CN113859913A

CN113859913A - Conveying equipment for stereoscopic warehouse

Info

Publication number: CN113859913A
Application number: CN202111088910.6A
Authority: CN
Inventors: 高俊杰; 刘涛; 史雪丽; 崔海舰; 史伟华
Original assignee: Gansu Guangxuan High End Equipment Industry Co ltd; Tunghsu Technology Group Co Ltd
Current assignee: Gansu Guangxuan High End Equipment Industry Co ltd; Tunghsu Technology Group Co Ltd
Priority date: 2021-09-16
Filing date: 2021-09-16
Publication date: 2021-12-31
Anticipated expiration: 2041-09-16
Also published as: CN113859913B

Abstract

The embodiment of the application provides a conveying equipment for stereoscopic warehouse, conveying equipment includes: a first conveying unit; the second conveying unit is respectively adjacent to the first conveying unit and the outlet of the stereoscopic warehouse and is used for conveying the articles to be conveyed in the stereoscopic warehouse to the first conveying unit; and the lifting device is used for starting descending operation under the condition that the article to be transported is transported to the first conveying unit so as to transport the first conveying unit and the article to be transported to the preset unloading position. Make the technical staff need not the detour through setting up personnel's passageway, also ensured staff's safety, the staff removes on personnel's passageway, and the quality of product also can not receive the influence, has also alleviateed the burden of wasing conveying equipment simultaneously.

Description

Conveying equipment for stereoscopic warehouse

Technical Field

The application relates to the field of stereoscopic warehouses, in particular to conveying equipment for stereoscopic warehouses.

Background

In the field of the conventional stereoscopic warehouse, conveying equipment is calibrated by conveying elevations of unloading equipment and unloading equipment downstream equipment, the conveying equipment is heavy and is not easy to move, a personnel channel is arranged above the equipment, dust or airflow is easy to form when workers move or carry articles, and meanwhile certain misjudgment can be caused when the equipment is checked. When the conveying equipment breaks down or is in an emergency, because the production line is too long and workers need to detour to the two ends of the production line for processing, the faults which occur cannot be processed in time, and the product loss rate is greatly increased. If let the staff pass through from the gap bridge of equipment top, need ascend a height, can't ensure staff's safety, even start emergency stop button makes equipment stall, personnel also can't pass through from equipment inside.

Disclosure of Invention

An object of this application embodiment is to provide a conveying equipment for stereoscopic warehouse.

In order to achieve the above object, the present application provides a conveying apparatus for a stereoscopic warehouse, comprising: a first conveying unit; the second conveying unit is respectively adjacent to the first conveying unit and the outlet of the stereoscopic warehouse and is used for conveying the articles to be conveyed in the stereoscopic warehouse to the first conveying unit; and the lifting device is used for starting descending operation under the condition that the article to be transported is transported to the first conveying unit so as to transport the first conveying unit and the article to be transported to the preset unloading position.

Optionally, the first conveying unit comprises a first conveyor belt, a first drive motor and a first stop detection sensor; the first driving motor is used for controlling the first conveying belt to run, and the first driving motor controls the first conveying belt to stop running under the condition that the first stop detection sensor detects the articles to be conveyed; the lifting device comprises a track, and the track is a moving track of the lifting device; the lifting device is also used for starting a descending operation to transport the first conveying unit and the articles to be transported to the preset unloading position under the condition that the first conveying belt is determined to stop running.

Optionally, the conveying equipment further comprises a control unit, and the control unit is electrically connected with the first conveying unit and the lifting device; and sending a descending instruction to enable the lifting device to start descending operation according to the descending instruction under the condition that the detection data of the first stop detection sensor is acquired and the first stop detection sensor is determined to detect the article to be transported.

Optionally, the first conveying unit further includes a first deceleration detection sensor, and when the first deceleration detection sensor detects the article to be conveyed, the first deceleration detection sensor is in a start state, and the first driving motor controls the first conveying belt to operate in a deceleration manner; under the condition that the first stop detection sensor detects the articles to be transported, the state of the first stop detection sensor is a starting state, and the first driving motor controls the first conveying belt to stop running.

Optionally, the first conveying unit includes a plurality of first deceleration detection sensors and a plurality of first stop detection sensors, the conveying apparatus further includes a second conveying unit, the second conveying unit includes a second conveying belt and a second driving motor, and the second driving motor is used for controlling the operation of the second conveying belt; and the control unit is electrically connected with the first driving motor and the second driving motor, and is used for controlling the second driving motor to stop under the condition that the running directions of the first conveying belt and the second conveying belt are both outlets far away from the stereoscopic warehouse and the first deceleration detection sensor far away from the second conveying unit detects the articles to be conveyed so as to control the second conveying belt to stop running through the second driving motor.

Optionally, the second conveying unit comprises a plurality of second deceleration detection sensors and a plurality of second stop detection sensors, and the second driving motor is further configured to control the second conveying belt to stop running if the second stop detection sensors detect the articles to be conveyed; the control unit is further used for controlling the first driving motor and the second driving motor to start under the condition that the second stop detection sensor close to the first conveying unit detects the object to be transported and the second conveying belt stops running, so that the first conveying belt and the second conveying belt are controlled to start running, and the running direction of the first conveying belt and the second conveying belt is an outlet far away from the stereoscopic warehouse.

Optionally, the object to be transported comprises a transport frame and a target object located in the transport frame; the lifting device is also used for starting lifting operation to convey the first conveying unit back to a position parallel to the second conveying belt through the moving track under the condition that the target object in the conveying frame is determined to be completely unloaded, wherein the conveying frame is positioned on the first conveying belt.

Optionally, the control unit is further configured to, in a case that it is determined that the positions of the first conveying unit and the second conveying unit are parallel and the lifting device stops operating, control the first driving motor to start to control the first conveying belt to start operating through the first driving motor, and the operating direction of the first conveying belt is close to the exit of the stereoscopic warehouse, so as to transfer the transport frame on the first conveying belt to the second conveying belt.

Optionally, the control unit is further configured to control the first driving motor and the second driving motor to start up to control the first conveyor belt and the second conveyor belt to start running under the condition that it is determined that the following conditions are all satisfied, and the running direction of the first conveyor belt and the second conveyor belt is close to the exit of the stereoscopic warehouse: a first stop detection sensor near the second conveyance unit detects the conveyance frame; stopping the first conveying belt; the running direction of the first conveying belt is close to the outlet of the stereoscopic warehouse.

Optionally, the control unit is further configured to control the second conveyor belt to run at a reduced speed by the second drive motor and control the first conveyor belt to stop running by the first drive motor in a case where the second deceleration detection sensor far from the first conveyor unit detects the transport frame.

Optionally, the control unit is further configured to control the second conveyor belt to stop running by the second drive motor in a case where the second stop detection sensor remote from the first conveyor unit detects the transport frame.

