WO2020173217A1 - 自动入库系统、仓储物流系统及自动入库方法 - Google Patents

自动入库系统、仓储物流系统及自动入库方法 Download PDF

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Publication number
WO2020173217A1
WO2020173217A1 PCT/CN2019/130297 CN2019130297W WO2020173217A1 WO 2020173217 A1 WO2020173217 A1 WO 2020173217A1 CN 2019130297 W CN2019130297 W CN 2019130297W WO 2020173217 A1 WO2020173217 A1 WO 2020173217A1
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WO
WIPO (PCT)
Prior art keywords
transmission line
goods
transmission
docking
automatic warehousing
Prior art date
Application number
PCT/CN2019/130297
Other languages
English (en)
French (fr)
Inventor
李洪涛
Original Assignee
北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
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Application filed by 北京京东尚科信息技术有限公司, 北京京东世纪贸易有限公司 filed Critical 北京京东尚科信息技术有限公司
Publication of WO2020173217A1 publication Critical patent/WO2020173217A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations

Definitions

  • This application relates to the technical field of warehousing and logistics, such as an automatic warehousing system, a warehousing logistics system and an automatic warehousing method.
  • Warehousing logistics includes multiple logistics links such as goods warehousing, destacking, sorting, loading, picking, stacking, and goods out of the warehouse. Among them, goods in and out of the warehouse realize the docking between the freight truck and the warehouse. Stacking, sorting, loading and other processes are basically completed inside the warehouse.
  • the related technology provides an intelligent logistics loading and unloading conveying system.
  • the inbound end conveying component of the system includes an unloading transition line, a fast unloading conveying line, an unloading buffering line, a lifting mechanism, and a final assembly material conveying line connected in sequence.
  • the unloading transition line is used to dock with the transport vehicle to complete logistics unloading and transportation. After the logistics is unloaded from the transport vehicle, it passes through the rapid unloading conveyor line, the unloading buffer line, and the lifting mechanism in turn, and then is transported to the final assembly logistics conveyor line until the completion of the loading Warehousing operations to realize automated goods storage.
  • the inbound conveyor components can complete the automatic unloading of transport vehicles and the automatic transportation of goods to the warehouse, the unloaded goods are transported to the final assembly material conveyor line. If there is only one in the logistics storage area Warehouse, the goods on the final assembly logistics conveyor line are all transported to the warehouse to complete the final goods warehousing operation; but if there are multiple warehouses in the logistics storage area, and each warehouse corresponds to different types of goods, manual correction is required
  • the goods on the final assembly material conveying line are information identified, and the goods on the final assembly logistics conveying line are distributed to different forklifts or transportation lines according to the identified goods information, and the goods are transported to the corresponding warehouse by the forklift or transportation line.
  • One purpose of this application is to provide an automatic warehousing system, which improves the automation and efficient operation of goods warehousing, improves the accuracy of goods warehousing, and meets the corresponding goods warehousing requirements of multiple warehouses.
  • Another purpose of this application is to provide a warehouse logistics system to improve the automation and efficient operation of the warehouse logistics system.
  • Another purpose of the present application is to provide an automatic storage method to improve the automation and efficient operation of goods storage, and improve the accuracy of goods storage.
  • the embodiment of the present application provides an automatic warehousing system, including:
  • An inbound transmission line where a plurality of unloading channels are arranged along the length direction of the inbound transmission line, and the outlets of the plurality of unloading channels correspond to a plurality of warehouses respectively;
  • the docking transmission system is configured to receive the goods unloaded from the transport vehicle and transmit the goods to the storage transmission line;
  • Scanning device set to scan and identify the goods
  • the control module is configured to transport the goods to the unloading channel corresponding to the target warehouse according to the goods information.
  • the embodiment of the present application provides a warehousing logistics system, including the automatic warehousing system described above.
  • the embodiment of the present application provides an automatic warehouse-in method using the above-mentioned automatic warehouse-in system, including the following steps:
  • the control module controls the operation of the docking transmission system, and transports the goods unloaded from the transport vehicle to the inbound transmission line;
  • the scanning device scans the goods and identifies the goods information of the goods, and sends the goods information to the control module;
  • the control module controls the operation of the warehousing transmission line according to the goods information, and transmits the goods to the unloading channel corresponding to the target warehouse so that the goods are transmitted to the target warehouse through the unloading channel .
  • Figure 1 is a side view of the automatic warehousing system provided by an embodiment of the present application.
  • Figure 2 is a top view of the automatic warehousing system provided by an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of an intermediate transmission device provided by an embodiment of the present application.
  • Figure 4 is a partial enlarged view of I in Figure 3;
  • Figure 5 is a schematic structural diagram of a regularization device provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a part of the structure of an inbound transmission line provided by an embodiment of the present application.
  • 2-Intermediate transmission device 21-fixed seat; 22-rotating seat; 221-central seat part; 222-extending arm part; 23-rotating drive assembly; 231-driving motor; 232-driving gear; 233-ring gear structure; 24-Grabbing the lifting and adjusting component; 241-Lifting driver; 242-Fixed plate; 243-Connecting plate; 244-Lifting guide component; 25-Grabbing component; 251-Support plate; 253-Suction cup;
  • 3-Regulating device 31-Regulating rotating arm; 311-Connecting arm; 312-Auxiliary arm; 32-Fixed shaft; 33-Rotating arm drive assembly; 331-Piston rod; 332-Cylinder body; 34-Stopper; 35 -Clamping roller;
  • connection should be interpreted broadly. For example, they can be fixedly connected, detachably connected, or integrated. ; It can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components.
  • connection can be fixedly connected, detachably connected, or integrated. ; It can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components.
  • the "on” or “under” of the first feature of the second feature may include the first and second features in direct contact, or may include the first and second features Not in direct contact but through other features between them.
  • “above”, “above” and “above” the second feature of the first feature include the first feature being directly above and obliquely above the second feature, or it simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” the first feature of the second feature include the first feature directly below and obliquely below the second feature, or it simply means that the first feature has a lower level than the second feature.
  • the terms “upper”, “lower”, “right”, and other orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of description and simplified operations, rather than indicating It may also imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore cannot be understood as a limitation of the application.
  • the terms “first” and “second” are only used to distinguish them in description and have no special meaning.
  • the embodiment of the present application provides an automatic warehousing system, including:
  • a plurality of unloading channels are arranged along the length direction of the inbound transmission line, and the outlets of the plurality of unloading channels correspond to a plurality of warehouses respectively;
  • the docking transmission system is configured to receive the goods unloaded from the transport vehicle and transmit the goods to the storage transmission line;
  • Scanning device set to scan and identify the goods
  • the control module is configured to transport the goods to the unloading channel corresponding to the target warehouse according to the goods information.
  • the docking transmission system includes:
  • a docking transmission line the front end of the docking transmission line is set to receive the goods unloaded from the transport vehicle, and the rear end of the docking transmission line is vertically docked with the storage transmission line.
  • the docking transmission system further includes:
  • the intermediate transmission device is arranged between the rear end of the docking transmission line and the storage transmission line, and is configured to transport the goods on the docking transmission line to the storage transmission line.
  • the warehousing transmission line is arranged along the arrangement direction of the warehouse, and the docking transmission line is connected to an intermediate position of the warehousing transmission line.
  • the intermediate transmission device includes:
  • the fixing seat is fixedly arranged relative to the butting transmission line
  • the grasping component is arranged on the fixed seat and configured to be able to rotate horizontally and vertically lift relative to the fixed seat, and the grasping component is configured to grasp the goods.
