CN217731553U - Intelligent warehousing equipment - Google Patents

Abstract

The utility model relates to an intelligent storage technical field especially relates to an intelligent storage equipment, include: storehouse head, storehouse section, storehouse tail, stacker and AGV carrier. The storehouse head includes: a feeding mechanism and a manipulator. The number of the feeding and discharging mechanisms is at least two. Each goes out material mechanism includes: the material transfer chain, dock the buffer platform and the information reading ware of material transfer chain. The tail of the bin is provided with a carrier inlet and a carrier outlet. The AGV carrier includes: AGV dolly and goods shelves. The AGV carrier is used for receiving materials transferred by the stacking machine at the carrier exit and entrance. Above-mentioned intelligent storage equipment through storehouse head, storehouse festival, stacker and be equipped with the AGV carrier of goods shelves, provides two optional passageways for taking out of material, when deposit and withdraw the material in batches, shifts the pan feeding port to the storehouse tail and accepts the transportation by the AGV carrier, shortens the time of deposit and withdraw the waiting, improves work efficiency.

Description

Intelligent warehousing equipment

Technical Field

The utility model relates to an intelligent storage technical field especially relates to an intelligent storage equipment.

Background

The intelligent storage is an efficient storage mode, when storing materials, the materials are input through a material conveying line of a bin head, then the materials are transferred to a cache table by a mechanical arm to be positioned and input material information, and then the materials are transferred to a material rack through a stacker to be stored. When the material is taken, the stacker takes the material out of the material rack, then transfers the material to a buffer storage table of the bin head for positioning, and then the manipulator transfers the material from the buffer storage table to a material output line for outputting.

The defects of the traditional material storage equipment are as follows: the storage and the taking out of the materials are unidirectional operation, the stacker works back and forth between the bin head and the material rack, particularly for the materials stored in batches, on one hand, the stacker needs to wait for the buffer platform in a queue, on the other hand, the stacker needs to frequently reciprocate back and forth, the storage waiting time is too long, and the working efficiency is low.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model provides an intelligent storage equipment through storehouse head, storehouse festival, stacker and be equipped with goods shelves's AGV carrier, for taking out of material provides two optional passageways, when access material in batches, shifts the pan feeding port to the storehouse tail and accept the transportation by the AGV carrier, shortens the time of access waiting, improves work efficiency.

A smart storage device comprising:

a bin head; the storehouse head includes: a feeding mechanism and a manipulator; the number of the discharging mechanisms is at least two; each goes out material mechanism includes: the system comprises a material conveying line, a buffer platform butted with the material conveying line and an information reader; the working area of the manipulator covers each material inlet and outlet mechanism, and the manipulator is used for realizing the transfer of materials between the material conveying line and the buffer storage platform;

the bin section is connected with the bin head; the bin section is provided with a material rack for storing materials;

the bin tail is connected with the bin section; the bin tail is positioned at one end of the bin section far away from the bin head; the tail of the bin is provided with a carrier access;

a stacker; the stacker is used for realizing the transfer of materials between the buffer storage table and the material rack, and the stacker is also used for realizing the transfer of the materials between the material rack and the carrier inlet and outlet; and

an AGV carrier; the AGV carrier includes: the system comprises an AGV trolley and a goods shelf arranged on the AGV trolley; the AGV carrier is used for receiving materials transferred by the stacker at a carrier passageway.

Above-mentioned intelligent storage equipment, storehouse head are used for receiving the material of depositing or the port of the material output that will take out to carry out information reading to the material when depositing the material. The storehouse festival is used for depositing the material. The bin tail is used for providing another port for outputting the taken materials. The stacker is used for realizing the transfer of materials between the bin head and the bin section, and the stacker can also realize the transfer of the materials between the bin section and the bin tail. The AGV carrier is used for transporting out the material of exporting from the storehouse tail. When needs access material in batches, two of storehouse head are come in and are expected the mechanism and all can regard as the pan feeding port to use and be used in order to realize the material stock, simultaneously, receive the material in order to realize getting the material through the AGV dolly that carries with goods shelves in the storehouse tail department to improve access efficiency and access the material in batches in order to deal with. Through above-mentioned design, through storehouse head, storehouse festival, stacker and be equipped with the AGV carrier of goods shelves, for taking out of material provides two optional passageways, when deposit and withdraw the material in batches, transfer the pan feeding port to the storehouse tail and accept the transportation by the AGV carrier, shorten the time of deposit and withdraw the waiting, improve work efficiency.