Optionally, the second conveying unit includes a plurality of second conveying units, and the control unit is further configured to send a conveying instruction to the conveying device to convey the transportation frame away by the conveying device in a case where the second conveying unit adjacent to the exit of the stereoscopic warehouse stops operating.

Optionally, the second conveying unit further comprises a presence or absence detection sensor for detecting whether the outlet of the stereoscopic warehouse has a conveying device; the control unit is also used for controlling the second driving motor to start so as to control the second conveying belt to start running under the condition that the presence or absence detection sensor does not detect the conveying equipment.

Optionally, the conveying equipment further comprises a control unit, configured to check an operation state of the conveying equipment, and send alarm information to the audible and visual alarm when it is determined that the conveying equipment is abnormal; and the audible and visual alarm is used for sending corresponding warning and prompt according to the warning information.

Optionally, the lifting device further comprises a lifting drive motor for controlling the operation of the lifting device; an elevator deceleration sensor for determining a state of the elevator deceleration sensor to be an ON state in a case where the elevator deceleration sensor detects the elevating device; controlling the lifting device to operate at a reduced speed through a driving motor of the lifter; and the elevator stop sensor is used for determining that the state of the elevator stop sensor is an ON state under the condition that the elevator stop sensor detects the elevator device, and controlling the elevator device to stop running through the elevator driving motor.

Optionally, there are a plurality of elevator deceleration sensors and a plurality of elevator stop sensors; the control unit is also used for controlling the lifting device to operate in a speed reduction mode through the lifting drive motor under the condition that the lifting device starts descending operation and the lifting deceleration sensor close to the ground detects the lifting device; and under the condition that the elevator stop sensor close to the ground detects the elevator, controlling the elevator to stop running through the elevator driving motor.

Optionally, there are a plurality of elevator deceleration sensors and a plurality of elevator stop sensors; the control unit is also used for controlling the lifting device to operate in a speed reduction mode through the lifting drive motor under the condition that the lifting device starts lifting operation and the lifting deceleration sensor far away from the ground detects the lifting device; and under the condition that the elevator stop sensor far away from the ground detects the elevator, controlling the elevator to stop running through the elevator driving motor.

Optionally, the lifting device further comprises a lift limit sensor, the lift limit sensor comprising a lift upper limit sensor and a lift lower limit sensor; in the process of starting the lifting operation of the lifting device, if the lifting device is not detected by the lifting device stop sensor far away from the ground or the lifting device stop sensor far away from the ground fails, the lifting device is controlled to stop running by the lifting device driving motor under the condition that the lifting device is detected by the lifting device upper limit sensor; in the process of starting the descending operation of the lifting device, if the lifting device is not detected by the lifting device stop sensor close to the ground or the lifting device stop sensor close to the ground fails, the lifting device is controlled to stop running by the lifting device driving motor under the condition that the lifting device is detected by the lifting device lower limit sensor.

Through the technical scheme, the conveying units are arranged, so that equipment is convenient to overhaul and maintain, the lifting devices are arranged on the article conveying units of the stereoscopic warehouse, personnel channels can be arranged in the space below the conveying units, when equipment breaks down or emergencies occur, workers can directly pass through the conveying units, the maintenance time of the equipment is saved, the equipment outage rate is effectively reduced, and the conveying efficiency of products is greatly improved. Meanwhile, technicians do not need to detour through the personnel channel, the safety of workers is guaranteed, the workers move on the personnel channel, the quality of products cannot be affected, and meanwhile the burden of cleaning conveying equipment is reduced.

Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:

fig. 1 schematically shows a side view of a conveyor apparatus for a stereoscopic warehouse according to an embodiment of the present application;

fig. 2 schematically shows a schematic top view of a conveying apparatus for a stereoscopic warehouse according to an embodiment of the present application;

fig. 3 schematically shows an operation flow diagram of a conveying apparatus for a stereoscopic warehouse according to an embodiment of the present application.

Reference numerals

1 Elevator 1-1 Elevator drive Motor

1-2 first track 1-3 second track

1-4 lower limit sensor of elevator 1-5 down stop sensor of elevator

1-6 elevator descending speed reducing sensor 1-7 elevator ascending speed reducing sensor

1-8 lift ascending stop sensor 1-9 lift upper limit sensor

2 first conveying unit 2-1 first driving motor

2-2 first conveyor belt 2-3 first stop detection sensor

2-4 first deceleration detection sensor 2-5 first deceleration detection sensor

2-6 first stop detection sensor 3 second conveyance unit

3-1 second driving motor 3-2 second conveyer belt

3-3 second stop detection sensor 3-4 second deceleration detection sensor

3-5 second deceleration detecting sensor 3-6 second stop detecting sensor

4 third conveying unit 4-1 third driving motor

4-2 third conveyor belt 4-3 third stop detection sensor

4-4 third deceleration detection sensor 4-5 third deceleration detection sensor

4-6 third stop detection sensor 4-7 presence/absence detection sensor

5-1 control unit 5-2 audible and visual alarm

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In one embodiment, as shown in fig. 1, there is provided a conveying apparatus for a stereoscopic warehouse including a first conveying unit, a second conveying unit, and a lifting device, wherein:

and the second conveying unit is used for conveying the articles to be conveyed in the stereoscopic warehouse to the first conveying unit.

And the lifting device is used for starting descending operation under the condition that the article to be transported is transported to the first conveying unit so as to transport the first conveying unit and the article to be transported to the preset unloading position.

The first conveying unit (2) comprises a first driving motor (2-1), a first conveying belt (2-2) and a first stop sensor. The first driving motor (2-1) can drive the first conveying belt (2-2) to run. The second conveying unit may transfer the to-be-transported item in the stereoscopic warehouse to the first conveying unit. The object to be transported comprises a transport frame and an object in the transport frame, wherein the object in the transport frame can be an organic light emitting diode, an organic light emitting diode panel and the like. In the case where the article to be transported is transported to the first conveyor unit (2), the lifting device may initiate a lowering operation to transport the first conveyor unit (2) and the article to be transported to the preset discharge position. The position for unloading can be the position of the first conveying unit (2) and the position of the article to be transported when the descending is stopped.

In one embodiment, as shown in fig. 1, the second conveying unit includes a plurality of second deceleration detection sensors and a plurality of second stop detection sensors, and the second driving motor is further configured to control the second conveying belt to stop operating in a case where the second stop detection sensors detect the article to be conveyed; the control unit is further used for controlling the first driving motor and the second driving motor to start under the condition that the second stop detection sensor close to the first conveying unit detects the object to be transported and the second conveying belt stops running, so that the first conveying belt and the second conveying belt are controlled to start running, and the running direction of the first conveying belt and the second conveying belt is an outlet far away from the stereoscopic warehouse.