  • the intermediate transmission device further includes:
  • a rotating seat which is rotatably connected with the fixed seat
  • a rotating drive assembly configured to drive the rotating base to rotate relative to the fixed base
  • a grasping lift adjustment assembly the grasping assembly is connected to the rotating base through the grasping lift adjustment assembly.
  • the rotating drive assembly includes:
  • a drive motor connected to the fixing base
  • the driving gear is sleeved on the output shaft of the driving motor
  • the ring gear structure is arranged on the rotating seat and cooperates with the driving gear.
  • the intermediate transmission device further includes:
  • the inner ring of the slewing bearing is connected with the fixed seat
  • the outer ring of the slewing bearing is connected with the rotating seat
  • the outer ring of the slewing bearing is the ring gear structure.
  • the grabbing component includes:
  • the suction cup is set to grasp or place the goods by means of vacuum suction.
  • the grabbing component further includes:
  • the supporting plate is connected with the grasping lifting adjustment assembly, and a plurality of the suction cups are arranged on the supporting plate.
  • the rotating seat is provided with multiple sets of grasping components at intervals along the circumferential direction of the rotating seat.
  • the rotating seat includes:
  • the center seat is rotatably connected with the fixed seat
  • the extension arm portion extends outward along the radial direction of the rotation axis of the central seat portion, and the end of the extension arm portion away from the central seat portion is provided with the grasping assembly and the grasping lifting adjustment assembly.
  • the storage transfer line includes:
  • the main transmission line is arranged along the arrangement direction of the warehouse
  • Sub-library transmission line one end of the sub-library transmission line is connected to the main transmission line, and the other end of the sub-library transmission line is connected to the corresponding warehouse entrance.
  • the sub-library transmission line forms the loading channel, and the transmission direction of the sub-library transmission line is the same as that of the main The transmission direction of the transmission line is vertical.
  • the storage transfer line further includes:
  • Elevating transmission platform, the sub-library transmission line and the main transmission line are parallel and spaced in the vertical direction, the elevating transmission platform is provided with a transition transmission line, the transition transmission line is configured to drive the elevator transmission platform The goods are transmitted to the sub-library transmission line.
  • the main transmission line includes a plurality of transmission segments arranged side by side along its length, the number of the plurality of transmission segments is not less than the number of the branch transmission lines, and each branch transmission line corresponds to In a transmission segment.
  • the transmission segment includes:
  • the first transmission segment is set in one-to-one correspondence with the sub-library transmission line, and is connected to the sub-library transmission line;
  • a second transmission segment is arranged between two adjacent first transmission segments.
  • the scanning device includes a first scanning device arranged on the docking transmission line.
  • the scanning device includes a second scanning device arranged on the first transmission section, and each first transmission section is provided with one second scanning device.
  • the automatic storage system further includes:
  • a regularizing device is arranged at an end of the docking transmission line close to the inbound transmission line, and the regularizing device is configured to regularize the position and/or posture of the goods on the docking transmission line.
  • the regulation device includes:
  • Two regular rotating arms are respectively arranged on both sides of the butting transmission line in the width direction;
  • the rotating arm drive assembly is connected to one end of the regular rotating arm, and is configured to drive the other ends of the two regular rotating arms to rotate relatively and synchronously horizontally, so that the two regular rotating arms are respectively butted with the goods along the The two sides of the transmission line in the width direction are in contact.
  • the regulation device further includes:
  • a fixed shaft the fixed shaft is vertically arranged at the rear end of the butting transmission line, and the regular rotating arm is rotatably connected with the fixed shaft;
  • the piston cylinder, both ends of the piston cylinder are provided with horizontally arranged piston rods, and the piston rods at both ends are respectively connected with the corresponding end of the structured rotating arm close to the storage transmission line.
  • the minimum distance between the two regularized rotating arms is equal to the size of the goods along the width direction of the butting transmission line.
  • the structured rotating arm has an arc structure, and when two of the structured rotating arms are in contact with opposite sides of the goods, the two ends of the arc structure are connected to the butt transmission line The length direction is parallel.
  • the regulation device further includes:
  • the clamping roller is vertically arranged at one end of the regulating rotating arm for contacting the goods, and the clamping roller is rotatably connected with the regulating rotating arm.
  • the warehousing transmission line 4 is provided with a direction control transmission section docked with the docking transmission line, and the control module controls the operation of the control direction transmission section according to the scanning result of the first scanning device direction.
  • the automatic warehousing system provided by the embodiment of this application scans the goods and recognizes the information of the goods by setting up a scanning device, and sets up an inbound transmission line, and sets up the unloading channel corresponding to the warehouse on the inbound transmission line, and the control module Control the operation of the inbound transmission line according to the goods information to transport the goods to the corresponding unloading channel, that is, the goods can be transported to the warehouse corresponding to the goods according to the information of the goods, which overcomes the situation that the goods and the warehouse do not correspond to the storage error Occurs, meets the corresponding storage of goods, and improves the efficiency and accuracy of goods storage; and by setting the unloading channel corresponding to multiple warehouses on the storage transmission line, the simultaneous storage of goods in multiple warehouses can be realized, which overcomes The need to sort and transport goods belonging to multiple warehouses with auxiliary equipment such as forklifts, simplify the structure of the automatic storage system, and improve the efficiency of goods storage.
  • Figure 1 is a side view of the automatic warehousing system provided by an embodiment of this application
  • Figure 2 is a top view of the automatic warehousing system provided by an embodiment of this application.
  • this embodiment provides an automatic warehousing system.
  • Warehouse system which is used in the warehousing logistics process to realize the docking of goods 8 between the transport vehicle 7 and the warehouse 6, so as to realize the automation and efficient warehousing operation of the goods 8.
  • the automatic storage system includes a docking transmission system, a storage transmission line 4, a scanning device and a control module.
  • the docking transmission system is set to receive the goods 8 unloaded from the transport vehicle 7 and transport the goods 8 to the inbound transmission line 4.
  • a label 81 is set on the goods 8, and the label 81 carries the goods information;
  • the inbound transmission line 4 is set In order to transport the goods 8 to the corresponding warehouse 6, the inbound transmission line 4 is provided with multiple unloading channels along its length, and the number and positions of the unloading channels correspond to the number and positions of the warehouse 6 one by one;
  • the scanning device is set in the docking transmission system, and is set to scan the label 81 on the goods 8 and identify the goods information, and transmit the goods information to the control module; the control modules are respectively connected with the scanning device and the storage transmission line 4, and control the inbound
  • the warehouse transmission line 4 transports the goods 8 to the unloading channel corresponding to the corresponding warehouse 6 according to the goods information.
  • the automatic warehousing system provided by this embodiment, by setting a scanning device in the docking transmission system, can scan the label 81 on the goods 8 and identify the information of the goods 8 when the goods 8 are transported and transported by the docking transmission system; Set up the inbound transmission line 4, and set the unloading channel corresponding to the warehouse 6 on the inbound transmission line 4.
  • the control module controls the operation of the inbound transmission line 4 according to the item information to transport the goods 8 to the corresponding unloading channel, that is, according to the goods
  • the information of 8 transports the goods 8 to the warehouse 6 corresponding to the goods 8, to meet the corresponding storage of the goods 8, and improve the efficiency and accuracy of the goods 8 storage; and by setting up multiple warehouses 6 on the storage transmission line 4
  • the corresponding unloading channels can realize the simultaneous warehousing operation of the goods 8 of multiple warehouses 6 without additional forklifts or handling devices for sorting and transporting the goods 8 belonging to multiple warehouses 6, simplifying the structure of the automatic warehousing system , Improve the efficiency of goods 8 storage.
  • the goods 8 used for transporting and warehousing are goods that have been regularly packaged, such as a bin with a regular shape.
