy of warehousing goods.

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

an automated warehousing system, comprising:

the warehouse-in transmission line is provided with a plurality of goods discharging channels along the length direction, and the outlets of the goods discharging channels are respectively in one-to-one correspondence with the warehouses;

the docking transmission system is used for receiving goods unloaded on the transport vehicle and transmitting the goods to the warehousing transmission line;

scanning means for scanning and identifying the article;

and the control module is configured to convey the goods to the goods delivery 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 on the transport vehicle, and the rear end of the butt joint transmission line is vertically butt-jointed with the warehouse-in transmission line.

Preferably, the docking transmission system further comprises:

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

Preferably, the warehouse entry transmission line is arranged along the arrangement direction of the warehouse, and the butt joint transmission line is in butt joint with the middle position of the warehouse entry transmission line.

Preferably, the intermediate transmission device comprises:

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

the grabbing component is arranged on the fixing base and is configured to horizontally rotate and vertically lift relative to the fixing base, and the grabbing component is used for grabbing goods.

Preferably, the intermediate transmission device further comprises:

the rotating seat is rotationally connected with the fixed seat;

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

snatch lift adjustment subassembly, snatch the subassembly and pass through snatch lift adjustment subassembly with the roating seat is connected.

Preferably, the rotation driving assembly includes:

the driving motor is connected with the fixed seat;

the driving gear is sleeved on the 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 comprises:

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 sucker is used for grabbing or placing the goods in a vacuum suction mode.

Preferably, the grasping assembly further comprises:

the support plate is connected with the grabbing lifting adjusting assembly, and a plurality of suckers are arranged on the support plate.

Preferably, the rotary seat is provided with a plurality of groups of grabbing components at intervals along the circumferential direction of the rotary seat in the rotary direction.

Preferably, the rotating base includes:

the central seat is rotationally connected with the fixed seat;

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

Preferably, the warehouse entry transmission line includes:

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

and one end of the sub-warehouse transmission line is connected with the main transmission line, the other end of the sub-warehouse transmission line is connected with the corresponding warehouse inlet, the sub-warehouse transmission line forms the goods discharging channel, and the transmission direction of the sub-warehouse transmission line is perpendicular to the transmission direction of the main transmission line.

Preferably, the warehouse entry transmission line further includes:

the lifting transmission platform is characterized in that the sub-warehouse transmission lines are parallel to the main transmission line in the vertical direction and are arranged at intervals, a transition transmission line is arranged on the lifting transmission platform and is configured to drive goods on the lifting transmission platform to be transmitted to the sub-warehouse transmission lines.

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-bank transmission lines, and each of the sub-bank transmission lines corresponds to one of the transmission segments.

Preferably, the transmission segment comprises:

the first transmission segments are arranged in one-to-one correspondence with the sub-library transmission lines and are in butt joint with the sub-library transmission lines;

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

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

Preferably, the scanning device comprises a second scanning device arranged on the first transmission section, and one second scanning device is arranged on each first transmission section;

preferably, the automatic warehousing system further comprises:

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

Preferably, the regularization device comprises:

two regular rotating arms respectively arranged at two sides of the butt joint transmission line along the width direction;

and the rotating arm driving assembly is connected with one end of the regular rotating arm and is configured to drive the other ends of the two regular rotating arms to rotate horizontally relatively and synchronously so that the two regular rotating arms are respectively contacted with two side surfaces of the goods along the width direction of the butt joint transmission line.

Preferably, the regularization apparatus 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;

The two ends of the piston cylinder are provided with piston rods which are horizontally arranged, and the piston rods at the two ends are respectively connected with one end, close to the warehouse-in transmission line, of the corresponding regular rotating arm.

Preferably, when the two regular rotating arms are respectively contacted with opposite side surfaces of the article, a minimum distance between the two regular rotating arms is equal to a dimension of the article in the width direction of the abutting conveyor line.

Preferably, the regular rotating arm is of an arc-shaped structure, and when the two regular rotating arms are respectively contacted with two opposite side surfaces of the goods, two connecting lines at two ends of the arc-shaped structure are parallel to the length direction of the butt joint transmission line.

Preferably, the regularization apparatus 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 is rotationally connected with the regular rotating arm.

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

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

the control module controls the operation of the butt joint transmission system and conveys goods unloaded from the transport vehicle 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;

And the control module controls the operation of the warehousing transmission line according to the goods information, and transmits the goods to a 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 which is in docking with the docking transmission line and a first transmission section which is in docking with the discharging channel are arranged on the warehousing transmission line, and a second scanning device is arranged on the first transmission section;

the control module controls the operation of the separate-warehouse transmission line according to the goods information, and transmits the goods to a goods discharging channel corresponding to the goods, and the control module specifically comprises the following steps:

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

and the control module controls whether the goods enter the goods discharging channel corresponding to the first transmission section 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 the goods and identify the goods information, the warehousing transmission line is arranged, the goods discharging channel corresponding to the warehouse is arranged on the warehousing transmission line, and 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 goods information, so that 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 warehousing efficiency and accuracy of the goods are improved; and through setting up the unloading passageway that corresponds with each warehouse on the warehouse entry transmission line, can realize the goods of multiple warehouse and put into storage simultaneously and operate, overcome and adopt auxiliary assembly such as fork truck to carry out the needs of sorting to the goods that belong to each warehouse, simplify the structure of automatic warehouse entry system, improve the efficiency that goods put into storage.

By adopting the automatic warehousing system, the warehouse logistics system provided by the embodiment of the invention solves the problems of low warehousing efficiency of goods, non-correspondence between goods and warehouses and the like, and improves the accuracy and efficiency of warehousing of the goods.

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 goods and warehouses and the like are solved, and the accuracy and efficiency of warehousing of the goods are improved.

Drawings

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

FIG. 2 is a top view of an automated warehousing system provided by an embodiment of the 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 normalization device according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a part of a warehouse entry transmission line according to an embodiment of the present invention.

The figures are labeled as follows:

1-butting a transmission line;

2-an intermediate transmission device; 21-a fixed seat; 22-rotating seat; 221-a central seat; 222-extending arm portions; 23-a rotational drive assembly; 231-driving a motor; 232-a drive gear; 233-ring gear structure; 24-grabbing a lifting adjusting assembly; 241-lifting drive; 242-fixing plate; 243-connecting plates; 244-lifting guide assembly; 25-a grasping assembly; 251-supporting plate; 253-sucking disc;

3-a regularization device; 31-regulating a rotating arm; 311-connecting arms; 312-auxiliary arms; 32-a fixed shaft; 33-a boom drive assembly; 331-a piston rod; 332-a cylinder; 34-a stop; 35-clamping rollers;

4-warehousing transmission lines; 41-a main transmission line; 411-first transmission segment; 412-a second transmission segment; 413-steering transmission segments; 414-a first transfer element; 42-a split-bank transmission line; 421-second transfer element; 43-transition transmission means; 431-lifting plate; 432-third transfer member.