In one embodiment, as shown in fig. 1, the second conveying unit includes a plurality of second conveying units. For example, the second conveying unit may include a second conveying unit adjacent to the first conveying unit and a second conveying unit adjacent to the exit of the stereoscopic warehouse. In order to facilitate the distinction of the plurality of second conveyor units, the second conveyor unit adjacent to the first conveyor unit may be represented by a second conveyor unit (3), and the second conveyor unit adjacent to the exit of the stereoscopic warehouse may be represented by a third conveyor unit (4).

Further, the second conveyance unit may include a plurality of second deceleration detection sensors, and the second deceleration detection sensors may include a second deceleration detection sensor distant from the first conveyance unit and a second deceleration detection sensor close to the first conveyance unit. For example, the second deceleration detection sensor (3-5) is a second deceleration detection sensor distant from the first conveyance unit, and the second deceleration detection sensor (3-4) is a second deceleration detection sensor close to the first conveyance unit. The second conveying unit (3) may include a plurality of second stop detection sensors, and the second stop detection sensors may include a second stop detection sensor distant from the first conveying unit and a second stop detection sensor close to the first conveying unit. Wherein the second stop detection sensor (3-6) is a second stop detection sensor distant from the first conveyance unit, and the second stop detection sensor (3-3) is a second stop detection sensor close to the first conveyance unit. The second conveying unit (3) comprises a second driving motor (3-1) and a second conveying belt (3-2). In the case where the second stop detection sensor detects the article to be transported, the second conveyor belt (3) may be controlled to stop running by the second drive motor (3-1). Specifically, when the carrying task is started, under the condition that the second stop detection sensor (3-3) detects the articles to be transported and the second conveying belt (3-2) is in stop operation, the first conveying belt (2-2) can be controlled to start through the first driving motor (2-1), the second conveying belt (3-2) is controlled to start through the second driving motor (3-1), and the running directions of the first conveying belt (2-2) and the second conveying belt (3-2) are far away from the exit of the stereoscopic warehouse. As shown in fig. 1, a direction away from the exit of the stereoscopic warehouse means a leftward travel, that is, a conveyance of the article to be transported from the exit of the stereoscopic warehouse to the first conveying unit.

In one embodiment, as shown in fig. 1, the second conveying unit includes a plurality of second conveying units, and the control unit is further configured to send a conveying instruction to the conveying device to convey the transportation frame away by the conveying device in a case where the second conveying unit adjacent to the exit of the stereoscopic warehouse stops operating.

The second conveying unit may include a plurality of second conveying units, for example, the second conveying unit may be a second conveying unit adjacent to the first conveying unit, and the second conveying unit may be a second conveying unit adjacent to the exit of the stereoscopic warehouse. In order to facilitate the distinction of the plurality of second conveyor units, the second conveyor unit adjacent to the first conveyor unit may be represented by a second conveyor unit (3), and the second conveyor unit adjacent to the exit of the stereoscopic warehouse may be represented by a third conveyor unit (4). The third conveying unit (4) may include a second driving motor adjacent to the exit of the stereoscopic warehouse, a second conveying belt adjacent to the exit of the stereoscopic warehouse, a third deceleration detection sensor, and a third stop sensor. The third driving motor (4-1) is a second driving motor adjacent to the outlet of the stereoscopic warehouse, and the third conveying belt (4-2) is a second conveying belt adjacent to the outlet of the stereoscopic warehouse. The third conveyance unit (4) may include a plurality of deceleration detection sensors and a plurality of stop detection sensors. Wherein the plurality of deceleration detection sensors may include a third deceleration detection sensor close to the second conveyance unit and a third deceleration detection sensor far from the second conveyance unit. The third deceleration detection sensor (4-4) is a third deceleration detection sensor close to the second conveying unit, and the third deceleration detection sensor (4-5) is a third deceleration detection sensor far from the second conveying unit. Likewise, the plurality of stop detection sensors may include a third stop detection sensor close to the second conveyance unit and a third stop detection sensor far from the second conveyance unit. Wherein the third stop detection sensor (4-3) is a third stop detection sensor close to the second conveyance unit, and the third stop detection sensor (4-6) is a third stop detection sensor distant from the second conveyance unit. When the third conveying unit (4) stops operating, the control unit can send a conveying instruction to the conveying equipment, and the conveying equipment can convey and separate the transport frames on the conveying belt of the third conveying unit (4). In case the transport frame is detected by the third stop detection sensor (4-6), the control unit may control the third conveyor belt (4-2) to stop by controlling the third drive motor (4-1) so that the transport frame on the third conveyor belt (4-2) may be transported away by the transporting device.

In one embodiment, as shown in fig. 2, the second conveying unit further includes a presence/absence detecting sensor (4-7) for detecting whether the handling apparatus is present at the exit of the stereoscopic warehouse; the control unit is also used for controlling the second driving motor to start to control the second conveying belt to start running under the condition that the presence or absence detection sensor (4-7) does not detect the conveying equipment.

Under the condition that the conveying equipment can normally operate, the conveying equipment of the stereoscopic warehouse can place the to-be-conveyed article on the third conveying belt (4-2), the presence or absence detection sensor (4-7) on the third conveying belt (4-2) can detect whether the conveying equipment is arranged at the outlet of the stereoscopic warehouse, and if the presence or absence detection sensor (4-7) does not detect the conveying equipment, the third driving motor (4-1) can be controlled to enable the third conveying belt (4-2) to start to operate so as to start the conveying work of the to-be-conveyed article.

In one embodiment, as shown in fig. 1, the first conveying unit includes a first conveying belt, a first driving motor, and a first stop detection sensor; the first driving motor is used for controlling the first conveying belt to run, and the first driving motor controls the first conveying belt to stop running under the condition that the first stop detection sensor detects the articles to be conveyed; the lifting device comprises a track, and the track is a moving track of the lifting device; the lifting device is also used for starting a descending operation to transport the first conveying unit and the articles to be transported to the preset unloading position under the condition that the first conveying belt is determined to stop running.

The first conveying unit (2) comprises a first driving motor (2-1), a first conveying belt (2-2) and a first stop sensor. The first driving motor (2-1) can drive the first conveying belt (2-2) to run. Specifically, the first drive motor (2-1) may control the first conveyor belt (2-2) to stop running in a case where the first stop detection sensor (2-3) remote from the second conveyor unit detects the article to be transported. When the first conveyor belt (2-2) stops running, the lifting device can start descending operation to convey the first conveyor unit (2) and the articles to be conveyed to the preset unloading position. The position for unloading can be the position of the first conveying unit (2) and the position of the article to be transported when the descending is stopped.

Further, in one embodiment, as shown in fig. 1, the first conveying unit further includes a first deceleration detection sensor, in a case where the first deceleration detection sensor detects the article to be conveyed, the state of the first deceleration detection sensor is an activated state, and the first driving motor controls the first conveying belt to operate in a deceleration manner; under the condition that the first stop detection sensor detects the articles to be transported, the state of the first stop detection sensor is a starting state, and the first driving motor controls the first conveying belt to stop running.