In one embodiment, the material transfer line comprises: the device comprises a conveyor belt, a lifting plate butted with the conveyor belt and a lifting driver connected with the lifting plate; the lifting plate is positioned at one end of the conveying belt close to the buffer platform. During the material stock, the conveyer belt is carried the material to predetermined discrepancy material level position, and the lift driver drives the lifter plate lifting to predetermineeing the height and shift the material to the buffer stage with the manipulator. When materials are taken, the manipulator transfers the materials to the lifting plate from the buffer table, then the lifting plate moves downwards to place the materials to the conveyor belt, and the conveyor belt outputs the materials outwards.

In one embodiment, the cartridge head further comprises: material frame; the material frame is provided with a material stringing rod; the stringing rod is used for serially connecting and stacking materials from top to bottom. The material frame can make the material can realize batch input or output through the mode of piling up, improves access efficiency.

In one embodiment, the bottom of the material frame is provided with an avoiding groove arranged along the extension direction of the conveyor belt; the avoiding groove is butted with the lifting plate. The material frame can be positioned by the way of butting the lifting plate with the avoiding groove, and the avoiding groove also provides a space for lifting activities for the lifting plate.

In one embodiment, the material conveying line further comprises: a positioning assembly; the positioning assembly is used for positioning the material frame at one end of the conveying belt close to the buffer platform. When the material frame reached predetermined discrepancy material position, locating component can pin the location with the material frame, avoids the material frame to take place to rock at the in-process that the material shifted, the stability of lifting means operation.

In one embodiment, the cache station includes: the clamp comprises a base, a carrier plate arranged parallel to the base, a plurality of clamps arranged between the base and the carrier plate in a sliding manner, and a positioning driver connected with the clamps; the carrier plate is provided with a plurality of sliding chutes which are uniformly arranged at intervals and radiate outwards from the center of the carrier plate; one clamp is correspondingly connected with one sliding chute in a sliding way; the positioning driver is used for driving the clamps to synchronously close or far away. When the material is transferred to the support plate, the material is clamped by the plurality of clamps which are close to the center, so that the material is positioned by the center of the support plate, the structure is simple, and the working efficiency is high.

In one embodiment, each clamp comprises: the positioning device comprises a rack arranged on a base in a sliding manner, a positioning column arranged on the rack and a transmission gear meshed with the rack; the positioning driver is provided with a synchronous belt connected with each transmission gear. The positioning driver drives each transmission gear to rotate through the synchronous belt, and then drives each rack to slide, thereby driving the positioning column to move along the sliding groove, and the positioning device is simple in structure and high in working efficiency.

In one embodiment, the caching station further comprises: install the material inductor on the support plate. The material inductor can detect whether the material has been placed on the support plate, avoids anchor clamps to move under the unloaded condition, improves the reliability of equipment operation.

In one embodiment, the number of the stackers is at least two; the bin section is provided with at least two rails; a rail is used for a stacker to move back and forth. Due to the fact that the at least two stacking machines are arranged, one stacking machine can be used for storing materials, the other stacking machine can be used for taking materials, the two stacking machines can be used for storing materials or taking materials at the same time, and different material storing and taking requirements can be met.

In one embodiment, the shelf is provided with a plurality of receiving grooves distributed in an array. The storage grooves with the plurality of array distributions can enable a plurality of materials to be orderly arranged on the goods shelf, so that the AGV trolley can conveniently transport the materials in batches.

Drawings

Fig. 1 is a perspective view of an intelligent warehousing device according to an embodiment of the present invention;

FIG. 2 is a perspective view of the smart warehousing device shown in FIG. 1 from another perspective;

FIG. 3 is a schematic view of a bin head in the smart storage device shown in FIG. 1;

FIG. 4 is a schematic view of another perspective of the cartridge head shown in FIG. 3;

FIG. 5 is a partial view of the cartridge head shown in FIG. 3;

FIG. 6 is a schematic view of the feed conveyor lines in the cartridge head shown in FIG. 5;

FIG. 7 is a schematic view of a buffer station in the cartridge head shown in FIG. 5;

FIG. 8 is a schematic view of the buffer stage shown in FIG. 7 from another perspective;

FIG. 9 is a partial view of the cache station shown in FIG. 7;

FIG. 10 is an implementation of a bezel in the cartridge head shown in FIG. 3;

FIG. 11 is a schematic view of the material frame shown in FIG. 10 from another perspective;

FIG. 12 is a schematic view of a section of the smart warehousing equipment shown in FIG. 1;

FIG. 13 is a schematic view of a bin tail and an AGV carrier in the intelligent warehousing equipment shown in FIG. 1;

FIG. 14 is a schematic view of the AGV carrier of FIG. 13;

fig. 15 is a tray used for loading materials in the smart storage device shown in fig. 1.