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

6, warehouse;

7-a transport vehicle;

8-goods, 81-labels.

Detailed Description

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

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

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 present embodiment provides an automatic warehousing system, which is applied to a warehouse logistics process, and realizes butt joint of goods 8 between a transport vehicle 7 and a warehouse 6, so as to realize automatic 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 docking and conveying system is used for receiving the goods 8 unloaded on the transport vehicle 7, conveying the goods 8 to the warehousing and conveying line 4, arranging a label 81 on the goods 8, and carrying goods information on the label 81; the warehousing transmission lines 4 are used for conveying goods 8 into corresponding warehouses 6, a plurality of discharging passages are arranged on the warehousing transmission lines 4 along the length direction of the warehousing transmission lines, and the number and the positions of the discharging passages are in one-to-one correspondence with those of the warehouses 6; the scanning device is arranged in the butt joint transmission system and is used for scanning the label 81 on the goods 8, identifying the goods information and transmitting the goods information to the control module; 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 the 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 delivery channel corresponding to the warehouse 6 on the warehousing transmission line 4, the control module controls the warehousing transmission line 4 to run according to the goods information to convey the goods 8 into the corresponding delivery channel, namely the goods 8 can be conveyed into the warehouse 6 corresponding to the goods 8 according to the information of the goods 8, the corresponding warehousing of the goods 8 is satisfied, and the warehousing efficiency and accuracy of the goods 8 are improved; and through setting up the unloading passageway that corresponds with each warehouse 6 on warehouse entry transmission line 4, can realize the goods 8 of many warehouses 6 warehouse entry operation simultaneously, need not additionally set up fork truck or handling device etc. and carry out the letter sorting to the goods 8 that belong to each warehouse 6, simplify the structure of automatic warehouse entry system, improve the efficiency that goods 8 put in storage.

In the present embodiment, the article 8 for carrying and warehousing is preferably an article subjected to regular packing, such as a bin having a regular shape or the like. The present invention is not limited thereto and the article 8 may be an irregularly packaged article such as a shaped package, a packaged clothing, or the like.

In this embodiment, the goods 8 unloaded from the transport vehicle 7 can be directly placed on the docking and transporting system, so that intermediate links can be reduced, but since the docking and transporting system can dock only one transport vehicle 7 at a time, when the periods of transporting the goods 8 by the transport vehicle 7 are relatively concentrated, a waiting process of the transport vehicle 7 can be generated. In order to avoid waiting of the transport vehicle 7, a discharge accumulation place may be set in the automatic warehouse system, the goods 8 of the transport vehicle 7 are intensively discharged to the discharge accumulation place, and the docking and conveying system conveys the goods 8 in the discharge accumulation place to the warehouse conveying line 4.

The unloading of the article 8 from the carrier 7 may be performed manually, or the article 8 may be unloaded from the carrier 7 by an unloading device such as a loading truck, a forklift, or an unloading transmission line. The unloading manner of the goods 8 from the carrier 7 in this embodiment is not particularly limited, but it is more preferable to use the unloading device to unload the goods 8 on the carrier 7 so as to improve the continuity of the loading of the goods 8 into the warehouse and the automation operation.

In this embodiment, preferably, the docking and conveying system includes a docking and conveying line 1 and an intermediate conveying device 2, the front end of the docking and conveying line 1 is used for receiving the goods 8 unloaded on the transport vehicle 7, and the intermediate conveying device 2 is disposed between the rear end of the docking and conveying line 1 and the warehouse-in conveying line 4, and is used for conveying the goods 8 on the docking and conveying line 1 to the warehouse-in conveying line 4.

In the same manner as above, the butt-joint transmission line 1 may receive the article 8 directly from the carrier 7, or may receive the article 8 indirectly from the carrier 7 in a concentrated manner by discharging. Moreover, the butt joint transmission line 1 does not have the function of grabbing the goods 8, so the goods 8 on the transport vehicle 7 or the goods 8 on the unloading gathering place can be placed on the butt joint transmission line 1 by manpower, and also can be placed on the butt joint transmission line 1 by adopting a mechanical arm. And preferably, for the mode of unloading the transport vehicle 7 by adopting the unloading gathering place, the unloading gathering place is arranged at the front end position of the butt joint transmission line 1, so that the middle path of the goods 8 to the butt joint transmission line 1 is reduced, and the conveying efficiency is improved. More preferably, the docking and conveying system further comprises a mechanical arm, the mechanical arm can have a self-moving function, and can also be of a fixed mechanical arm structure, and the mechanical arm is used for carrying the goods 8 on the docking and conveying line 1 in the unloading and gathering places.

In this embodiment, the conveying line is adopted to realize the conveying of the goods 8 between the transport vehicle 7 or the unloading gathering place and the warehouse-in conveying line 4, so that the synchronous and spaced conveying of a plurality of goods 8 on one conveying line can be realized, the continuity and the order of the conveying and the conveying of the goods 8 can be ensured, and the conveying efficiency of the goods 8 is improved. In other embodiments, the docking and transfer system may also employ a transfer robot to effect transfer of the items 8 between the transport vehicle 7 or the discharge accumulation site and the warehouse entry conveyor line 4. The transfer robot may be a mechanical arm structure with a self-driving function, and the picking and placing function of the mechanical arm on the goods 8 is used for grabbing the goods 8 on the transport vehicle 7 or the unloading gathering place and placing the goods 8 on the warehouse-in transmission line 4. In this case, in order to avoid an excessively long primary transfer path of the transfer robot, the discharge accumulation is preferably provided near the warehouse entry transfer line 4. In another embodiment, the goods 8 can be carried between the transport vehicle 7 or the unloading gathering place and the warehouse-in transmission line 4 by a way of matching a forklift with a carrying mechanical arm, part of the goods 8 is carried from the transport vehicle 7 or the unloading gathering place to a position close to the warehouse-in transmission line 4 at one time by the forklift, and then the goods 8 on the forklift are carried to the warehouse-in transmission line 4 one by the carrying mechanical arm. In this way, the unloading gathering place or the transport vehicle 7 parking place can be arranged at a position far away from the warehouse-in transmission line 4, and the carrying mechanical arm can be of a non-movable mechanical arm structure, and the reciprocating carrying stroke of the carrying robot is reduced by carrying the multi-goods 8 of the forklift.