  • the goods 8 may also be items that have been irregularly packaged, such as special-shaped packaging boxes, packed clothing, etc.
  • the goods 8 unloaded from the transport vehicle 7 can be directly placed on the docking transmission system, which can reduce the intermediate links.
  • the docking transmission system can only dock one transport vehicle 7 at a time, when the transport vehicle 7 transports goods When the period of 8 is relatively concentrated, a process of waiting for the transport vehicle 7 will occur.
  • the unloading of the goods 8 from the transport vehicle 7 can be carried out manually, or the goods 8 can be unloaded from the transport vehicle 7 by unloading devices such as loading trucks, forklifts, and unloading transmission lines.
  • unloading devices such as loading trucks, forklifts, and unloading transmission lines.
  • This embodiment does not limit the way of unloading the goods 8 from the transport vehicle 7.
  • an unloading device is used to unload the goods 8 on the transport vehicle 7 to improve the continuity and automation of the goods 8 storage.
  • the docking transmission system includes a docking transmission line 1 and an intermediate transmission device 2.
  • the front end of the docking transmission line 1 is set to receive goods 8 unloaded from the transport vehicle 7, and the intermediate transmission device 2 is set on the docking transmission line 1.
  • the goods 8 on the docking transmission line 1 are transported to the storage transmission line 4.
  • the way of receiving the goods 8 on the docking transmission line 1 may be to directly receive the goods 8 unloaded from the transport vehicle 7 or indirectly to receive the goods 8 unloaded from the transport vehicle 7 through the unloading gathering place. And because the docking transmission line 1 does not have the function of grabbing the goods 8, therefore, the goods 8 on the transport vehicle 7 or the goods 8 at the unloading gathering place can be manually placed on the docking transmission line 1, or a robotic arm can be placed on the docking transmission line 1. on.
  • the unloading gathering place is set at the front end of the docking transmission line 1 to reduce the intermediate distance from the goods 8 to the docking transmission line 1 and improve the transportation efficiency.
  • the docking transmission system also includes a robotic arm.
  • the robotic arm can have a self-moving function or a fixed robotic arm structure.
  • the goods 8 are grabbed and unloaded by the robotic arm.
  • the goods 8 are on the docking transmission line 1 in the gathering place. Handling.
  • the conveying line is adopted to realize the transportation of goods 8 between the transport vehicle 7 or the unloading gathering place and the storage transmission line 4, which can realize the simultaneous and interval transportation of multiple goods 8 on a transmission line, which can ensure the goods 8.
  • the continuity and orderliness of handling and transmission improves the efficiency of goods delivery.
  • the docking transmission system can also use a handling robot to carry the goods 8 between the transport vehicle 7 or the unloading gathering place and the storage transmission line 4.
  • the handling robot may be a mechanical arm structure with a self-driving function, and the goods 8 can be picked up on the transport vehicle 7 or the unloading gathering place and the goods 8 can be placed on the storage transmission line 4 through the picking and placing function of the mechanical arm.
  • the unloading gathering place can optionally be arranged at a position close to the inbound transmission line 4.
  • the goods 8 can be transported between the transport truck 7 or the unloading gathering place and the storage transmission line 4 by a forklift in cooperation with a handling robot arm, and part of the goods 8 can be transported from the transport vehicle 7 or The unloading gathering place is transported to a position close to the storage transmission line 4 at one time, and then the goods 8 on the forklift are transported to the storage transmission line 4 one by one through the handling robot arm.
  • the unloading gathering place or the parking place of the transport vehicle 7 can be set at a position far away from the inbound transmission line 4, and the handling robot arm can be a non-movable robotic arm structure, and the multi-goods 8 of the forklift can be transported to reduce the transportation The reciprocating movement of the robot.
  • the docking transmission line 1 may be belt transmission, roller transmission, or roller transmission, etc.
  • the transmission mode of the docking transmission line 1 is not limited in this embodiment.
  • the structure of the transmission line is set as a conventional technical means, which will not be repeated in this embodiment.
  • Fig. 3 is a schematic structural diagram of an intermediate transmission device provided by an embodiment of the application
  • Fig. 4 is a partial enlarged view at I in Fig. 3, as shown in Figs. 3 and 4.
  • the intermediate transmission device 2 includes a fixed seat 21 and a grasping assembly 25, wherein the fixed seat 21 is fixedly arranged relative to the docking transmission line 1, and the grasping assembly 25 is arranged on the fixed seat 21, and is configured to be able to rotate horizontally and vertically lift relative to the fixed seat 21.
  • the grabbing component 25 is set to grab the goods 8 transferred to the rear end of the docking transmission line 1.
  • the grabbing component 25 is raised to separate the goods 8 from the docking transmission line 1, and the grabbing component 25 is rotated again After that, the goods 8 are positioned above the warehousing transmission line 4, and the grabbing assembly 25 is lowered to place the goods 8 on the warehousing transmission line 4.
  • the fixing base 21 is fixed relative to the ground, so that the intermediate transmission device 2 is an independent structure relative to the docking transmission line 1 and the storage transmission line 4, which is beneficial to the simplification of the structure of the docking transmission line 1 and the storage transmission line 4 and the intermediate transmission device 2
  • the installation and disassembly can prevent interference between the operation of the intermediate transmission device 2 and the operation of the docking transmission line 1 and the storage transmission line 4, and ensure the continuous operation of the docking transmission line 1, the storage transmission line 4 and the intermediate transmission device 2.
  • the fixing seat 21 may also be fixed on the end of the docking transmission line 1 or the storage transmission line 4.
  • the intermediate transmission device 2 further includes: a rotating base 22 that is rotatably connected to the fixing base 21; and a rotating drive assembly 23 , Connected with the rotating base 22 and driving the rotating base 22 to rotate relative to the fixed base 21; grasping the lifting adjustment assembly 24, the grasping assembly 25 is connected to the rotating base 22 through the grasping elevation adjusting assembly 24 to realize the verticality of the grasping assembly 25 Lift.
  • the rotating drive assembly 23 may also be directly connected to the grasping elevation adjustment assembly 24 to drive the grasping elevation adjustment assembly 24 to rotate, and the grasping assembly 25 is arranged on the grasping elevation adjustment assembly 24.
  • a slewing bearing is provided between the rotating seat 22 and the fixed seat 21.
  • One of the rotating seat 22 and the fixed seat 21 is connected to the outer ring of the slewing bearing, and the other is connected to the inner ring of the slewing bearing.
  • the ring is connected to improve the stability of the rotation connection of the rotating base 22 with respect to the fixed base 21.
  • the rotating drive assembly 23 includes a drive motor 231, and the drive motor 231 is disposed on the outer surface of the fixing base 21.
  • the output shaft of the driving motor 231 is arranged vertically upward, and a driving gear 232 is sleeved on it.
  • the rotating drive assembly 23 also includes a ring gear structure 233 arranged on the rotating seat 22 and configured to cooperate with the driving gear 232 for transmission.
  • the outer ring of the slewing bearing is fixedly connected to the rotating seat 22, and the outer ring of the slewing bearing is the aforementioned ring gear structure 233, so that the ring gear structure 233 is a part of the slewing bearing, simplifying the rotation drive The overall structure of the assembly 23.
  • the outer surface of the rotating seat 22 may be covered with the above-mentioned ring gear structure 233, or the outer surface of the rotating seat 22 may be integrally formed with the above-mentioned ring gear structure 233.
  • the inner ring of the slewing bearing may be the above-mentioned ring gear structure 233, the inner ring of the slewing bearing is connected to the rotating seat 22, and the outer ring is connected to the fixed seat 21.