In one embodiment, as shown in fig. 1, the first conveying unit includes a plurality of first deceleration detection sensors and a plurality of first stop detection sensors, and the conveying apparatus further includes a second conveying unit including a second conveying belt and a second driving motor for controlling the operation of the second conveying belt. The control unit is electrically connected with the first driving motor and the second driving motor and is used for: and under the condition that the running directions of the first conveying belt and the second conveying belt are both outlets far away from the stereoscopic warehouse and the first speed reduction detection sensor far away from the second conveying unit detects the articles to be conveyed, the second driving motor is controlled to stop so as to control the second conveying belt to stop running through the second driving motor.

The first conveyor unit (2) may include a plurality of first deceleration detection sensors, the first deceleration detection sensors may be first deceleration detection sensors distant from the second conveyor unit, and may be first deceleration detection sensors close to the second conveyor unit, and for convenience of distinction, the first deceleration detection sensors distant from the second conveyor unit may be represented by first deceleration detection sensors (2-4), and the first deceleration detection sensors close to the second conveyor unit may be represented by first deceleration detection sensors (2-5). The first conveyor unit (2) may include a plurality of first stop detection sensors, the first stop detection sensor may be a first stop detection sensor distant from the second conveyor unit, and the first stop detection sensor may be a first stop detection sensor close to the second conveyor unit, and for convenience of distinction, the first stop detection sensor distant from the second conveyor unit may be represented by a first stop detection sensor (2-3), and the first stop detection sensor close to the second conveyor unit may be represented by a first stop detection sensor (2-6). The second conveying unit (3) comprises a second driving motor (3-1) and a second conveying belt (3-2), wherein the second driving motor (3-1) can drive the second conveying belt (3) to run. The articles to be transported carried by the handling device may be placed on the second conveyor belt (3-2), and the articles to be transported may be transferred to the first conveyor unit (2) via the second conveyor belt (3-2). The control unit is electrically connected with the first driving motor and the second driving motor. When the article to be transported is transported to the first transporting unit, the first transporting belt (2-2) and the second transporting belt (3-2) may be moved in a direction away from the stereoscopic warehouse, as shown in fig. 1, and may be indicated as being moved leftward, and in a case where the article to be transported is detected by the first deceleration detection sensor (2-4), the control unit may stop the second transporting belt (3-2) by controlling the second driving motor (3-1).

In one embodiment, as shown in fig. 1, the conveying equipment further includes a control unit, configured to check an operation state of the conveying equipment, and send an alarm message to the audible and visual alarm when it is determined that the conveying equipment is abnormal; and the audible and visual alarm is used for sending corresponding warning and prompt according to the warning information.

When a carrying task is available, the control unit (5-1) can check the running state of the conveying equipment, if the conveying equipment is determined to be abnormal, the control unit (5-1) sends alarm information to the audible and visual alarm (5-2), and the audible and visual alarm (5-2) can send corresponding warning and prompt according to the alarm information so as to inform workers to judge the result and carry out troubleshooting and maintenance on the conveying equipment.

In one embodiment, as shown in fig. 1, the conveying apparatus further includes a control unit electrically connected to the first conveying unit and the lifting device; and sending a descending instruction to enable the lifting device to start descending operation according to the descending instruction under the condition that the detection data of the first stop detection sensor is acquired and the first stop detection sensor is determined to detect the article to be transported.

In one embodiment, as shown in fig. 1, the lifting device further comprises a lifter driving motor for controlling the operation of the lifting device; the elevator deceleration sensor is used for determining that the elevator deceleration sensor is in an ON state under the condition that the elevator deceleration sensor detects the elevator device, and controlling the elevator device to operate in a deceleration mode through the elevator driving motor; and the elevator stop sensor determines that the state of the elevator stop sensor is an ON state under the condition that the elevator stop sensor detects the elevator device, and controls the elevator device to stop running through the elevator driving motor.

Further, in one embodiment, as shown in fig. 1, there are a plurality of elevator deceleration sensors and a plurality of elevator stop sensors; the control unit is also used for controlling the lifting device to operate in a speed reduction mode through the lifting drive motor under the condition that the lifting device starts descending operation and the lifting deceleration sensor close to the ground detects the lifting device; and under the condition that the elevator stop sensor close to the ground detects the elevator, controlling the elevator to stop running through the elevator driving motor.

The number of the elevator deceleration sensors may be plural, the elevator deceleration sensor may be an elevator downward deceleration sensor (1-6), and the elevator deceleration sensor near the ground refers to the elevator downward deceleration sensor (1-6). The number of the elevator stop sensors may be plural, the elevator stop sensor may be an elevator down stop sensor (1-5), and the elevator stop sensor near the ground refers to the elevator down stop sensor (1-5). When the elevator driving motor controls the elevator device to descend, the elevator driving motor (1-1) can control the elevator device to operate in a speed reducing mode under the condition that the elevator descending speed reducing sensor (1-6) detects the elevator device. When the lifting down stop sensor (1-5) detects the lifting device, the lifting device can be controlled to stop running through the lifting machine driving motor (1-1).

In one embodiment, as shown in fig. 1, the item to be transported includes a transport frame and a target item located within the transport frame; the lifting device is also used for starting lifting operation to convey the first conveying unit back to a position parallel to the second conveying belt through the moving track under the condition that the target object in the conveying frame is determined to be completely unloaded, wherein the conveying frame is positioned on the first conveying belt.

When the first conveying unit (2) stops operating, the target article can be unloaded by the unloading device. When the output conveyor belt of the unloading device stops simultaneously with the first conveying unit (2), the lifting device can be driven by the lifting machine driving motor (1-1) to lift the first conveying unit (2), and the first conveying unit (2) can be conveyed back to the position where the second conveyor belt is parallel by the moving track.

In one embodiment, as shown in fig. 1, there are a plurality of elevator deceleration sensors and a plurality of elevator stop sensors; the control unit is also used for controlling the lifting device to operate in a speed reduction mode through the lifting drive motor under the condition that the lifting device starts lifting operation and the lifting deceleration sensor far away from the ground detects the lifting device; and under the condition that the elevator stop sensor far away from the ground detects the elevator, controlling the elevator to stop running through the elevator driving motor.

The number of the elevator deceleration sensors may be plural, the elevator deceleration sensors may be elevator ascending deceleration sensors (1-7), and the elevator deceleration sensors far from the ground refer to the elevator ascending deceleration sensors (1-7). The number of the elevator stop sensors can be multiple, the elevator stop sensors can be elevator ascending stop sensors (1-8), and the elevator deceleration sensors far away from the ground are elevator ascending stop sensors (1-8). When the lifting device is controlled to ascend by the lifting machine driving motor (1-1), the lifting device can be controlled to operate in a speed reducing mode through the lifting machine driving motor under the condition that the lifting machine ascending speed reducing sensor (1-7) detects the lifting device. When the lifting device is detected by the lifting machine ascending stop sensor (1-8), the lifting device can be controlled to stop running through the lifting machine driving motor (1-1). In case the moving track returns the first conveyor unit (2) to a position parallel to the second conveyor belt, the transport frames on the first conveyor belt (2-2) need to be transported back into the stereoscopic warehouse.