In this embodiment, the docking transmission line 1 may be any one of belt transmission, roller transmission, and the like, and the specific transmission method of the docking transmission line 1 is not limited in this embodiment. The structure of the transmission line is set as a conventional technical means in the art, and the description of this embodiment is omitted.

Fig. 3 is a schematic structural view of an intermediate transmission device according to an embodiment of the present invention, and fig. 4 is a partial enlarged view at I in fig. 3, and as shown in fig. 3 and 4, in this embodiment, preferably, the intermediate transmission device 2 includes a fixing base 21 and a grabbing component 25, where the fixing base 21 is fixedly disposed relative to the docking transmission line 1, and the grabbing component 25 is disposed on the fixing base 21 and configured to be capable of horizontally rotating and vertically lifting relative to the fixing base 21. The grabbing component 25 is used for grabbing the goods 8 transferred to the rear end of the docking transmission line 1, after grabbing the goods 8, the grabbing component 25 is lifted to enable the goods 8 to be separated from the docking transmission line 1, the grabbing component 25 is rotated to enable the goods 8 to be located above the warehousing transmission line 4, and after the grabbing component 25 is lowered, the goods 8 are placed on the warehousing transmission line 4.

In this embodiment, the fixing seat 21 is fixed relative to the ground, so that the intermediate transmission device 2 has an independent structure relative to the docking transmission line 1 and the warehouse-in transmission line 4, which is favorable for simplifying the structure of the docking transmission line 1 and the warehouse-in transmission line 4 and installing and dismantling 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 warehouse-in transmission line 4, and ensure the continuous operation of the docking transmission line 1, the warehouse-in transmission line 4 and the intermediate transmission device 2. In other embodiments, the fixing base 21 may be fixed on the end of the docking transmission line 1 or the warehouse transmission line 4.

Preferably, in this embodiment, to facilitate the horizontal rotation and the vertical lifting of the gripping assembly 25 relative to the fixed seat 21, the intermediate transfer device 2 further comprises: the rotating seat 22 is rotationally 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; grabbing lifting adjusting component 24, grabbing component 25 is connected with rotary seat 22 through grabbing lifting adjusting component 24 to realize the vertical lift of grabbing component 25. By providing the swivel base 22 and the grabbing lifting adjusting assembly 24, the rotating structure of the grabbing assembly 25 can be separated from the lifting structure, and the structure of the intermediate transmission device 2 is simplified. In other embodiments, the rotation driving component 23 may be directly connected to the grabbing lifting adjusting component 24 to drive the grabbing lifting adjusting component 24 to rotate, and the grabbing component 25 is disposed on the grabbing lifting adjusting component 24.

More specifically, in the present embodiment, a revolving bearing is disposed between the revolving seat 22 and the fixed seat 21, one of the revolving seat 22 and the fixed seat 21 is connected with an outer ring of the revolving bearing, and the other is connected with an inner ring of the revolving bearing, so as to improve the stability of the revolving connection of the revolving seat 22 relative 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 at an outer surface of the fixing base 21. The output shaft of the driving motor 231 is disposed vertically upward, and a driving gear 232 is sleeved thereon. The rotary drive assembly 23 further comprises a gear ring structure 233 provided on the rotary base 22 for cooperating transmission with the drive gear 232. More preferably, in the present embodiment, the outer ring of the slewing bearing is fixedly connected with the rotating seat 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 outer surface of the rotary seat 22 may be sleeved with the above-mentioned gear ring structure 233, or the outer surface of the rotary seat 22 may be integrally formed with the above-mentioned gear ring structure 233. In another embodiment, the inner ring of the slewing bearing may be the ring gear structure 233, the inner ring of the slewing bearing is connected to the rotating seat 22, and the outer ring is connected to the fixed seat 21. The fixed seat 21 is of a hollow structure, and the driving motor 231 is arranged inside the fixed seat 21, so that a driving gear 232 sleeved on the driving motor 231 is matched with a gear ring structure 233 of the slewing bearing for transmission.

In the present embodiment, by integrally providing the slewing bearing 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 in the prior art, the rotation of the rotating base 22 relative to the fixed base 21 may be realized, and detailed description of this embodiment is omitted.

In the present embodiment, preferably, the rotating base 22 includes a central base 221 and an extension arm 222, and the central base 221 is connected with the swivel bearing to realize a rotational connection with respect to the fixed base 21. The central seat 221 has an extension arm 222 extending radially outwardly along its rotational axis, and the end of the extension arm 222 remote from the central seat 221 is provided with the above-described gripping lift adjustment assembly 24 and gripping assembly 25. By providing 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, which is beneficial to enabling the extension arm 222 to extend into the docking transmission line 1 and/or the warehousing transmission line 4, and avoiding structural and action interference between the arrangement of the rotating base 22 and the docking transmission line 1 and/or the warehousing transmission line 4.

In order to improve the conveying efficiency of the intermediate conveying device 2 to the goods 8, in this embodiment, it is preferable that the rotating base 22 is provided with a plurality of groups of gripping members 25 at intervals along the circumferential direction of the rotation axis thereof, so that the conveying of a plurality of goods 8 can be realized in one rotation period of the rotating base 22. More preferably, the rotating seat 22 is provided with four grabbing components 25 at equal intervals along the circumferential direction of the rotating axis, that is, when one grabbing component 25 is used for placing the goods 8 in the warehouse-in transmission device, one grabbing component 25 opposite to the grabbing component can grab the goods 8 on the butt-joint transmission line 1, so that the grabbing efficiency is improved, the control of the action steps of the butt-joint transmission line 1, the warehouse-in transmission line 4 and the middle transmission device 2 is facilitated, the integral size of the middle transmission device 2 is reduced, meanwhile, the mutual collision or interference of the goods 8 grabbed by 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, further, in this embodiment, the gripping lifting adjusting members 24 are provided in one-to-one correspondence with the gripping members 25. That is, four extension arm portions 222 are correspondingly arranged on the rotating seat 22, the tail end of each extension arm portion 222 is provided with a grabbing lifting adjusting assembly 24, and each grabbing lifting adjusting assembly 24 is connected with a grabbing assembly 25. In other embodiments, multiple gripper assemblies 25 may be coupled to the same gripper lift adjustment assembly 24.