The meaning of the reference symbols in the drawings is:

100-intelligent warehousing equipment;

10-a bin head, 11-a feeding-out mechanism, 111-a material conveying line, 1111-a conveying belt, 1112-a lifting plate, 1113-a lifting driver, 1114-a positioning component, 112-a buffer storage table, 1121-a base, 1122-a support plate, 11221-a sliding chute, 1123-a clamp, 11231-a rack, 11232-a positioning column, 11233-a transmission gear, 1124-a positioning driver, 11241-a synchronous belt, 1125-a material sensor, 113-an information reader, 12-a mechanical arm, 13-a material frame, 131-a material stringing rod, 132-a position avoiding groove and 133-a guide groove;

20-bin section, 21-material rack, 22-track;

30-bin tail, 31-carrier entrance and exit;

40-AGV carrier, 41-AGV trolley, 42-shelf;

200-material tray.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms different from those described herein and similar modifications may be made by those skilled in the art without departing from the spirit and scope of the invention and, therefore, the invention is not to be limited to the specific embodiments disclosed below.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

As shown in fig. 1 to 15, it is an embodiment of the present invention of a smart storage device 100.

As shown in fig. 1 and 2, the smart storage apparatus 100 includes: a bin head 10, bin sections 20 connecting the bin head 10, bin tails 30 connecting the bin sections 20, a stacker (not shown), and an AGV carrier 40. The cartridge head 10 is used as a port for inputting and outputting materials. The bin section 20 is used for storing materials. The bin tail 30 is used to provide another port for material output. The stacker is used for realizing the transfer of materials between the bin head 10 and the bin section 20 and also used for realizing the transfer of materials between the bin section 20 and the bin tail 30. The AGV carrier 40 is used to receive material at the rear 30 of the bin and transport the material to the outside.

Hereinafter, the smart stocker 100 will be further described with reference to fig. 1 to 15.

As shown in fig. 3 to 5, the cartridge head 10 includes: a feeding mechanism 11 and a manipulator 12. In the present embodiment, the number of the material inlet and outlet mechanisms 11 is two (in other embodiments, the number of the material inlet and outlet mechanisms 11 may also be three, four, five, or more). As shown in fig. 5, each of the discharging and feeding mechanisms 11 includes: a material delivery line 111, a buffer station 112 that interfaces the material delivery line 111, and an information reader 113. The material conveying line 111 is used for conveying materials when the materials are stored or taken out. The buffer stage 112 is used for positioning the material. The information reader 113 is used to read electronic information of the material. The working area of the manipulator 12 covers each feeding and discharging mechanism 11, and the manipulator 12 is used for realizing the transfer of the materials between the material conveying line 111 and the buffer storage table 112.

As shown in fig. 6, in the present embodiment, the material conveying line 111 includes: conveyor 1111, lift plate 1112 that interfaces with conveyor 1111, and lift drive 1113 that connects to lift plate 1112. The lifting plate 1112 is located at an end of the conveyor 1111 adjacent to the buffer station 112. During material storage, the conveyor 1111 transports the material to a preset material loading/unloading position, and the lifting driver 1113 drives the lifting plate 1112 to be lifted to a preset height for the manipulator 12 to transfer the material to the buffer platform 112. When material is taken, the manipulator 12 transfers the material from the buffer table 112 to the lifting plate 1112, then the lifting plate 1112 moves down to place the material on the conveyor belt 1111, and the conveyor belt 1111 outputs the material outwards.

In this embodiment, the cartridge head 10 may further include: and a material frame 13. As shown in fig. 10, the material frame 13 is provided with a stringing pole 131. The stringing rod 131 is used for stringing and stacking materials from top to bottom. The material frame 13 can enable materials to be input or output in batches in a stacking mode, and the storage efficiency is improved.

Further, as shown in fig. 10 and 11, the bottom of the material frame 13 is provided with a catching groove 132 arranged along the extending direction of the conveyor 1111. The avoiding groove 132 abuts the lifting plate 1112. The material frame 13 can be positioned by the way that the lifting plate 1112 is butted against the avoiding groove 132, and the avoiding groove 132 also provides a space for the lifting plate 1112 to move up and down.