In one embodiment, as shown in fig. 1, the control unit is further configured to, in a case where it is determined that the first conveying unit and the second conveying unit are located in parallel and the lifting device stops operating, control the first driving motor to start operating, so as to control the first conveying belt to start operating through the first driving motor, and the operating direction of the first conveying belt is close to the exit of the stereoscopic warehouse, so as to transfer the transportation frames on the first conveying belt to the second conveying belt.

When the first conveying unit (2) and the second conveying belt (3-2) of the second conveying unit (3) are parallel in position and the lifting device stops running, the control unit can control the first driving motor (2-1) to enable the first conveying belt (2-2) to start running, and the running direction of the first conveying belt (2-2) is close to the exit of the stereoscopic warehouse, as shown in fig. 1, the direction close to the exit of the stereoscopic warehouse is the running direction towards the right. The lifting device can control the lifting machine driving motor to stop the lifting device through the lifting machine stop sensor. Specifically, the elevator driving motor (1-1) can be controlled by the elevator ascending stop sensor (1-8) to stop the operation of the elevator during the ascending process of the elevator.

In one embodiment, as shown in fig. 1, the control unit is further configured to control the first driving motor and the second driving motor to start to control the first conveyor belt and the second conveyor belt to start running and the running direction of the first conveyor belt and the second conveyor belt is close to the exit of the stereoscopic warehouse if it is determined that the following conditions are all satisfied: a first stop detection sensor near the second conveyance unit detects the conveyance frame; stopping the first conveying belt; the running direction of the first conveying belt is close to the outlet of the stereoscopic warehouse.

When the transport frame is located on the first conveyor belt (2-2) and the first conveyor belt (2-2) stops operating, the transport frame needs to be transported to the second conveyor unit (3). In the case where the first conveyor belt (2-2) stops operating and the running direction of the first conveyor belt (2-2) is a direction approaching the exit of the stereoscopic warehouse, the control unit may control the first driving motor (2-1) to start the first conveyor belt (2-2) to operate, may control the second driving motor (3-1) to start the second conveyor belt (3-2) to operate, and the running directions of the first conveyor belt (2-2) and the second conveyor belt (3-2) are directions approaching the exit of the stereoscopic warehouse. Wherein, under the condition that the first stop detection sensor (2-6) close to the second conveying unit detects the conveying frame, the first conveying belt (2-2) can be stopped by controlling the first driving motor (2-1), and the stop direction is the direction close to the outlet of the stereoscopic warehouse. As shown in fig. 1, the direction approaching the exit of the stereoscopic warehouse is a rightward traveling direction.

In one embodiment, as shown in fig. 1, the control unit is further configured to control the second conveyor belt to run at a reduced speed by the second driving motor and control the first conveyor belt to stop running by the first driving motor in case that the second deceleration detection sensor far from the first conveyor unit detects the transport frame.

When the transport frame is transported to the second conveyor belt (3-2), the second deceleration detection sensor (3-5) detects the transport frame, the second conveyor belt (3-2) can be controlled to operate in a deceleration mode through the second drive motor (3-1), and the first drive motor (2-1) can control the first conveyor belt (2-2) to stop operating when the second deceleration detection sensor (3-5) detects the transport frame due to the fact that the control unit (5-1) is electrically connected with the first drive motor (2-1) and the second drive motor (3-2).

In one embodiment, as shown in fig. 1, the control unit is further configured to control the second conveyor belt to stop running by the second drive motor in a case where the second stop detection sensor distant from the first conveyor unit detects the transport frame.

After the second deceleration detection sensor (3-5) detects the transport frame, the second stop detection sensor (3-6) can detect the transport frame along with the second conveyor belt moving towards the direction approaching the stereoscopic warehouse, and the control unit can control the second conveyor belt (3-2) to stop moving through the second driving motor (3-1).

In one embodiment, as shown in fig. 1, the lifting device further comprises a lift limit sensor comprising a lift upper limit sensor and a lift lower limit sensor; in the process of starting the lifting operation of the lifting device, if the lifting device is not detected by the lifting device stop sensor far away from the ground or the lifting device stop sensor far away from the ground fails, the lifting device is controlled to stop running by the lifting device driving motor under the condition that the lifting device is detected by the lifting device upper limit sensor; in the process of starting the descending operation of the lifting device, if the lifting device is not detected by the lifting device stop sensor close to the ground or the lifting device stop sensor close to the ground fails, the lifting device is controlled to stop running by the lifting device driving motor under the condition that the lifting device is detected by the lifting device lower limit sensor.

The lift limit sensors may include upper lift limit sensors (1-9) and lower lift limit sensors (1-4). In the process that the elevator driving motor (1-1) controls the elevator to move upwards, if the elevator ascending stop sensor (1-8) does not detect the elevator or the elevator ascending stop sensor (1-8) has a fault, the elevator driving motor (1-1) can control the elevator to stop running when the elevator upper limit sensor (1-9) detects the elevator; in the process that the elevator driving motor (1-1) controls the elevator to move and descend, if the elevator descending stop sensor (1-5) does not detect the elevator or the elevator descending stop sensor (1-5) has a fault, when the elevator lower limit sensor (1-4) detects the elevator, the elevator driving motor (1-1) can control the elevator to stop running, so that the safety of the elevator is ensured, and casualties caused by equipment faults can be avoided.

Fig. 3 schematically shows an operation flow diagram of a conveying apparatus for a stereoscopic warehouse according to an embodiment of the present application. When a carrying task is carried out, the control unit starts self-checking and detects the running state of the conveying equipment at the same time, if abnormal conditions occur, an alarm and a prompt can be sent out through the audible and visual alarm (5-2) to prompt field workers to timely handle the abnormal conditions, and if the control unit (5-1) and the conveying equipment can normally run, the conveying equipment can normally start carrying work. After the control unit determines that the transport device is capable of operating normally, the operating mode of the device may be selected, in particular, the CIM mode, which refers to an automatic operating mode used when the production line of articles is producing normally, may be selected. In the CIM mode, the handling equipment, the unloading equipment and the lifting device of the stereoscopic warehouse may start to operate.