Further, the grab lift adjustment assembly 24 includes a lift drive 241 and a connecting plate 243. The elevation driving member 241 is connected to the connection plate 243, and can drive the connection plate 243 to vertically elevate. The distal end of the extension arm 222 is vertically provided with a fixing plate 242, and the elevation driving member 241 is fixed to the fixing plate 242. The connecting plate 243 is provided with the above-described gripping assembly 25. Further, to improve the lifting stability and accuracy of the grabbing component 25, the grabbing lifting adjusting component 24 further includes a lifting guiding component 244, the lifting guiding component 244 includes a vertically disposed slide rail and a slider matched with the slide rail, one of the fixing plate 242 and the connecting plate 243 is provided with the slide rail, the other is provided with the slider, and the movement guiding of the connecting plate 243 relative to the fixing plate 242 is achieved through the cooperation of the slide rail and the slider.

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

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

More preferably, the grabbing assembly 25 further comprises a support plate 251, and the support plate 251 is detachably connected with the connection plate 243, so that the grabbing assembly 25 can be mounted, dismounted and replaced relative to the grabbing lifting adjustment assembly 24. The support plate 251 is horizontally disposed, and a lower surface of the support plate 251 is provided with a plurality of suction cups 253. By providing the plurality of suction cups 253 on the support plate 251, the suction of the goods 8 with different sizes and weights can be realized, and the gripping flexibility and reliability of the gripping assembly 25 can be improved. In other embodiments, it is also possible to provide only one larger suction cup 253 for gripping the article 8.

In the present embodiment, by providing the rotary grasping structure, the transfer of the article 8 between the docking transmission line 1 and the warehouse-in transmission line 4 is realized, 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 a plurality of grabbing components 25 are arranged on the fixing seat 21 along the circumferential direction of the fixing seat, so that continuous grabbing and conveying of a plurality of goods 8 can be realized, the butting efficiency between the butting transmission line 1 and the warehousing transmission line 4 is improved, and the warehousing efficiency and continuity of the goods 8 are improved.

In other embodiments, the intermediate transmission device 2 may be a mechanical arm structure, where a gripper or a sucker for gripping the goods is disposed at the end of the mechanical arm, and the goods 8 on the docking transmission line 1 is gripped and placed on the warehouse-in transmission line 4 by the six-degree-of-freedom movement of the mechanical arm and the cooperation of the gripper.

In another embodiment, the intermediate transfer device 2 may be a lifting platform, in which case the transfer surface of the warehouse-in 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 is lifted 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 still another embodiment, the intermediate conveying device 2 may be a push plate type conveying structure, that is, a push plate and a push plate driving device are disposed at the end of the docking conveying line 1, when the goods 8 reach the end of the docking conveying line 1, the push plate is driven to rotate to enable the push plate to be located at one side of the goods 8 far away from the warehousing conveying line 4, and the push plate is driven to move along the direction towards the warehousing conveying line 4, so as to push the goods 8 to be conveyed from the docking conveying line 1 to the warehousing conveying line 4.

In other embodiments, the intermediate transfer device 2 may also be other devices that can transfer the goods 8 between the docking transfer line 1 and the warehouse entry transfer line 4, which are not listed in this embodiment.

In the 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 warehouse-in transmission line 4, which is beneficial to simplifying the generalized structural design of the butt joint transmission line 1 and the warehouse-in transmission line 4 and reducing the cost. In other embodiments, the docking transmission line 1 may be directly docked with the warehouse entry transmission line 4. For example, the butt-joint transmission line 1 adopts a belt transmission system in which a plurality of transmission belts are provided at intervals in the width direction. The warehouse-in transmission line 4 adopts a roller or roller transmission mode, the warehouse-in transmission line 4 is partially overlapped with one end of the butt-joint transmission line 1, and the roller or roller of the warehouse-in transmission line 4 is arranged between the gaps of two adjacent belts at the overlapped part. In the butt joint mode, because two different transmission directions exist at the overlapping part, when the goods 8 are transported through the butt joint transmission line 1 in the overlapping area, the butt joint transmission line 1 needs to be suspended, and meanwhile, the warehouse entry transmission line 4 is started to realize the transmission of the goods 8 on the warehouse entry transmission line 4.

Further, in order to improve the gripping stability and reliability of the gripping device on the goods 8, the automatic warehousing system provided in this embodiment further includes a regularization device 3 disposed at the rear end of the docking transmission line 1, and configured to normalize the position and/or the pose of the goods 8 transferred to the rear end of the transmission line on the docking transmission line 1, so as to facilitate gripping of the goods 8 by the gripping device.

Fig. 5 is a schematic structural view of a leveling device according to an embodiment of the present invention, and as shown in fig. 5, preferably, in this embodiment, the leveling device 3 includes two leveling arms 31 and a arm driving assembly 33. The two regular rotating arms 31 are respectively arranged at two sides of the butt joint transmission line 1 along the width direction, and the rotating arm driving assembly 33 is connected with one end of the regular rotating arm 31 and drives the other ends of the two regular rotating arms 31 to rotate at the same time so as to enable the opposite ends of the two regular rotating arms 31 to be close to or far 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 in opposite directions, so that the opposite ends of the regular rotating arms 31 are close to each other until the opposite ends are respectively abutted to the 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 regulated.

Preferably, the two alignment arms 31 are symmetrically disposed with respect to the center line of the docking transmission line 1, so that the center line of the aligned goods 8 coincides with the center line of the docking transmission line 1, which is more beneficial for the gripping assembly 25 to grip the goods 8. In other embodiments, the two arms 31 may be symmetrically disposed about a line parallel to the center line such that the center line of the article 8 is parallel to the center line of the docking transmission line 1.

In this embodiment, the boom driving assembly 33 is preferably disposed at one end of the regular boom 31 near the warehouse entry transmission line 4, which is advantageous for avoiding interference of the disposition of the boom driving assembly 33 on the operation of the goods 8 on the docking transmission line 1, and for driving the two regular booms 31 by using the same boom driving member. In other embodiments, the boom driving assembly 33 may be connected to an end of the regular boom 31 away from the warehouse entry transmission line 4, where the boom driving assembly 33 is disposed at a side portion of the docking transmission line 1, and each regular boom 31 is connected with one boom driving assembly 33, and the two boom driving assemblies 33 are synchronously driven by the control module.