  • the fixed base 21 is of a hollow structure, and the driving motor 231 is arranged inside the fixed base 21 so that the driving gear 232 sleeved on the driving motor 231 and the ring gear structure 233 of the slewing bearing cooperate for transmission.
  • the rotating seat 22 includes a central seat portion 221 and an extension arm portion 222, and the central seat portion 221 is connected with a slewing bearing to realize a rotational connection relative to the fixed seat 21.
  • the central seat 221 has an extension arm 222 extending outward in the radial direction of its rotation axis.
  • the extension arm 222 has an end away from the central seat 221 provided with the aforementioned grasping lift adjustment assembly 24 and grasping assembly 25.
  • extension arm 222 By arranging the extension arm 222, it is possible to reduce the surface area of the rotating base 22 while ensuring the range of the grasping assembly 25 on the rotating base 22, which is beneficial for extending the extension arm 222 into the docking transmission line 1 and/or the storage transmission line In 4, the structure and action interference between the setting of the rotating seat 22 and the docking transmission line 1 and/or the storage transmission line 4 is avoided.
  • the rotating base 22 is provided with multiple sets of grabbing assemblies 25 at intervals along the circumferential direction of its rotation axis, so that the rotating base 22 Within one rotation cycle, multiple goods 8 can be conveyed.
  • the rotating seat 22 is provided with four grabbing assemblies 25 at even intervals along the circumferential direction of its rotation axis, that is, when one of the grabbing assemblies 25 is placed on the warehousing transmission line, it is opposite to it.
  • a grabbing component 25 can realize the grabbing of the goods 8 on the docking transmission line 1, while improving the grabbing efficiency, it is more conducive to the control of the movement pace of the docking transmission line 1, the storage transmission line 4 and the intermediate transmission device 2, and can While reducing the overall size of the intermediate transmission device 2, the goods 8 grabbed by two adjacent grabbing assemblies 25 collide or interfere with each other, and the safety of grabbing the goods 8 is improved.
  • the grasping lifting adjustment assembly 24 and the grasping assembly 25 are arranged in a one-to-one correspondence. That is, four extension arm portions 222 are correspondingly provided on the rotating base 22, the end of each extension arm portion 222 is provided with a grasping lift adjustment assembly 24, and each grasping elevation adjustment assembly 24 is connected with a grasping assembly 25. In other embodiments, multiple grabbing assemblies 25 may be connected to the same grabbing lifting adjustment assembly 24.
  • the grasping and lifting adjustment assembly 24 includes a lifting driving member 241 and a connecting plate 243.
  • the lifting driving member 241 is connected to the connecting plate 243 and can drive the connecting plate 243 to vertically lift.
  • the end of the extension arm 222 is vertically provided with a fixing plate 242, and the lifting driving member 241 is fixed on the fixing plate 242.
  • the above-mentioned grab assembly 25 is provided on the connecting plate 243.
  • the gripping lifting adjustment assembly 24 further includes a lifting guide assembly 244.
  • the lifting guide assembly 244 includes a vertically arranged slide rail and a slide rail that cooperates with the slide rail.
  • One of the sliding block, the fixed plate 242 and the connecting plate 243 is provided with the above-mentioned sliding rail, and the other is provided with the above-mentioned sliding block.
  • the movement of the connecting plate 243 relative to the fixed plate 242 is realized by the cooperation of the sliding rail and the sliding block.
  • the lifting driving member 241 may be an air cylinder.
  • the piston cylinder of the air cylinder is fixed on the fixing plate 242, and the piston rod is connected to the connecting plate 243, which can simplify the structure of the grasping and lifting adjustment assembly 24 and reduce the grasping and lifting. Adjust the volume of the component 24.
  • the grasping lifting adjustment assembly 24 can also be any other structural form that can realize the lifting movement of the connecting plate 243 relative to the fixed plate 242, and the lifting adjustment assembly is conventionally arranged, and this embodiment no longer has other forms of grasping Take the structure of the lift adjustment assembly 24 for details.
  • the grasping assembly 25 includes a suction cup 253 and a gas path component.
  • the suction cup 253 is connected to the connecting plate 243, and the gas path component is connected to the suction cup 253 to vacuum or inflate the suction cup 253.
  • the structure of the grabbing component 25 can be simplified, and at the same time the requirements for the shape and weight of the goods 8 by the grabbing component 25 can be reduced, without the need to install additional items on the goods 8.
  • the structure cooperates with the grabbing assembly 25 to grab, the cost is low, and the operation is convenient.
  • the grasping assembly 25 may also be a gripper structure, such as a cylinder gripper.
  • the grasping assembly 25 further includes a supporting plate 251, and the supporting plate 251 is detachably connected to the connecting plate 243 to facilitate the installation, disassembly and replacement of the grasping assembly 25 relative to the grasping lifting adjustment assembly 24.
  • the supporting plate 251 is arranged horizontally, and a plurality of suction cups 253 are arranged on the lower surface of the supporting plate 251.
  • a plurality of suction cups 253 By arranging a plurality of suction cups 253 on the supporting plate 251, it is possible to realize the suction of goods 8 of different sizes and weights, and to improve the flexibility and reliability of the grabbing assembly 25. In other embodiments, only one suction cup 253 with a larger size may be provided to grasp the goods 8.
  • the structure of the intermediate transmission device 2 is simplified and the intermediate transmission device 2 is reduced. the cost of.
  • the continuous grabbing and transmission of a plurality of goods 8 can be realized, the docking efficiency between the docking transmission line 1 and the storage transmission line 4 can be improved, and the goods 8 can be improved. The efficiency and continuity of warehousing.
  • the intermediate transmission device 2 may be a robotic arm structure, and the end of the robotic arm is provided with end pickers such as grippers or suction cups for grabbing goods.
  • end pickers such as grippers or suction cups for grabbing goods.
  • the six degrees of freedom movement of the robotic arm and the end picker Cooperate, grab the goods 8 on the docking transmission line 1 and place them on the storage transmission line 4.
  • the intermediate transmission device 2 may be a lifting platform.
  • the transmission surface of the inbound transmission line 4 needs to be higher than the transmission surface of the docking transmission line 1.
  • the lifting platform is equipped with a transmission line. When the goods 8 are transferred to the intermediate transmission device 2 through the docking transmission line 1, the lifting platform is raised to be parallel to the inbound transmission line 4, and the transmission line on the lifting platform transfers the goods 8 on the lifting platform To the storage transfer line 4.
  • the intermediate transmission device 2 may be a push plate transmission structure, that is, a push plate and a push plate driving device are provided at the end of the docking transmission line 1, and when the goods 8 reach the end of the docking transmission line 1, the push plate is driven to rotate so that The push plate is located on the side of the goods 8 away from the warehousing transmission line 4, and drives the push plate to move in a direction toward the warehousing transmission line 4, thereby pushing the goods 8 to be transferred from the docking transmission line 1 to the warehousing transmission line 4.
  • a push plate and a push plate driving device are provided at the end of the docking transmission line 1, and when the goods 8 reach the end of the docking transmission line 1, the push plate is driven to rotate so that The push plate is located on the side of the goods 8 away from the warehousing transmission line 4, and drives the push plate to move in a direction toward the warehousing transmission line 4, thereby pushing the goods 8 to be transferred from the docking transmission line 1 to the warehousing transmission line 4.
  • the intermediate transmission device 2 may also adopt other devices that can realize the transmission of the goods 8 between the docking transmission line 1 and the storage transmission line 4, which will not be listed one by one in this embodiment.
  • the intermediate transmission device 2 is provided to realize the docking of the goods 8 on the docking transmission line 1 and the inbound transmission line 4, which is beneficial to simplify the general structure design of the docking transmission line 1 and the inbound transmission line 4 and reduce the cost.