In addition, as shown in fig. 6, the material conveying line 111 may further include: a locating assembly 1114. The positioning assembly 1114 is used to position the material frame 13 at an end of the conveyor 1111 near the buffer station 112. When material frame 13 reaches predetermined discrepancy material position, locating component 1114 can pin the location with material frame 13, avoids material frame 13 to take place to rock at the in-process that the material shifted, the stability of lifting means operation. For example, as shown in fig. 6, in the present embodiment, the positioning assembly 1114 includes: the clamping block is connected with the positioning cylinder. Accordingly, as shown in fig. 11, a guide groove 133 for sliding the clamping block is provided at the bottom of the material frame 13, and the clamping block can slide in the guide groove 133 when the positioning component 1114 does not need to position the material frame 13. When the positioning assembly 1114 needs to position the material frame 13, the positioning cylinder drives the clamping blocks to fold to clamp the bottom of the material frame 13, so that the material frame 13 is fixed at a preset material outlet/inlet position on the material conveying line 111.

As shown in fig. 7 and 8, in this embodiment, the cache station 112 includes: a base 1121, a carrier 1122 disposed parallel to the base 1121, a plurality of clamps 1123 slidably disposed between the base 1121 and the carrier 1122, and a positioning driver 1124 connecting the clamps 1123. The carrier 1122 has a plurality of runners 11221 spaced uniformly and radiating outwardly from the center of the carrier 1122. A clamp 1123 is slidably connected to a slide groove 11221. The positioning driver 1124 is used to move the clamps 1123 synchronously toward or away from each other. When the material is transferred to the carrier plate 1122, the material is clamped by the plurality of clamps 1123 which are close to the center, so that the material is positioned at the center of the carrier plate 1122, the structure is simple, and the working efficiency is high.

As shown in fig. 9, each clamp 1123 includes: a rack 11231 slidingly disposed on the base 1121, a positioning post 11232 mounted on the rack 11231, and a transmission gear 11233 engaging the rack 11231. The positioning driver 1124 is provided with a timing belt 11241 connecting the transmission gears 11233. The positioning driver 1124 drives each transmission gear 11233 to rotate through the synchronous belt 11241, and further drives each rack 11231 to slide, thereby driving the positioning column 11232 to move along the sliding groove 11221, and the positioning device is simple in structure and high in working efficiency.

As shown in fig. 7 and 9, the cache station 112 may further include: a material sensor 1125 mounted on a carrier 1122. The material sensor 1125 can detect whether a material is placed on the carrier 1122, so as to avoid the operation of the clamp 1123 under the no-load condition, thereby improving the reliability of the operation of the equipment.

In the present embodiment, the information reader 113 is a barcode scanner disposed above the buffer table 112 and used for reading a barcode. In other embodiments, the information reader 113 may also be a CCD sensor that reads a two-dimensional code. According to the identification of different material information, the information reader 113 matched with the material information can be arranged.

As shown in fig. 5, in the present embodiment, the robot arm 12 includes: the device comprises a cross beam arranged above each feeding and discharging mechanism 11, a first mechanical arm arranged on the cross beam in a sliding mode, a second mechanical arm arranged on the first mechanical arm in a sliding mode, and a gripper arranged on the second mechanical arm in a sliding mode. The first mechanical arm slides on the cross beam to realize X-direction movement, the second mechanical arm slides on the first mechanical arm to realize Y-direction movement, and the gripper slides on the second mechanical arm to realize Z-direction movement.

As shown in fig. 12, the warehouse section 20 is provided with a rack 21 for storing materials.

As shown in fig. 1 and 2, the bin tail 30 is located at an end of the bin section 20 far from the bin head 10, and the bin tail 30 is provided with a carrier gateway 31.

The stacker is used to realize the transfer of the materials between the buffer station 112 and the rack 21, and the stacker is also used to realize the transfer of the materials between the rack 21 and the carrier gateway 31. In this embodiment, the number of stackers is at least two. Accordingly, as shown in FIG. 12, the cartridge section 20 is provided with at least two tracks 22. A track 22 provides for a stacker to reciprocate. Due to the fact that the at least two stacking machines are arranged, one stacking machine can be used for storing materials, the other stacking machine can be used for taking materials, the two stacking machines can be used for storing materials or taking materials at the same time, and different material storing and taking requirements can be met.

As shown in fig. 14, an AGV carrier 40 includes: an AGV cart 41 and a rack 42 mounted on the AGV cart 41. As shown in FIG. 13, the AGV carriers 40 are used to receive material diverted by a stacker at the carrier doorway 31.

Further, as shown in fig. 13, the shelf 42 is provided with a plurality of receiving grooves distributed in an array. The storage grooves which are distributed in a plurality of arrays can enable a plurality of materials to be orderly arranged on the goods shelf 42, and the AGV trolley 41 is convenient to transport the materials in batches. For example, as shown in fig. 15, a tray 200 for holding electronic material is shown. In use, material may be wound or clamped onto the tray 200. The trays 200 may be stacked in the frame 13 by piercing. And the trays 200 may be placed in a flat manner on the shelves 42 in an array.