In this embodiment, more preferably, the alignment device 3 further includes two fixing shafts 32, the two fixing shafts 32 are vertically disposed at the rear end of the docking transmission line 1, and each alignment rotating arm 31 is rotatably connected with the corresponding fixing shaft 32. The boom drive assembly 33 preferably includes a drive piston cylinder with piston rods 331 disposed at opposite ends of the drive piston cylinder that are retractable relative to the cylinder 332. The two piston rods 331 are horizontally arranged along the width direction of the butt joint transmission line 1, and each piston rod 331 is connected with one end of the regular rotating arm 31, which is close to the warehouse-in transmission line 4. When the piston rod 331 is extended with respect to the cylinder 332, one ends of the two regular rotating arms 31 connected with the piston cylinder are far away from each other, and since the middle part of the regular rotating arm 31 is rotatably connected with the fixed shaft 32, the other ends of the two regular rotating arms 31 are close to each other to contact with the article 8, thereby realizing the alignment of the article 8. When the piston rod 331 is retracted relative to the cylinder 332, the ends of the two normal arms 31 remote from the piston rod 331 are moved away from each other to be out of contact with the article 8.

In the present embodiment, by providing the driving piston cylinder having the double rod, synchronous driving of the two regulating arms 31 can be achieved with 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 motor driving mode may be used to drive the regular rotating arm 31 to horizontally rotate, which will not be described in detail in this embodiment. In this embodiment, the driving piston cylinder is a cylinder, and in other embodiments, the driving piston cylinder may be a hydraulic cylinder structure such as an oil cylinder.

Preferably, in the present embodiment, the fixed shaft 32 is connected near one end of the regular rotating arm 31 near the piston rod 331, which is beneficial to obtaining a large-amplitude horizontal rotation of the other end of the regular rotating arm 31 through a small-amplitude movement of the piston rod 331, reducing the volume of the driving piston cylinder and the occupied space thereof on the docking transmission line 1, thereby reducing the size of the whole regular device 3.

More preferably, in the present embodiment, the regular rotating arms 31 have an arc structure, and the arc openings of the two regular rotating arms 31 are disposed opposite to each other. When the front ends of the two regular rotating arms 31 are abutted against the two sides of the goods 8, the connecting lines of the two ends of the arc-shaped structure of the regular rotating arm 81 are parallel to the length direction of the butt joint transmission line 1. This kind of setting means is favorable to making when the front end of two regular rotating arms 31 and goods 8 both sides looks butt, and the arc structural design of two regular rotating arms 31 can make the distance between two regular rotating arms 31 be not less than goods 8 along the size of butt joint transmission line 1 width direction. Namely, when the regular rotating arm 31 acts on the goods 8, the goods 8 can still continue to run under the transmission action of the butt joint transmission line 1, the acting area of the regular rotating arm 31 and the goods 8 is increased, the regular effect on the goods 8 is improved, the goods 8 are regular and the goods 8 are transmitted synchronously, and the regular efficiency of the goods 8 is improved; meanwhile, the distance requirement between one ends of the connecting piston rods 331 of the two regular rotating arms 31 can be reduced, so that the size of the regular device 3 is reduced.

In other embodiments, the regular rotating arm 31 may be a straight arm structure. However, in this case, in order to ensure that the distance between the two regular arms 31 is not smaller than the width of the article 8 when the tips of the two regular arms 31 are abutted against both sides of the article 8, it is necessary to locate the end of the two regular arms 31 to which the piston rod 331 is connected outside the fixed shaft 32, and therefore, when the sizes of the articles 8 are the same, the size of the sizing device 3 increases.

In order to facilitate the transfer of the goods 8 on the butt-joint transfer line 1 when the regulating swivel arm 31 abuts against the goods 8, in this embodiment, preferably, a vertically arranged pinch roller 35 is connected to an end of the regulating swivel arm 31 remote from the piston rod 331. The pinch roller 35 is pivotally connected to the regular swivel arm 31 such that the pinch roller 35 can rotate about its own axis under the influence of an external force. Therefore, when the regularizing device 3 regularizes the goods 8, the goods 8 are in rolling connection with the clamping rollers 35, so that the transmission resistance of the goods 8 on the butt joint transmission line 1 is reduced.

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

In order to avoid collision between the goods 8 and the boom driving assembly 33 during the process of transporting the goods 8 on the docking and transporting line 1, in this embodiment, preferably, the alignment device 3 further includes a stop member 34 disposed at the end of the docking and transporting line 1, for stopping the transportation of the goods 8 on the docking and transporting line 1, so as to prevent collision between the goods 8 and the boom driving assembly 33, and improve the safety performance of the alignment device 3.

In this embodiment, the rotary type regularizer 3 is used to regularize the goods 8, and in other embodiments, other structures may be used to regularize the positions and/or the positions of the goods 8 on the butt joint transmission line 1. For example, a push-type regular structure may be adopted, where the push-type driving components and the push-type driving components are respectively disposed on two sides of the butt-joint transmission line 1 along the width direction thereof, and when the goods 8 are transported to the end of the butt-joint transmission line 1, the push-type driving components drive the push-type driving components to move in opposite directions, so that the two push-type driving components are respectively contacted with two side surfaces of the goods 8, thereby realizing the alignment of the goods 8.

In this embodiment, the warehouse entry transmission line 4 is disposed along the arrangement direction of the warehouse 6, and the length direction of the docking transmission line 1 and the length direction of the warehouse entry transmission line 4 are preferably disposed vertically, so as to facilitate the docking between the warehouse entry transmission line 4 and the docking transmission line 1. In other embodiments, the docking transmission line 1 and the warehouse entry transmission line 4 may be configured in a non-vertical manner, and the docking position and the docking mode may be flexibly configured according to the space of the warehouse park.

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

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

In the present embodiment, preferably, in order to achieve the butt joint between the main transmission line 41 and the sub-warehouse transmission line 42, a transition transmission device 43 is provided between the main transmission line 41 and the sub-warehouse transmission line 42 for achieving the transition transmission of the article 8 between the main transmission line 41 and the sub-warehouse transmission line 42.

In this embodiment, the transition transmission device 43 is preferably a lifting transmission platform, and a transition transmission line is disposed on the lifting transmission platform. Under this arrangement, the height of one end of the sub-warehouse transmission line 42 connected with the main transmission line 41 is higher than the height of the corresponding part of the main transmission line 41, and the goods 8 transported to the lifting transmission platform are lifted by the lifting transmission platform and then are separated from contact with the main transmission line 41, and enter the sub-warehouse transmission line 42 for transmission under the transmission of the transition transmission line.