  • the docking transmission line 1 and the storage transmission line 4 may also be directly docked.
  • the docking transmission line 1 adopts a belt transmission mode, and multiple transmission belts are arranged at intervals along the width direction.
  • the warehousing transmission line 4 adopts a roller or roller transmission method, and the warehousing transmission line 4 overlaps with one end of the docking transmission line 1.
  • the rollers or rollers of the warehousing transmission line 4 are arranged between the gaps between two adjacent belts.
  • the docking transmission line 1 needs to be suspended, and the inbound transmission line 4 is activated to realize the inbound delivery of the goods 8 Transmission on the library transmission line 4.
  • the automatic warehousing system in order to improve the stability and reliability of the grabbing device (ie, grabbing assembly) for grabbing the goods 8, the automatic warehousing system provided in this embodiment further includes a regularization device 3 arranged at the rear end of the docking transmission line 1. , Is configured to regulate the position and/or posture of the goods 8 transferred to the rear end of the docking transmission line on the docking transmission line 1 to facilitate the grabbing of the goods 8 by the grabbing device.
  • FIG. 5 is a schematic structural diagram of a regularization device provided by an embodiment of the application.
  • the regularization device 3 includes two regularization rotating arms 31 and a rotating arm drive assembly 33.
  • Two regularized rotating arms 31 are respectively arranged on both sides of the butt transmission line 1 in the width direction.
  • the rotating arm drive assembly 33 is connected to one end of the regularized rotating arm 31, and drives the other ends of the two regularized rotating arms 31 to rotate at the same time, so that the two The opposite ends of the regular rotating arms 31 are close to or far away.
  • the rotating arm drive assembly 33 drives the two regularized rotating arms to rotate toward each other at the same time, so that the opposite ends of the regularized rotating arms 31 are close to each other until they respectively abut the goods 8 along the width direction of the butted transmission line 1. On the opposite sides of, the position of the goods 8 on the butt transmission line 1 is corrected.
  • the two regularized rotating arms 31 are arranged symmetrically with respect to the centerline of the docking transmission line 1, so that the centerline of the regularized goods 8 coincides with the centerline of the docking transmission line 1, which is more conducive to grasping the components 25 to the goods 8 Of crawling.
  • the two regular rotating arms 31 can also be arranged symmetrically with respect to a line parallel to the center line, so that the center line of the goods 8 is parallel to the center line of the mating transmission line 1.
  • the rotating arm drive assembly 33 is arranged at the end of the regular rotating arm 31 close to the storage transmission line 4, which is beneficial to avoid the setting of the rotating arm drive assembly 33 to cause the goods 8 to run on the docking transmission line 1. It interferes, and is beneficial for the two regular rotating arms 31 to be driven by the same rotating arm drive.
  • the rotating arm drive assembly 33 can also be connected to the end of the regular rotating arm 31 away from the storage transmission line 4. At this time, the rotating arm drive assembly 33 is arranged on the side of the docking transmission line 1, and each regular rotating arm 31 are connected to a rotating arm drive assembly 33, and the two rotating arm drive assemblies 33 are driven synchronously through the control module.
  • the arranging device 3 further includes two fixed shafts 32, the two fixed shafts 32 are vertically arranged at the rear end of the butt-connecting transmission line 1, and each arranging arm 31 is connected to a corresponding fixed shaft 32.
  • the boom driving assembly 33 may optionally include a driving piston cylinder, and both ends of the driving piston cylinder are provided with a piston rod 331 that can telescope relative to the cylinder 332.
  • the two piston rods 331 are horizontally arranged along the width direction of the butting transmission line 1, and each piston rod 331 is connected to an end of the regular rotating arm 31 close to the storage transmission line 4.
  • the driving piston cylinder is an air cylinder.
  • the driving piston cylinder may also be a hydraulic cylinder structure such as an oil cylinder.
  • the fixed shaft 32 is connected near one end of the regular rotating arm 31 close to the piston rod 331, which facilitates a small movement of the piston rod 331 to obtain a large horizontal rotation of the other end of the regular rotating arm 31.
  • the volume of the small driving piston cylinder and its occupied space on the docking transmission line 1 reduce the size of the entire regularization device 3.
  • the structured rotating arm 31 has an arc structure, and the arc-shaped openings of the two structured rotating arms 31 are arranged opposite to each other.
  • the connection between the two ends of the arc-shaped structure of the regularized rotating arms 31 is parallel to the length direction of the mating transmission line 1.
  • This arrangement is beneficial to make the front ends of the two regular rotating arms 31 abut the two sides of the goods 8.
  • the arc structure design of the two regular rotating arms 31 can make the distance between the two regular rotating arms 31 not less than The size of the goods 8 along the width direction of the butt transmission line 1.
  • the goods 8 can continue to operate under the transmission of the docking transmission line 1, increasing the area of action between the regular boom 31 and the goods 8, improving the regularization effect on the goods 8, and making the goods
  • the 8 regularization is carried out simultaneously with the transmission of the goods 8 to improve the efficiency of the 8 regularization; at the same time, the distance requirement between the two regularizing rotating arms 31 and the end of the piston rod 331 can be reduced, thereby reducing the size of the regularizing device 3.
  • the structured rotating arm 31 can also be a straight arm structure. But at this time, in order to ensure that the front ends of the two regular arms 31 abut on both sides of the product 8, the distance between the two regular arms 31 is not less than the width of the product 8, and it is necessary to connect the two regular arms 31 with One end of the piston rod 331 is located outside the fixed shaft 32. Therefore, when the size of the product 8 is the same, the size of the regularization device 3 will increase.
  • the end of the regular rotating arm 31 away from the piston rod 331 is connected with a vertically arranged clamp Tight roller 35.
  • the clamping roller 35 is pivotally connected with the regular rotating arm 31 so that the clamping roller 35 can rotate around its own axis under the action of external force. Therefore, when the product 8 is regulated by the sizing device 3, the product 8 is connected to the clamping roller 35 in a rolling manner, which reduces the transmission resistance of the product 8 on the docking transmission line 1.
  • the regular rotating arm 31 includes a connecting arm 311 and an auxiliary arm 312 arranged in parallel and spaced apart in the vertical direction.
  • the connecting arm 311 and the auxiliary arm 312 have substantially the same shape, and the connecting arm 311 is located in the auxiliary Above the arm 312.
  • the upper ends of the fixed shaft 31 and the clamping roller 35 are both rotatably connected with the connecting arm 311; the lower ends of the fixed shaft 31 and the clamping roller 35 are both rotatably connected with the auxiliary arm 312, and one end of the connecting arm 31 is connected with a piston rod 331.
  • the regularization device 3 further includes a stopper 34 provided at the end of the docking transmission line 1, which is configured as The transportation of the goods 8 on the docking transmission line 1 is stopped to prevent the goods 8 from colliding with the rotating arm drive assembly 33 and improve the safety performance of the regulation device 3.
  • the rotating sizing device 3 is used to regularize the goods 8.
  • other structures can also be used to regulate the position and/or posture of the goods 8 on the docking transmission line 1.
  • a push-type regular structure can be used, and a pusher and a push drive assembly are respectively arranged on both sides of the docking transmission line 1 along its width direction.
  • the push drive assembly drives the pushers to move toward each other. In order to make the two pushing parts contact the two sides of the goods 8 respectively, the regularity of the goods 8 is realized.
  • the warehousing transmission line 4 is arranged along the arrangement direction of the warehouse 6, and the length direction of the docking transmission line 1 and the length direction of the warehousing transmission line 4 can be set vertically, which is convenient for the storage transmission line 4 and the docking transmission line 1.