The handling equipment of the stereoscopic warehouse can place the cassette on the third conveying unit (4), and the presence or absence detection sensor (4-7) can detect whether the handling equipment is arranged at the outlet of the stereoscopic warehouse. When the presence or absence of the detection sensor does not detect the transport apparatus, that is, when the presence or absence of the detection sensor (4-7) confirms that the transport apparatus is separated, the third drive motor (4-1) may be controlled to start the operation of the third conveyor (4-2). When the third deceleration detection sensor (4-4) detects the cassette, the state of the third deceleration detection sensor (4-4) is an ON state; when the third stop detection sensor (4-3) detects the cassette, the state of the third stop detection sensor (4-3) is an ON state. The third conveying unit (4) starts to operate, when the third deceleration detection sensor (4-4) detects the cassette, the state of the third deceleration detection sensor (4-4) is in an ON state, and the third driving motor (4-1) can control the third conveying belt (4-2) to operate in a deceleration mode; when the third stop detection sensor (4-3) detects the cassette, the third stop detection sensor (4-3) is in an ON state, and the third drive motor (4-1) can control the third conveyor belt (4-2) to stop running.

When the third conveying belt (4-2) stops running, the cassette needs to be conveyed to the second conveying unit (3), the control unit can control the third driving motor (4-1) and the second driving motor (3-1) to start running, the third driving motor (4-1) controls the third conveying belt (4-2) to start running, meanwhile, the second driving motor (3-1) controls the second conveying belt (3-2) to start running, and the directions of the third conveying belt (4-2) and the second conveying belt (3-2) are directions far away from the outlet of the stereoscopic warehouse. Under the condition that the second deceleration detection sensor (3-4) detects the cassette, the second deceleration detection sensor (3-4) is in an ON state, the second driving motor (3-1) controls the second conveying belt (3-2) to operate in a deceleration mode, and the third driving motor (4-1) controls the third conveying belt (4-2) to stop operating; under the condition that the second stop sensor (3-3) detects the cassette, the state of the second stop sensor (3-3) is in an ON state, the second driving motor (3-1) can control the second conveying belt (3-2) to stop running, and under the condition that the second conveying belt (3-2) stops running, the second conveying unit (3) stops running.

Under the condition that the second conveying belt (3-2) stops running, the cassettes need to be conveyed to the first conveying unit (2), the control unit can control the first driving motor (2-1) and the second driving motor (3-1) to start running, the second driving motor (3-1) can control the second conveying belt (3-2) to start running, meanwhile, the first driving motor (2-1) controls the first conveying belt (2-2) to start running, and the directions of the first conveying belt (2-2) and the second conveying belt (3-2) are directions far away from an outlet of the stereoscopic warehouse. Under the condition that the first deceleration detection sensor (2-4) detects the cassette, the first deceleration detection sensor (2-4) is in an ON state, the first driving motor (2-1) controls the first conveying belt (2-2) to operate in a deceleration mode, and the second driving motor (3-1) can control the second conveying belt (3-2) to stop operating; when the first stop detection sensor (2-3) detects the cassette, the first stop detection sensor (2-3) is in an ON state, the first drive motor (2-1) controls the first conveyor belt (2-2) to stop running, and when the first conveyor belt (2-2) stops running, the first conveyor unit (2) stops running.

When the first conveying belt (2-2) stops running, the control unit (5-1) can send a descending instruction, and the elevator driving motor (1-1) can control the lifting device to descend. When the elevator descending deceleration sensor (1-6) detects the first conveying unit (2) and the cassette, the elevator descending deceleration sensor (1-6) is in an ON state, and the elevator driving motor (1-1) can control the elevator device to operate in a deceleration mode; when the elevator descending stop sensor (1-5) detects the first conveying unit (2) and the cassette, the elevator descending stop sensor (1-5) is in an ON state, and the elevator driving motor (1-1) can control the elevator device to stop running.

And when the lifting device stops running, the unloading equipment can unload the articles in the cassettes. Specifically, when the input conveyor belt of the unloading apparatus and the first conveying unit (2) are simultaneously operated, the first stop detection sensor (2-3), the first deceleration detection sensor (2-4), and the first conveying unit (2) are stopped, wherein the stop of the first stop detection sensor (2-3) may be represented as the state of the first stop detection sensor (2-3) being an OFF state, and the stop of the first deceleration detection sensor (2-4) may be represented as the state of the first deceleration detection sensor (2-4) being an OFF state. When the output conveyor belt of the unloading device and the first conveyor belt (2-2) are running simultaneously, the articles in the cassettes can be unloaded and empty cassettes can be placed on the first conveyor belt (2-2). When the first deceleration detection sensor (2-5) and the second stop detection sensor (2-6) detect an empty cassette, the first deceleration detection sensor (2-5) and the second stop detection sensor (2-6) are in an ON state, and the first transport unit (2) and the output conveyor of the unloading apparatus are stopped at the same time.

In case it is determined that the unloading of the article in the cassette is completed, the control unit (5-1) may issue a lifting command, and the elevator driving motor (1-1) may control the lifting device to move upward. When the elevator ascending deceleration sensor (1-7) detects the first conveying unit (2) and an empty cassette, the elevator ascending deceleration sensor (1-7) is in an ON state, and the elevator driving motor (1-1) can control the elevator device to operate in a deceleration mode; when the elevator ascending stop sensor (1-5) detects the first conveying unit (2) and the empty cassette, the elevator ascending stop sensor (1-5) is in an ON state, and the elevator driving motor (1-1) can control the elevator device to stop running.

Under the condition that the lifting device stops operating, the first conveying unit (2) can also be in a state of stopping operating, and the returned empty card box needs to be put back into the stereoscopic warehouse. The control unit (5-1) can control the first driving motor (2-1) to enable the first conveying belt (2-2) to start running, when the first deceleration detection sensor (2-5) detects an empty cassette, the state of the first deceleration detection sensor (2-5) is in an ON state, and the first driving motor (2-1) controls the first conveying belt (2-2) to decelerate; when the first stop sensor (2-6) detects an empty cassette, the first stop sensor (2-6) is in an ON state, and the first driving motor (2-1) controls the first conveying belt (2-2) to stop running.

When the first conveyor belt (2-2) stops, the empty cassette needs to be transported to the second conveyor belt (3-2). The control unit can control the first driving motor (2-1) and the second driving motor (3-1) to start to operate, the second driving motor (3-1) can control the second conveying belt (3-2) to start to operate, meanwhile, the first driving motor (2-1) controls the first conveying belt (2-2) to start to operate, and the directions of the first conveying belt (2-2) and the second conveying belt (3-2) are directions close to the outlet of the stereoscopic warehouse. Under the condition that the second deceleration detection sensor (3-5) detects the cassette, the second deceleration detection sensor (3-5) is in an ON state, the second driving motor (3-1) controls the second conveying belt (3-2) to operate in a deceleration mode, and the first driving motor (2-1) can control the first conveying belt (2-2) to stop operating; and under the condition that the second stop sensor (3-6) detects an empty cassette, the state of the second stop sensor (3-6) is in an ON state, and the second driving motor (3-1) controls the second conveying belt (3-2) to stop running.