Specifically, fig. 6 is a schematic diagram of a part of a warehouse-in transmission line according to an embodiment of the present invention, as shown in fig. 6, a main transmission line 41 adopts a rotating transmission member such as a roller or a drum as a first transmission member 414, and third transmission members 432 are arranged at intervals in parallel along the length direction of the main transmission line 41. The lifting transmission platform comprises a lifting support column, a lifting plate 431, a conveying lifting driving assembly and a transition transmission line. The two lifting support columns are respectively arranged on two sides of the main transmission line 41 along the width direction, the two lifting plates 431 are oppositely arranged on two sides of the main transmission line 41 along the length direction of the main transmission line 41 along the width direction, and the lifting plates 431 are connected with the corresponding lifting support columns through the conveying lifting driving assembly. The transition transmission line is arranged between the two lifting plates 431, the transition transmission line adopts belts as third transmission pieces 432 to transmit, a plurality of belts are arranged at intervals along the length direction of the main transmission line, and each third transmission piece 432 is arranged between two adjacent first transmission pieces 414.

When the lifting transmission platform is flush with the main transmission line 41, the goods 8 are conveyed to a position where the main transmission line 41 overlaps with the lifting transmission platform along the length direction of the main transmission line 41 under the action of the first transmission piece 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 lifted under the drive of the transition transmission line and are separated from contact with the main transmission line 41; the third conveying member 432 in the transition conveying line operates to drive the goods 8 to operate in a direction perpendicular to the length direction of the main conveying line 41; since the transmission directions of the transition transmission line and the sub-warehouse transmission line 42 are basically the same, the goods 8 are transmitted to the sub-warehouse transmission line 42 to be transmitted under the common drive of the transition transmission line and the sub-warehouse transmission line 42 until the goods are moved to the entrance of the corresponding warehouse 6. The type of second transfer member 421 in the split-bank transfer line 42 may be the same as the type of first transfer member 414 in the main transfer line 41.

In other embodiments, 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, so that the overlapping arrangement of the transition transmission line in the area on the main transmission line 41 can be realized.

In other embodiments, the lifting and lowering transmission platform may be disposed not to overlap the main transmission line 41 but to overlap the sub-library transmission line 42. That is, the main transmission line 41 is a sectional transmission line, and two adjacent sections of transmission lines are butted by adopting a lifting transmission platform. When the goods 8 are transported to the lifting and conveying platform, the lifting and conveying platform is lowered to separate the goods 8 from the lifting and conveying platform, namely, the goods 8 are conveyed on the warehouse separation conveying line 42.

In another embodiment, the connection between the main transmission line 41 and the sub-warehouse transmission line 42 may be performed by using other transition transmission devices 43 other than the lifting transmission platform, for example, the structure of any one of the above intermediate transmission devices 2 may be used as the transition transmission device 43, which is not described in detail in this embodiment.

In other embodiments, the main transmission line 41 and the split-bank transmission line 42 may be directly connected without providing a transition transmission line. Taking the roller transmission as an example of the first transmission member 414 of the main transmission line 41, one end of the sub-bank transmission line 42 coincides with one end of the main transmission line, the sub-bank transmission line 42 adopts belts as the second transmission member 421, a plurality of belts are arranged at intervals along the width direction of the sub-bank transmission line 42, and each belt is arranged between two adjacent rollers of the main transmission line 41. The separate storage transmission line 42 is lifted vertically or raised toward one end of the main transmission line 41 by 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 lift, so that 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. This arrangement eliminates the need for the transition conveyor 43, but results in a relatively high cost due to the need for the inventory separation conveyor 42 to be raised as a whole.

In the present embodiment, it is preferable that the main transmission line 41 adopts a segmented transmission method, 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 transmission segments is not less than the number of the sub-bank transmission lines 42, and each sub-bank transmission line 42 is correspondingly connected with one transmission segment. Thus, controlling the operation and start timing of each transmission segment and the operation direction of each transmission segment can make the goods 8 on the main transmission line 41 run onto the corresponding transmission segment and enter into the corresponding sub-warehouse transmission line 42 for warehouse entry processing.

In the present embodiment, preferably, the transmission segments include a first transmission segment 411 that interfaces with each of the sub-library transmission lines 42, and the interface between the first transmission segment 411 and the sub-library transmission line 42 is performed in any of the above-described interfaces between the main transmission line 41 and the sub-library transmission line 42. A second transmission section 412 is arranged between two adjacent first transmission sections 411, so that on one hand, the length of the first transmission section 411 is shortened, and the butt joint arrangement of the first transmission section 411 and the sub-base transmission section is facilitated; on the other hand, in the process of transferring the goods 8 from the first transmission section 411 to the butt joint of the sub-warehouse transmission section, the first transmission section 411 needs to be suspended to enable the goods 8 to smoothly run from the first transmission section 411 to the sub-warehouse transmission section, so that the arrangement of the second transmission section 412 can ensure that when the goods 8 are butt-jointed on the first transmission section 411, another goods 8 can run on the second transmission section 412, the warehousing continuity of the goods 8 is ensured, and the warehousing efficiency of the goods 8 is improved.

In the present embodiment, the transmission segment of the main transmission line 41 interfacing with the intermediate transmission device 2 is preferably a second transmission segment 412. That is, the article 8 grasped by the intermediate transfer device 2 from the butt transfer line 1 is placed on the second transfer line. For convenience of description, the second transmission line corresponding to the intermediate transmission device 2 is named as a direction-controlled transmission segment 413 for transmitting the segment 413, the control module determines which side of the direction-controlled transmission segment 413 is located in the warehouse 6 by using the tag 81 information acquired by the scanning device, and determines the running direction of the direction-controlled transmission segment 413 by using the position of the warehouse 6 relative to the direction-controlled transmission segment 413, so that the goods 8 run into the corresponding first transmission segment 411 and the warehouse-dividing transmission line 42.

The scanning device is used for scanning the label 81 on the goods 8 and identifying the goods information carried by the label 81. In this embodiment, the tag 81 may be one or more of a two-dimensional code, a bar code 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 code scanner, etc. The types of the tag 81 and the scanning device are not particularly limited in this embodiment, as long as the tag 81 can carry the article information, the scanning device can scan and identify the form of the electronic tag 81 code and the form of the scanning device of the article information carried by the tag 81.

In this embodiment, the article information includes at least the name of the article 8, so as to perform classification and identification on the article 8 before warehousing, so that the article 8 can enter the corresponding warehouse 6. The item information may also include information related to the item 8 such as the place of origin, date of production, date of expiration, etc.

In this embodiment, in order to improve the warehousing efficiency of 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 tag 81 of the goods 8 when the goods 8 are transported on the docking transmission line 1. By arranging the first scanning device 51 on the butt-joint transmission line 1, the goods 8 can be identified when being transmitted on the butt-joint transmission line 1, the process of scanning and identifying is not needed additionally, the continuity of the goods 8 transmission is ensured, and the efficiency of warehousing the goods 8 is improved.