  • the docking transmission line 1 and the inbound transmission line 4 may also be non-vertical designs, and the docking position and docking method can be flexibly designed according to the space of the storage park.
  • the docking transmission line 1 is set corresponding to the middle position of the storage transmission line 4, which can reduce the average transmission time of the goods 8 on the storage transmission line 4 and improve the storage efficiency of the goods 8.
  • the docking transmission line 1 can also be arranged at any position of the inbound transmission line 4, such as the end position of the inbound transmission line 4.
  • the inbound transmission line 4 includes a long main transmission line 41 and a branching transmission line 42 corresponding to the warehouse 6.
  • the main transmission line 41 is arranged along the arrangement direction of the warehouse 6, and one end of the branching transmission line 42 is connected to the main transmission line 41. The other end is connected to the entrance of the corresponding warehouse 6.
  • the branching transmission line 42 forms the unloading channel of the inbound transmission line 4, so that multiple goods 8 on the main transmission line 41 can be transported to the corresponding warehouse 6 through the branching transmission line 42 .
  • the sub-library transmission line 42 can optionally be arranged perpendicular to the main transmission line 41.
  • a transitional transmission device 43 is provided between the main transmission line 41 and the branching transmission line 42, which is set to realize the goods 8 on the main transmission line. Transitional transmission between 41 and sub-library transmission line 42.
  • the transition transmission device 43 is a lifting transmission platform, and a transition transmission line is provided on the lifting transmission platform.
  • the height of the end of the branching transmission line 42 connected to the main transmission line 41 is higher than the height of the corresponding position of the main transmission line 41, and the goods 8 transported to the lifting transmission platform are lifted from the main transmission line 41 after being lifted by the lifting transmission platform Contact, and under the transmission of the transitional transmission line, enter the sub-library transmission line 42 for transmission.
  • FIG. 6 is a partial structural diagram of the warehousing transmission line provided by the embodiment of the application.
  • the main transmission line 41 uses a rotating transmission member such as a roller or a drum as the first transmission member 414, and the third transmission
  • the pieces 432 are arranged at intervals in parallel along the length direction of the main transmission line 41.
  • the lifting transmission platform includes a lifting support column, a lifting plate 431, a conveying lifting drive assembly and a transition transmission line.
  • Two lifting support columns are respectively arranged on both sides of the main transmission line 41 in the width direction, two lifting plates 431 are arranged on both sides of the main transmission line 41 in the width direction along the length direction of the main transmission line 41, and the lifting plates 431 are driven by conveying and lifting The component is connected with the corresponding lifting support column.
  • the transition transmission line is arranged between the two lifting plates 431, and the transition transmission line uses a belt as the third transmission member 432 for transmission. Multiple belts are arranged at intervals along the length of the main transmission line, and each third transmission member 432 is provided Between two adjacent first transmission members 414.
  • the lifting transmission platform When the lifting transmission platform is flush with the main transmission line 41, the goods 8 are transported along the length direction of the main transmission line 41 under the action of the first transmission member 414 to the position where the main transmission line 41 overlaps the lifting transmission platform; the lifting transmission platform is raised and divided The warehouse transmission line 42 is docked, so that the goods 8 are lifted by the transition transmission line, and are out of contact with the main transmission line 41; the third transmission piece 432 in the transition transmission line moves, driving the goods 8 to run along the length direction perpendicular to the main transmission line 41;
  • the transmission direction of the transmission line and the branching transmission line 42 are basically the same.
  • the goods 8 are transferred to the branching transmission line 42 under the common drive of the transition transmission line and the branching transmission line 42 for transmission until they run to the entrance of the corresponding warehouse 6.
  • the type of the second transmission member 421 in the sub-library transmission line 42 may be the same as the type of the first transmission member 414 in the main transmission line 41.
  • the main transmission line 41 may also be belt driven, and the transition transmission line may be driven by rollers or drums, which can also realize the overlapping arrangement of the transition transmission line on the main transmission line 41.
  • the lifting transmission platform may not overlap with the main transmission line 41, but may overlap with the branch transmission line 42. That is, the main transmission line 41 is a segmented transmission line, and two adjacent transmission lines are connected by a lifting transmission platform. When the goods 8 are transported to the lifting transmission platform, the goods 8 are separated from the lifting transmission platform by lowering the lifting transmission platform, that is, the transport of the goods 8 on the sub-library transmission line 42 is realized.
  • transitional transmission devices 43 other than the lifting transmission platform can also be used to connect the main transmission line 41 and the sub-library transmission line 42.
  • the structure of any of the above-mentioned intermediate transmission devices 2 can be used. It is used as a transitional transmission device 43, which will not be repeated in this embodiment.
  • the transition transmission line may not be provided, and the connection between the main transmission line 41 and the branch transmission line 42 is directly realized.
  • the branching transmission line 42 Taking the first transmission part 414 of the main transmission line 41 as a roller drive as an example, one end of the branching transmission line 42 coincides with one end of the main transmission line, and the branching transmission line 42 adopts a belt as the second transmission part 421, and multiple belts follow the branch
  • the transmission line 42 is arranged at intervals in the width direction, and each belt is arranged between two adjacent rollers of the main transmission line 41.
  • the sub-library transmission line 42 realizes the overall vertical lifting or lifting towards one end of the main transmission line 41 through a lifting device.
  • the lifting device drives the sub-library transmission line 42 to rise to realize the separation of the sub-library transmission line 42 and the main transmission line 41, and the goods 8 are transmitted on the sub-library transmission line 42 .
  • This type of arrangement does not require the provision of the transitional transmission device 43, but the overall increase of the sub-library transmission line 42 will cause a relative increase in cost.
  • the main transmission line 41 adopts a segmented transmission mode, that is, the main transmission line 41 includes a plurality of transmission segments arranged side by side along its length. Each transmission segment is connected with the control module, so that the control module can individually control the operation of each transmission segment.
  • the number of transmission segments is not less than the number of sub-library transmission lines 42, and each sub-library transmission line 42 is correspondingly connected to one transmission segment.
  • the transmission segment includes a first transmission segment 411 that is docked with each sub-library transmission line 42, and the docking between the first transmission section 411 and the sub-library transmission line 42 adopts any of the foregoing descriptions.
  • a docking method between the main transmission line 41 and the branch transmission line 42 is performed.
  • a second transmission segment 412 is arranged between two adjacent first transmission segments 411.
  • the length of the first transmission segment 411 is reduced, which is beneficial to the first transmission segment 411 and the sub-bank transmission segment.
  • the first transmission section 411 needs to be suspended, so that the goods 8 can be smoothly distributed from the first transmission section Section 411 runs into the sub-library transmission section. Therefore, the setting of the second transmission section 412 can ensure that when goods 8 are docked on the first transmission section 411, another goods 8 can be on the second transmission section 412. Operation to ensure the continuity of goods 8 storage and improve the efficiency of goods 8 storage.
  • the transmission segment where the main transmission line 41 and the intermediate transmission device 2 are docked is the second transmission segment 412. That is, the goods 8 picked up by the intermediate transmission device 2 from the docking transmission line 1 are placed on the second transmission line.
  • the second transmission line corresponding to the intermediate transmission device 2 is named the control transmission section 413.
  • the control module uses the label 81 information obtained by the scanning device to determine which side of the warehouse 6 the goods 8 are located in the control transmission section 413. , And through the warehouse 6 relative to the position of the control transmission section 413 transmission line, determine the running direction of the control transmission section 413, so that the goods 8 travel to the corresponding first transmission section 411 and the branch transmission line 42.
  • the scanning device is configured to scan the label 81 on the goods 8 and identify the goods information carried by the label 81.