The working principle is briefly described as follows:

the cartridge head 10 serves as a port for receiving the deposited material or for discharging the removed material, and reads information on the material when it is deposited. The bin section 20 is used for storing materials. The bin tail 30 is used to provide another port through which material is output. The stacker is used to realize the transfer of materials between the bin head 10 and the bin section 20, and the stacker can also realize the transfer of materials between the bin section 20 and the bin tail 30. The AGV carrier 40 is used to transport material out of the bin tail 30. When the materials need to be stored and taken in batches, the two feeding and discharging mechanisms 11 of the bin head 10 can be used as feeding ports to store the materials, and meanwhile, the AGV trolley 41 carrying the goods shelf 42 receives the materials at the bin tail 30 to take the materials, so that the storage and taking efficiency is improved to correspond to the materials stored and taken in batches.

Above-mentioned intelligent storage equipment 100 through storehouse head 10, storehouse festival 20, stacker and be equipped with AGV carrier 40 of goods shelves 42, provides two optional passageways for taking out of material, when batch access material, shifts the pan feeding port to storehouse tail 30 and accepts the transportation by AGV carrier 40, shortens the time of access waiting, improves work efficiency.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only represent preferred embodiments of the present invention, which are described in more detail and detail, but are not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. An intelligent warehousing device, comprising:

a bin head; the cartridge head includes: a feeding mechanism and a manipulator; the number of the discharging and feeding mechanisms is at least two; each goes out material mechanism includes: the system comprises a material conveying line, a cache table butted with the material conveying line and an information reader; the working area of the manipulator covers each feeding and discharging mechanism, and the manipulator is used for realizing the transfer of materials between the material conveying line and the buffer platform;

the bin section is connected with the bin head; the bin section is provided with a material rack for storing materials;

the bin tail is connected with the bin section; the bin tail is positioned at one end of the bin section far away from the bin head; a carrier inlet and a carrier outlet are arranged at the tail of the bin;

a stacker; the stacker is used for realizing the transfer of materials between the buffer table and the material rack, and the stacker is also used for realizing the transfer of materials between the material rack and the carrier inlet and outlet; and

an AGV carrier; the AGV carrier includes: the system comprises an AGV and a goods shelf arranged on the AGV; the AGV carrier is used for receiving the materials transferred by the stacking machine at the carrier outlet and inlet.

2. The intelligent warehousing equipment of claim 1, wherein the material conveying line comprises: the device comprises a conveyor belt, a lifting plate butted with the conveyor belt and a lifting driver connected with the lifting plate; the lifting plate is positioned at one end of the conveyor belt close to the buffer platform.

3. The smart warehousing device of claim 2, wherein the header further comprises: material frame; the material frame is provided with a material stringing rod; the stringing rods are used for serially connecting and stacking materials from top to bottom.

4. The intelligent warehousing equipment as claimed in claim 3, wherein the bottom of the material frame is provided with a spacing groove arranged along the extending direction of the conveyor belt; the avoiding groove is in butt joint with the lifting plate.

5. The intelligent warehousing equipment of claim 4, wherein the material transfer line further comprises: a positioning assembly; the positioning assembly is used for positioning the material frame at one end, close to the buffer platform, of the conveyor belt.

6. The smart warehousing device of claim 1, wherein the buffer station comprises: the clamp comprises a base, a carrier plate arranged parallel to the base, a plurality of clamps arranged between the base and the carrier plate in a sliding manner, and a positioning driver connected with the clamps; the carrier plate is provided with a plurality of sliding grooves which are uniformly arranged at intervals and radiate outwards from the center of the carrier plate; one clamp is correspondingly connected with one sliding groove in a sliding manner; the positioning driver is used for driving the clamps to synchronously close or far away.

7. The smart warehousing device of claim 6, wherein each of the clamps comprises: the positioning device comprises a rack arranged on the base in a sliding manner, a positioning column arranged on the rack and a transmission gear meshed with the rack; the positioning driver is provided with a synchronous belt connected with each transmission gear.

8. The smart warehousing device of claim 6, wherein the buffer station further comprises: and the material sensor is arranged on the carrier plate.

9. The intelligent warehousing equipment of claim 1, wherein the number of stackers is at least two; the bin section is provided with at least two tracks; one of the rails is used for the stacker to move back and forth.

10. The intelligent warehousing device of claim 1, wherein the shelf has a plurality of storage slots distributed in an array.

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