When the second conveyor belt is stopped, the empty cassette needs to be transported to the third conveyor belt (4-2). The control unit (5-1) can control the third driving motor (4-1) and the second driving motor (3-1) to start running, the second driving motor (3-1) can control the second conveying belt (3-2) to start running, meanwhile, the third driving motor (4-1) controls the third conveying belt (4-2) to start running, and the directions of the third conveying belt (4-2) and the second conveying belt (3-2) are directions close to the outlet of the stereoscopic warehouse. Under the condition that the third deceleration detection sensor (4-5) detects the cassette, the state of the third deceleration detection sensor (4-5) is an ON state, the third driving motor (4-1) controls the third conveyer belt (4-2) to operate in a deceleration mode, and the second driving motor (3-1) can control the second conveyer belt (3-2) to stop operating; under the condition that the third stop sensor (4-6) detects an empty cassette, the third driving motor (4-1) controls the third conveying belt (4-2) to stop running when the state of the third stop sensor (4-6) is an ON state.

When the third conveyor belt (4-2) stops running, the conveying equipment of the stereoscopic warehouse can convey the empty cassettes away from the third conveying unit (4), the presence or absence detection sensor (4-7) can detect whether the conveying equipment exists at the outlet of the stereoscopic warehouse, and if the conveying equipment is not detected, the empty cassettes can be considered to be placed back into the stereoscopic warehouse. When it is determined that the empty cassette is placed back into the stereoscopic warehouse, the operation of the conveying equipment is stopped when there is no conveying task, and when the empty cassette is placed back into the stereoscopic warehouse and a new cassette needs to be conveyed, the CIM operation mode may be continuously selected.

In one embodiment, the UNLOAD mode may be selected in the event of a failure of the handling equipment of the stereoscopic warehouse. The UNLOAD mode refers to an automatic operation mode used in downstream device testing. In the UNLOAD mode, the unloading device and the lifting device can normally operate, the cassettes at the outlet of the stereoscopic warehouse cannot be conveyed to the third conveying belt (4-2) due to the fact that the conveying device fails, meanwhile, the conveying device cannot take the cassettes away from the third conveying unit (4) through the conveying device of the stereoscopic warehouse, and the detecting sensor (4-7) cannot confirm that the conveying device leaves. Therefore, in the UNLOAD mode, the other steps are consistent with the CIM mode except that the cassettes at the outlet of the stereoscopic warehouse cannot be conveyed to the third conveyor belt (4-2), the conveying equipment cannot take the cassettes away from the third conveying unit (4) through the conveying equipment of the stereoscopic warehouse, and the presence or absence of the detection sensor (4-7) cannot confirm that the conveying equipment leaves, and are not described again.

In one embodiment, the LIFTER mode may be selected in case of failure of the handling and unloading equipment of the stereoscopic warehouse. The LIFTER mode refers to an automatic operation mode used when the equipment is tested by itself. In the LIFTER mode, the lifting device can normally operate, the cassettes at the outlet of the stereoscopic warehouse cannot be conveyed to the third conveying belt (4-2) due to the fact that the conveying equipment fails, meanwhile, the conveying equipment cannot take the cassettes away from the third conveying unit (4) through the conveying equipment of the stereoscopic warehouse, and the detecting sensor (4-7) cannot confirm that the conveying equipment leaves; the unloading device fails to unload the articles in the cassette and also fails to place an empty cassette on the first conveyor belt (2-2). Therefore, in the UNLOAD mode, except that the transport device cannot transport the cassette at the exit of the stereoscopic warehouse to the third conveyor belt (4-2), and at the same time, the transport device cannot take the cassette away from the third conveyor unit (4) by the transport device of the stereoscopic warehouse, the presence or absence of the detection sensor (4-7) cannot confirm that the transport device leaves, and the unloading device cannot UNLOAD the articles in the cassette, and cannot place the empty cassette on the first conveyor belt (2-2), other steps are consistent with the CIM mode, and will not be described herein again.

In one embodiment, in the event of a failure of an off-load device, a MASTER mode may be selected, which refers to an automatic mode of operation used in testing with upstream devices. In the MASTER mode, the carrying equipment and the lifting device of the stereoscopic warehouse can start to operate, and the unloading equipment fails to unload the articles in the cassettes and cannot place the empty cassettes on the first conveyor belt (2-2). Therefore, in the MASTER mode, except that the articles in the cassette cannot be unloaded, the empty cassette cannot be placed on the first conveyor belt (2-2), and other steps are consistent with the CIM mode, and are not described herein again.

According to the technical scheme, the four operation modes including the CIM mode, the UNLOAD mode, the LIFTER mode and the MASTER mode are set, so that the articles are not required to be completely conveyed under the condition that equipment fails, and the conveying efficiency of the equipment is improved to a certain extent. Through setting up a plurality of conveying units, the maintenance and the maintenance of the equipment of being convenient for, through setting up elevating gear to the article conveying unit in stereoscopic warehouse to the space of conveying unit below can set up personnel's passageway, when equipment breaks down or emergency, the staff can directly pass through, has saved the maintenance time of equipment, has reduced equipment outage rate effectively, has improved the transport efficiency of product by a wide margin. Meanwhile, technicians do not need to detour through the personnel channel, the safety of workers is guaranteed, the workers move on the personnel channel, the quality of products cannot be affected, and meanwhile the burden of cleaning conveying equipment is reduced.

Fig. 3 is a schematic operation flow diagram of a conveying apparatus for a stereoscopic warehouse according to an embodiment. It should be understood that, although the steps in the flowchart of fig. 3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

The conveying equipment for the stereoscopic warehouse comprises a processor and a memory, wherein the first conveying unit, the second conveying unit, the lifting device and the like are stored in the memory as program units, and the processor executes the program modules stored in the memory to realize corresponding functions, wherein the processor comprises the control unit and can execute relevant steps and functions executed by the control unit.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A conveying apparatus for stereoscopic warehouse, characterized in that the conveying apparatus comprises:

a first conveying unit;

the second conveying unit is respectively adjacent to the first conveying unit and the outlet of the stereoscopic warehouse and is used for conveying the articles to be conveyed in the stereoscopic warehouse to the first conveying unit;

and the lifting device is used for starting a descending operation under the condition that the article to be transported is transported to the first conveying unit so as to transport the first conveying unit and the article to be transported to a preset unloading position.

2. The conveying apparatus according to claim 1, wherein the first conveying unit includes a first conveying belt, a first drive motor, and a first stop detection sensor; the first driving motor is used for controlling the first conveying belt to run, and the first driving motor controls the first conveying belt to stop running under the condition that the first stop detection sensor detects the article to be conveyed;

the lifting device comprises a track, and the track is a moving track of the lifting device; the lifting device is further used for starting a descending operation to transport the first conveying unit and the article to be transported to a preset unloading position under the condition that the first conveying belt is determined to stop running.