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 other embodiments, the first scanning device 51 may be disposed on one side or both sides of the docking transmission line 1, and the labels 81 of the goods 8 are attached to opposite sides of the goods 8. In another embodiment, the first scanning device 51 may be disposed under the docking transmission line 1, and the scanning head is disposed opposite to the docking transmission line 1, and 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 position of the tag 81 corresponds to the position of the first scanning device 51 when the article 8 is placed on the butt-joint transmission line 1. In yet other embodiments, the label 81 may be applied to each side of the article 8, in which case the article 8 may be scanned and identified by the scanning device regardless of the placement of the article 8 on the docking transmission line 1 or regardless of the location of the first scanning device 51, as long as the article 8 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 item 8 and identify the item information before the item 8 is placed on the docking transmission line 1. Other ways may be that the mechanical arm grabs the article 8 and transports the article 8 into the scanning direction of the first scanning device 51, and drives the article 8 to rotate in six degrees of freedom so that the label 81 attached to the article 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 a side of the fixed support facing the docking transmission line 1. At this time, the label 81 is provided on the side of the article 8 facing the intermediate transfer device 2.

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

Specifically, when the article 8 runs on the main transmission line 41 and passes through one of the first transmission sections 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 section 411 is matched with the goods information according to the goods information, if so, the control module controls the first transmission section 411 to stop running after detecting that the goods 8 runs on a lifting transmission platform corresponding to the first transmission section 411, the lifting transmission platform is lifted to be in butt joint with the sub-warehouse transmission line 42, and when detecting that the first transmission section 411 is flush with the corresponding sub-warehouse transmission line 42, the control module controls the transition transmission section on the lifting transmission platform to run and the sub-warehouse transmission line 42 to run so as to enable the goods 8 to enter the corresponding warehouse 6 through the sub-warehouse transmission line 42; if not, the control module continues to operate through the first transmission section 411, and continues to transmit the goods 8 to the second transmission section 412 at the front end of the first transmission section 411, so that the goods 8 is transmitted to the next first transmission section 411 through the second transmission section 412, and is detected and judged herein.

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 warehouse separation transmission line 42 can be controlled more accurately, the situation that the number of the goods 8 on the butt joint transmission line 1 and/or the main transmission line 41 is large is avoided, errors such as control logic complexity and misjudgment caused by controlling the entrance transmission line only by virtue of the scanning result of the first scanning device 51 are avoided, the operation control of the warehouse separation transmission line 4 is simplified, the warehouse separation accuracy of the goods 8 and the corresponding warehouse 6 is ensured, and the warehouse separation efficiency of the goods 8 is improved. Meanwhile, the second scanning device 52 is configured to determine the position of the article 8 passing through the second scanning device 52, determine whether the article 8 runs beyond the position corresponding to the warehouse 6 by corresponding to the position of the warehouse 6 corresponding to the article 8, and if so, control the running directions of the second conveying section 412 and the first conveying section 411 to return and convey the article 8 to the first conveying section 411 corresponding to the warehouse 6. Namely, the second scanning device 52 is arranged to enable the warehouse-in transmission line 4 to have a warehouse-in error correction function, so that the goods 8 are prevented from entering the wrong warehouse 6, and the warehouse-in accuracy of the goods 8 is further improved.

In this embodiment, in order to facilitate 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 is 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 regulating device 3 and the intermediate transmission device 2; third in-place detecting means for controlling the start and stop of the direction-controlling transfer section 413 according to whether or not the article 8 is placed on the direction-controlling transfer section 413 is provided on the direction-controlling transfer section 413; a fourth in-place detecting device is arranged on each intermediate transition device and is used for controlling the operation of the transition conveying device 43 according to whether the goods 8 reach the transition conveying position or not; a fifth in-place detecting device is provided on each of the sub-bank transmission lines 42 for controlling the operation and stop of the corresponding sub-bank transmission line 42. A sixth in-place detecting device may be provided on each segmented transmission line for controlling the operation and 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 regularization device 3, the sub-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 regularization device 3 and the sub-warehouse transmission line 42 according to the detection signals 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 comprises the following steps:

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

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 butt joint transmission line 1 is started to operate after a first in-place detection module at the front end of the butt joint transmission line 1 detects that an article 8 is 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 labels 81 on the goods 8, and the identified goods information is sent to the control module;

step S3: the second in-place detection module detects whether the goods 8 run to the regular position or not 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 operation of the regulating device 3 and regulates the goods 8;

step S5: after the goods 8 are regulated 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: the control module controls the intermediate transmission device 2 to rotate after the goods 8 are regulated by the regulating device 3, and descends to enable the grabbing component 25 to be in contact with the goods 8;

in this step, the article 8 detecting device may be disposed on the normalizing device 3, and is used for determining whether the two normalizing arms 31 are in contact with the article 8 uniformly, and after the two normalizing devices 3 are in contact with the article 8, the normalizing operation of the normalizing device 3 or the article 8 is 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 component 23 of the intermediate transmission device 2 to act, so that the rotating seat 22 rotates to enable one of the empty grabbing components 25 to rotate to a position opposite to the goods 8, and the control module controls the grabbing lifting adjusting component 24 to act, so that the grabbing components 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 means of an angle control, for example, for an intermediate transfer device 2 with four gripping assemblies 25, the angle of each rotation is 90 °.

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 contact with the butt joint transmission line 1;

step S54: the control module controls the operation of the rotary drive assembly 23 to rotate the article 8 above the direction control transfer 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 ° to realize the conversion of the goods 8 from above the butt-joint transmission line 1 to above the main transmission line 41.

Step S55: the control module controls the grabbing lifting adjusting assembly 24 to move so as to place the goods 8 on the direction control transmission section 413;

step S6: the third in-place detection device detects whether the goods 8 exist in the control direction transmission section 413, and sends the detection result to the control module, if so, the detection module controls the control direction transmission section 413 to start 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 to 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 and identifies the goods 8 and matches the goods with the warehouse 6 information corresponding to the first transmission section 411, if the goods is matched with the corresponding warehouse 6, the step S9 is executed, otherwise, the step S13 is executed;

Step S9: the first conveying section 411 conveys the goods 8 to the transition conveying device 43, and the fourth in-place detecting device detects whether the transition conveying device 43 has the goods 8 and sends the 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 rise 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 sub-warehouse transmission platform, the control module controls the transition transmission line and the sub-warehouse transmission line 42 to operate so as to transfer the goods 8 from the transition transmission line to the sub-warehouse transmission line 42;