  • the tag 81 may be one or more of a two-dimensional code, a barcode, or a radio frequency identification (RFID) code, and the type of the scanning device is set corresponding to the type of the tag 81, for example, when the tag 81 is In the case of an RFID code, the scanning device is a radio frequency reader, and when the tag 81 is a two-dimensional code, the scanning device is a code scanner or the like.
  • RFID radio frequency identification
  • This embodiment does not limit the types of the tag 81 and the scanning device. As long as the tag 81 can carry the product information, the scanning device can scan and identify the electronic tag 81 code form of the product information carried by the tag 81 and the form of the scanning device. .
  • the product information includes at least the name of the product 8 to classify and identify the product 8 before entering the warehouse, so that the product 8 can enter the corresponding warehouse 6.
  • the product information may also include information related to the product 8 such as the place of origin, the date of production, and the date of quality guarantee.
  • a first scanning device 51 is provided on the docking transmission line 1, which is configured to perform the label 81 of the goods 8 when the goods 8 are transported on the docking transmission line 1. Scan and identify. By arranging the first scanning device 51 on the docking transmission line 1, the goods 8 can be identified when they are transmitted on the docking transmission line 1, without additional scanning and identification process, ensuring the continuity of the transmission of the goods 8 and improving the storage of the goods 8 s efficiency.
  • the first scanning device 51 may be arranged above the docking transmission line 1. At this time, the label 81 of the goods 8 running on the docking transmission line 1 is pasted on the upper surface of the goods 8. In another embodiment, the first scanning device 51 may also be arranged on one side or both sides of the docking transmission line 1. At this time, the labels 81 of the goods 8 are attached to the opposite sides of the goods 8. In another embodiment, the first scanning device 51 can also be arranged below the docking transmission line 1, and the scanning head is arranged directly opposite to the docking transmission line 1. At this time, the label 81 is disposed on the lower surface of the goods 8.
  • each side of the goods 8 can be affixed with a label 81.
  • no matter how the goods 8 are placed on the docking transmission line 1, or no matter how the first scanning device 51 is installed Any position, as long as the goods 8 pass the scanning range of the first scanning device 51, they can be scanned and recognized by the scanning device.
  • the first scanning device 51 can also be provided separately from the docking transmission line 1, for example, the first scanning device 51 is provided at the front end of the docking transmission line 1.
  • the scanning device is manually or otherwise made to scan the label 81 on the goods 8 and identify the goods information.
  • Other methods can be that the robot arm grabs the goods 8 and transports the goods 8 to the scanning position of the first scanning device 51, and drives the goods 8 to rotate in six degrees of freedom so that the label 81 attached to the goods 8 can be scanned by the scanning device. Recognition.
  • the first scanning device 51 may also be arranged on the intermediate transmission device 2, for example, on the side of the fixed support facing the butting transmission line 1.
  • the above-mentioned label 81 is provided on the side surface of the goods 8 facing the intermediate transmission device 2.
  • a second scanning device 52 is provided on the main transmission line 41.
  • each first transmission section 411 is provided with a second scanning device 52, and the goods information scanned by the second scanning device 52 controls the operation and stopping of the corresponding first transmission section 411, and controls and The operation and startup of the transitional transmission device 43 and the sub-library transmission device corresponding to the first transmission segment 411.
  • the second scanning device 52 on the first transmission section 411 scans the label 81 on the goods 8 and identifies The product information carried by the tag 81 and sends the product information to the control module; the control module determines whether the warehouse 6 corresponding to the first transmission segment 411 matches the product information according to the product information, and if so, the control module detects the product 8 After running to the lifting transmission platform corresponding to the first transmission section 411, the control module controls the first transmission section 411 to stop running, and the lifting transmission platform is raised to dock with the branch transmission line 42.
  • the control module When the control module detects the first transmission After the segment 411 is flush with the corresponding sub-library transmission line 42, the control module controls the transitional transmission segment operation on the lifting transmission platform and the sub-library transmission line 42 operation, and the goods 8 enter the corresponding warehouse 6 through the sub-library transmission line 42; The module does not detect that the first transmission section 411 is flush with the corresponding branch transmission line 42, and the control module continues to run through the first transmission section 411, and continues to transmit the goods 8 to the first transmission section 411 front end. In the second transmission section 412, the goods 8 are transmitted to the next first transmission section 411 via the second transmission section 412, where detection and judgment are performed.
  • the operation of the first transmission section 411 and the corresponding transition transmission device 43 and the branch transmission line 42 can be controlled more accurately, avoiding docking with the transmission line 1.
  • the number of goods 8 on the main transmission line 41 is large, and only relying on the scanning results of the first scanning device 51 to control the control logic complexity and misjudgment errors caused by the inbound transmission line, simplify the operation control of the inbound transmission line 4, and ensure the goods 8 Corresponding to the accuracy of warehouse 6 warehousing, it improves the efficiency of goods 8 warehousing.
  • the setting of the second scanning device 52 can determine the position of the goods 8 passing through the second scanning device 52, and by corresponding to the position of the warehouse 6 corresponding to the goods 8, it is judged whether the goods 8 are running beyond the corresponding position of the warehouse 6. If so, it is also possible to return the goods 8 to the first transmission section 411 corresponding to the corresponding warehouse 6 by controlling the running direction of the second transmission section 412 and the first transmission section 411. That is, the setting of the second scanning device 52 enables the warehousing transmission line 4 to have a warehousing error correction function to prevent the goods 8 from entering the wrong warehouse 6 and improve the accuracy of the goods 8 warehousing.
  • an in-position detection device is provided on the multiple devices.
  • a first in-position detection device is provided at the front end of the docking transmission line 1 to control the start and stop of the docking transmission line 1;
  • a second in-position detection device is provided at the back end of the docking transmission line 1 to control the regularization device 3 and the middle The operation of the transmission device 2;
  • a third in-position detection device is provided on the control transmission section 413, which is set to control the start and stop of the control transmission section 413 according to whether the goods 8 are placed on the control transmission section 413;
  • Each intermediate transition device is provided with a fourth in-position detection device, which is set to control the operation of the transition transmission device 43 according to whether the goods 8 reach the transition transmission position;
  • each sub-library transmission line 42 is provided with a fifth in-position detection device, which is set to Control the operation and stop of the corresponding sub-library transmission line 42.
  • a sixth in-position detection device is arranged on each segmente
  • the control module is connected to the docking transmission line 1, the intermediate transmission device 2, the main transmission line 41, the transition transmission device 43, the regularization device 3, the sub-library transmission line 42, the scanning device and the corresponding in-position detection device, and according to the detection signals of multiple in-position detection devices And the scanning information of the scanning device controls the operation of the docking transmission line 1, the intermediate transmission device 2, the main transmission line 41, the transition transmission device 43, the regularization device 3, and the branch transmission line 42.
  • the embodiment of the present application provides an automatic warehouse-in method using the above-mentioned automatic warehouse-in system, including the following steps:
  • the control module controls the operation of the docking transmission system, and transports the goods unloaded from the transport vehicle to the storage transmission line;
  • the control module controls the operation of the docking transmission system, and transports the goods 8 unloaded from the transport vehicle 7 to the storage transmission line 4;
  • the scanning device scans the goods 8 and identifies the goods information of the goods 8, and sends the goods information to the control module;
  • the control module controls the operation of the warehousing transmission line 4 according to the goods information, and transmits the goods 8 to the unloading channel corresponding to the goods 8.