3. The transport apparatus of claim 2, further comprising:

the control unit is electrically connected with the first conveying unit and the lifting device; and sending a descending instruction to enable the lifting device to start descending operation according to the descending instruction under the condition that the detection data of the first stop detection sensor is acquired and the first stop detection sensor is determined to detect the article to be transported.

4. The transport apparatus of claim 2, wherein the first transport unit further comprises:

the first speed reduction detection sensor is in a starting state under the condition that the first speed reduction detection sensor detects the to-be-transported object, and the first driving motor controls the first conveying belt to operate in a speed reduction mode;

and under the condition that the first stop detection sensor detects the article to be transported, the state of the first stop detection sensor is a starting state, and the first driving motor controls the first conveying belt to stop running.

5. The conveyance apparatus according to claim 4, wherein the first conveyance unit includes a plurality of first deceleration detection sensors and a plurality of first stop detection sensors, the conveyance apparatus further comprising:

the second conveying unit comprises a second conveying belt and a second driving motor, and the second driving motor is used for controlling the second conveying belt to run;

a control unit electrically connected to the first and second driving motors, the control unit being configured to: and under the condition that the running directions of the first conveying belt and the second conveying belt are both far away from the outlet of the stereoscopic warehouse and the first speed reduction detection sensor far away from the second conveying unit detects the article to be conveyed, the second driving motor is controlled to stop so as to control the second conveying belt to stop running through the second driving motor.

6. The conveying apparatus according to claim 5, wherein the second conveying unit includes a plurality of second deceleration detection sensors and a plurality of second stop detection sensors, and the second drive motor is further configured to control the second conveyor belt to stop running in a case where the second stop detection sensors detect the article to be conveyed;

the control unit is further configured to: and under the condition that a second stop detection sensor close to the first conveying unit detects the to-be-conveyed article and the second conveying belt is in stop operation, controlling the first driving motor and the second driving motor to start so as to control the first conveying belt and the second conveying belt to start operation, wherein the operation direction of the first conveying belt and the second conveying belt is far away from the outlet of the stereoscopic warehouse.

7. The conveying apparatus according to any one of claims 1 to 6, wherein the article to be transported includes a transport frame and a target article located within the transport frame;

the lifting device is further used for starting a lifting operation to send the first conveying unit back to a position parallel to the second conveying belt through the moving track when the target object in the conveying frame is determined to be completely unloaded, wherein the conveying frame is located on the first conveying belt.

8. The transport apparatus of claim 7, wherein the control unit is further configured to:

and under the condition that the positions of the first conveying unit and the second conveying unit are determined to be parallel and the lifting device stops running, controlling the first driving motor to start so as to control the first conveying belt to start running through the first driving motor, wherein the running direction of the first conveying belt is close to the outlet of the stereoscopic warehouse, so that the conveying frames on the first conveying belt are conveyed to the second conveying belt.

9. The conveying apparatus according to claim 8, wherein the control unit is further configured to control the first driving motor and the second driving motor to start to control the first conveying belt and the second conveying belt to start running and the running direction of the first conveying belt and the second conveying belt is close to the exit of the stereoscopic warehouse if it is determined that the following conditions are all satisfied:

a first stop detection sensor proximate to the second conveyance unit detects the transport frame;

the first conveying belt stops running;

the running direction of the first conveying belt is close to the outlet of the stereoscopic warehouse.

10. The transport apparatus of claim 9, wherein the control unit is further configured to:

and under the condition that a second speed reduction detection sensor far away from the first conveying unit detects the conveying frame, controlling a second conveying belt to run at a reduced speed through the second driving motor, and controlling the first conveying belt to stop running through the first driving motor.

11. The transport apparatus of claim 10, wherein the control unit is further configured to:

and under the condition that a second stop detection sensor far away from the first conveying unit detects the conveying frame, controlling a second conveying belt to stop running through the second driving motor.

12. The transport apparatus of claim 11, wherein the second transport unit comprises a plurality of second transport units, the control unit further to:

and sending a conveying instruction to a conveying device to convey the transport frame away through the conveying device under the condition that a second conveying unit adjacent to the outlet of the stereoscopic warehouse stops operating.

13. The transport apparatus of claim 5, wherein the second transport unit further comprises: the presence or absence detection sensor is used for detecting whether the outlet of the stereoscopic warehouse is provided with carrying equipment or not;

the control unit is further configured to: and under the condition that the presence or absence detection sensor does not detect the carrying equipment, controlling the second driving motor to start so as to control the second conveying belt to start running.

14. The transport apparatus of claim 1, further comprising:

the control unit is used for checking the running state of the conveying equipment and sending alarm information to the audible and visual alarm under the condition that the conveying equipment is determined to be abnormal;

and the audible and visual alarm is used for sending out corresponding warning and prompt according to the warning information.

15. The transport apparatus of claim 1, wherein the lifting device further comprises:

the elevator driving motor is used for controlling the operation of the lifting device;

an elevator deceleration sensor for determining that the state of the elevator deceleration sensor is an ON state in a case where the elevator deceleration sensor detects the elevating device; controlling the lifting device to operate at a reduced speed through the lifting machine driving motor;

and the elevator stop sensor is used for determining that the state of the elevator stop sensor is an ON state under the condition that the elevator stop sensor detects the elevator device, and controlling the elevator device to stop running through the elevator driving motor.

16. The transport apparatus of claim 15, wherein the elevator deceleration sensor is plural in number, and the elevator stop sensor is plural in number;

the control unit is further configured to:

when the lifting device starts descending operation and a lifting machine deceleration sensor close to the ground detects the lifting device, controlling the lifting device to operate in a deceleration mode through the lifting machine driving motor; and under the condition that a lifting device is detected by a lifting device stop sensor close to the ground, controlling the lifting device to stop running through the lifting device driving motor.

17. The transport apparatus of claim 15, wherein the elevator deceleration sensor is plural in number, and the elevator stop sensor is plural in number;

the control unit is further configured to:

when the lifting device starts lifting operation and a lifting machine deceleration sensor far away from the ground detects the lifting device, controlling the lifting device to operate in a deceleration mode through the lifting machine driving motor; and under the condition that a lifting device is detected by a lifting device stop sensor far away from the ground, controlling the lifting device to stop running through the lifting device driving motor.

18. The transport apparatus of claim 17, wherein the lifting device further comprises:

an elevator limit sensor comprising an upper elevator limit sensor and a lower elevator limit sensor;

in the process of starting the lifting operation of the lifting device, if the lifting device is not detected by the lifting device stop sensor far away from the ground or the lifting device stop sensor far away from the ground fails, the lifting device is controlled to stop running by the lifting device driving motor under the condition that the lifting device is detected by the lifting device upper limit sensor;

in the process of starting the descending operation of the lifting device, if the lifting device is not detected by the lifting device stop sensor close to the ground or the lifting device stop sensor close to the ground fails, the lifting device is controlled to stop running by the lifting device driving motor under the condition that the lifting device is detected by the lifting device lower limit sensor.