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

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

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

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. An automated warehousing system, comprising:

the warehouse-in transmission line (4) is provided with a plurality of goods discharging channels along the length direction, and the outlets of the goods discharging channels are respectively in one-to-one correspondence with the warehouses (6);

the docking and conveying system is used for receiving the goods (8) unloaded on the transport vehicle (7) and conveying the goods (8) to the warehousing and conveying line (4);

scanning means for scanning and identifying the article;

the control module is configured to control the operation of the warehousing transmission line according to the information of the goods so as to convey the goods (8) into the goods discharging channel corresponding to the target warehouse (6);

The docking transmission system includes:

the front end of the butt joint transmission line (1) is used for receiving goods (8) unloaded from the transport vehicle (7), and the rear end of the butt joint transmission line is vertically butt-jointed with the warehouse-in transmission line (4);

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 goods (8) of the butt joint transmission line (1) to the warehousing transmission line (4);

the automatic warehousing system further comprises:

a regularization device (3) arranged at one end of the butt joint transmission line (1) close to the warehouse-in transmission line (4), wherein the regularization device (3) is configured to normalize the position and/or the pose of the goods (8) on the butt joint transmission line (1);

the normalization device (3) comprises:

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

the rotating arm driving assembly (33) is connected with one end of the regular rotating arm (31) and is configured to drive the other ends of the two regular rotating arms (31) to rotate oppositely and synchronously horizontally so as to enable the two regular rotating arms (31) to be respectively contacted with two side surfaces of the goods (8) along the width direction of the butt joint transmission line (1);

when the two regulating arms (31) are respectively contacted with two opposite side surfaces of the goods (8), the minimum distance between the two regulating arms (31) is equal to the dimension of the goods (8) along the width direction of the butt joint transmission line (1); the regular rotating arms (31) are of arc structures, and when the two regular rotating arms (31) are respectively contacted with two opposite side surfaces of the goods (8), connecting lines at two ends of the arc structures are parallel to the length direction of the butt joint transmission line (1).

2. The automatic warehousing system according to claim 1, characterized in that the warehousing transmission line (4) is arranged along the arrangement direction of the warehouse (6), and the docking transmission line (1) is docked with the intermediate position of the warehousing transmission line (4).

3. An automated warehousing system according to claim 1, characterized in that the intermediate transfer device (2) comprises:

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

the grabbing component (25) is arranged on the fixing seat (21) and is configured to horizontally rotate and vertically lift relative to the fixing seat (21), and the grabbing component (25) is used for grabbing the goods (8).

4. An automated warehousing system according to claim 3, wherein the intermediate transfer device (2) further comprises:

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

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

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

5. The automated warehousing system according to claim 4, wherein the rotational drive assembly (23) comprises:

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

a driving gear (232) 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).

6. The automated warehousing system according to claim 5, wherein the intermediate transfer device (2) further comprises:

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 of the gear ring structure (233).

7. The automated warehousing system according to claim 4, wherein the grasping assembly (25) comprises:

-a suction cup (253) for gripping or placing said article (8) by means of vacuum suction.

8. The automated warehousing system of claim 7, wherein 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).

9. An automated warehouse entry system according to any one of claims 4-8, characterized in that the swivel (22) is provided with a plurality of groups of gripping members (25) circumferentially spaced along its rotational direction.

10. The automated warehousing system of claim 9, wherein the swivel base (22) comprises:

a central seat (221) rotatably connected to the fixed seat (21);

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

11. An automatic warehousing system according to claim 2, characterized in that said warehousing transmission line (4) comprises:

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

and 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 is connected with the inlet of the corresponding warehouse (6), the sub-warehouse transmission line (42) forms the goods discharging channel, and the transmission direction of the sub-warehouse transmission line (42) is perpendicular to the transmission direction of the main transmission line (41).

12. The automated warehousing system according to claim 11, wherein the warehousing transmission line (4) further comprises:

the lifting transmission platform is characterized in that the separate warehouse transmission lines (42) are parallel to the main transmission line (41) in the vertical direction and are arranged at intervals, 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 separate warehouse transmission lines (42).

13. The automated warehouse entry system according to claim 11, wherein the main transmission line (41) 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-warehouse transmission lines (42), and each of the sub-warehouse transmission lines (42) corresponds to one of the transmission segments.

14. The automated warehousing system of claim 13, wherein the transmission segment comprises:

the first transmission segments (411) are arranged in one-to-one correspondence with the sub-warehouse transmission lines (42) and are in butt joint with the sub-warehouse transmission lines (42);

-a second transmission segment (412), one of said second transmission segments (412) being arranged between two adjacent of said first transmission segments (411).

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

16. An automated warehousing system according to claim 14, characterized in that the scanning means comprise second scanning means (52) arranged on the first transport segments (411), and that one of the second scanning means (52) is arranged on each of the first transport segments (411).

17. The automated warehousing system according to claim 1, wherein the regularization means (3) further comprises:

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

and the two ends of the piston cylinder are provided with piston rods (331) which are horizontally arranged, and the piston rods (331) at the two ends are respectively connected with one end, close to the warehouse-in transmission line (4), of the corresponding regular rotating arm (31).

18. The automated warehousing system according to claim 17, wherein the regularization means (3) further comprises:

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

19. A warehouse logistics system, comprising an automated warehouse entry system as claimed in any one of claims 1-18.

20. An automated warehousing method employing the automated warehousing system of any one of claims 1-18, comprising the steps of:

the control module controls the operation of the butt joint transmission system, and conveys goods (8) unloaded from the transport vehicle (7) to the warehouse-in transmission line (4);

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

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

21. The automatic warehousing method according to claim 20, wherein the docking transmission system comprises a docking transmission line (1), a first scanning device (51) is arranged on the docking transmission line (1), the warehousing transmission line (4) comprises a main transmission line (41) and a sub-warehouse transmission line (42), 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 is connected with the inlet of the corresponding warehouse (6), the sub-warehouse transmission line (42) forms the goods discharging channel, and the transmission direction of the sub-warehouse transmission line (42) is perpendicular to the transmission direction of the main transmission line (41); the warehouse-in transmission line (4) is provided with a direction control transmission section (413) which is in butt joint with the butt joint transmission line (1) and a first transmission section (411) which is in butt joint with the unloading channel, and the first transmission section (411) is provided with a second scanning device (52);

The control module controls the operation of the separate-warehouse transmission line (42) according to the goods information, and transmits the goods (8) to a goods discharging channel corresponding to the goods (8), and the control module specifically comprises:

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

the control module controls whether the goods (8) enter the goods discharging channel corresponding to the first transmission section (411) according to the scanning result of the second scanning device (52).