  • the docking transmission system includes a docking transmission line 1, a first scanning device 51 is provided on the docking transmission line 1, and a direction control transmission for docking with the docking transmission line 1 is provided on the warehouse transmission line 4 A section 413 and a first transmission section 411 docked with the cargo unloading channel, and a second scanning device 52 is provided on the first transmission section 411;
  • the control module controls the operation of the sub-library transmission line 42 according to the goods information, and transmits the goods 8 to the unloading channel corresponding to the goods 8, including:
  • the control module controls the running direction of the steering transmission section 413 according to the scanning result of the first scanning device 51;
  • the control module determines whether the goods 8 enter the unloading channel corresponding to the first transmission section 411 according to the scanning result of the second scanning device 52.
  • control module controls the operation of the docking transmission system to transport the goods unloaded from the transport vehicle to the storage transmission line;
  • the scanning device scans the goods and identifies the goods information of the goods, and sends the goods information to the control module;
  • the control module controls the operation of the warehousing transmission line according to the goods information, and transmits the goods to the unloading channel corresponding to the goods.
  • the docking transmission system includes a docking transmission line, the docking transmission line is provided with a first scanning device, and the storage transmission line is provided with a direction control transmission section docking with the docking transmission line and a The first transmission section docked with the lower cargo channel, and a second scanning device is provided on the first transmission section;
  • the control module controls the operation of the sub-library transmission line according to the goods information, and transmits the goods to the unloading channel corresponding to the goods, including:
  • the control module controls the running direction of the steering transmission section according to the scanning result of the first scanning device
  • the control module controls whether the goods enter the unloading channel corresponding to the first transmission section according to the scanning result of the second scanning device.
  • the automatic warehousing method of the automatic warehousing system includes the following steps:
  • Step S1 The control module controls the docking transmission line 1 to start running.
  • This step can be to manually start the operation of the docking transmission line 1 through the start switch set on the docking transmission line 1, or the first in-position detection module at the front end of the docking transmission line 1 detects that the goods 8 are placed on the docking transmission line 1. 1 Start operation.
  • Step S2 The product 8 runs on the docking transmission line 1 and passes through the first scanning device 51.
  • the first scanning device 51 scans and recognizes the label 81 on the product 8 and sends the identified product information to the control module.
  • Step S3 The second in-position detection module (ie, the second in-position detection device) detects whether the goods 8 run to a regular position, and sends the detection result to the control module.
  • Step S4 The control module receives the in-position information detected by the second in-position detection module, and controls the operation of the regulation device 3 to regulate the goods 8.
  • Step S5 After the product 8 is regulated by the regulating device 3, the control module controls the intermediate transmission device 2 to transmit the product 8 on the docking transmission line 1 to the main transmission line 41.
  • This step includes the following steps:
  • Step S51 After the product 8 is regulated by the regulating device 3, the control module controls the intermediate transmission device 2 to rotate and descend to make the grabbing assembly 25 contact the product 8.
  • the product 8 detection device can be set on the regularization device 3 to determine whether the two regularization arms 31 are in contact with the product 8.
  • the regularization device 3 When the two regularization devices 3 are in contact with the product 8, the regularization device 3 or The regular movement of goods 8.
  • the goods 8 detection device sends the detection result to the control module, and the control module controls the operation of the intermediate transmission device 2 according to the detection result.
  • the control module controls the action of the rotating drive assembly 23 of the intermediate transmission device 2 to rotate the rotating base 22 so that one of the empty grasping assemblies 25 rotates to a position directly opposite to the goods 8, and the control module controls the action of the grasping lift adjustment assembly 24 , The grabbing component 25 is brought into contact with the goods 8 and the goods 8 are grabbed.
  • the rotation control of the rotating drive assembly 23 by the control module can be performed directly through angle control. For example, for the intermediate transmission device 2 with four grasping assemblies 25, the angle of each rotation is 90°.
  • Step S52 The control module controls the grabbing component 25 to grab the goods 8.
  • Step S53 After the grabbing device finishes grabbing the goods 8, the control module controls the movement of the grabbing lifting adjustment assembly 24 to raise the grabbing assembly 25, and the goods 8 are out of contact with the docking transmission line 1.
  • Step S54 The control module controls the operation of the rotating drive assembly 23 to rotate the goods 8 to above the direction-controlled transmission section 413.
  • the rotation drive assembly 23 can be controlled by angle control.
  • the rotation drive assembly 23 is controlled to rotate 180° to realize the conversion of the goods 8 from above the docking transmission line 1 to above the main transmission line 41.
  • Step S55 The control module controls the movement of the grasping and lifting adjustment assembly 24, and places the goods 8 on the direction control transmission section 413.
  • Step S6 The third in-position detection device detects whether there is goods 8 in the control transmission section 413, and sends the detection result to the control module. If so, the detection module controls the control transmission section according to the goods information scanned by the first scanning device 51 Segment 413 starts.
  • Step S7 The control module controls the operation of the segment transmission line corresponding to the transmission segment 413 according to the product information scanned by the first scanning device 51.
  • Step S8 When the goods 8 travel through the first transmission section 411, the second scanning device 52 scans the goods 8 and recognizes the goods information, and matches the goods information with the information of the warehouse 6 corresponding to the first transmission section 411, If the item information matches the corresponding warehouse 6, step S9 is executed, otherwise, step S13 is executed.
  • Step S9 The first transmission section 411 transports the goods 8 to the transitional transmission device 43, and the fourth in-position detection device detects whether the transitional transmission device 43 has the goods 8 and sends the detection result to the control module.
  • Step S10 The control module controls the corresponding first transmission section 411 to stop running, and controls the lifting transmission platform to raise according to the arrival information of the goods 8 detected by the fourth arrival detection device.
  • Step S11 When the lifting transmission platform is aligned with the branching transmission platform, the control module controls the operation of the transitional transmission line and the branching transmission line 42 to transfer the goods 8 from the transitional transmission line to the branching transmission line 42.
  • Step S12 The fifth in-position detection module (the fifth in-position detection device) detects that there are goods 8 on the sub-library transmission line 42 and sends the detection result to the control module.
  • the control module controls the transition transmission line to stop running, and the lifting transmission platform descends and the first transmission Section 411 is flush.
  • Step S13 The control module controls the first transmission section 411 to continue running, and after transmitting the goods 8 on the first transmission section 411 to the next first transmission section 411 via the second transmission section 412 in front, return to step S8 .
  • the automatic warehousing method provided by the present application overcomes the problems of low efficiency of goods warehousing and non-correspondence between goods and warehouses by applying to the above-mentioned automatic warehousing system, and improves the accuracy and efficiency of goods warehousing.
  • This embodiment also provides a warehousing logistics system, including the aforementioned automatic warehousing system.
  • the warehousing logistics system provided by the embodiments of the present application, by adopting the above-mentioned automatic warehousing system, overcomes the problems of low warehousing efficiency of goods and non-correspondence between goods and the warehouse, and improves the accuracy and efficiency of goods warehousing.

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Abstract

一种自动入库系统、仓储物流系统及自动入库方法。自动入库系统包括入库传输线（4），入库传输线（4）沿长度方向设置有多个下货通道，多个下货通道的出口分别与多个仓库（6）一一对应；对接传输系统，设置为接收运输车（7）上却下的货品（8）并将货品（8）传输至入库传输线（4）上；扫描装置，设置为扫描并识别货品（8）；控制模块，被配置为根据货品（8）的信息将货品（8）输送至与目标仓库（6）所对应的下货通道中。该自动入库系统可以提高货品入库的自动化和高效化操作，提高货品入库的准确性，满足多仓库对应的货品入库需求。

Description

自动入库系统、仓储物流系统及自动入库方法
本申请要求在2019年02月25日提交中国专利局、申请号为201910138696.7的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及仓储物流技术领域，例如涉及一种自动入库系统、仓储物流系统及自动入库方法。
背景技术
随着电子商务的迅速兴起和物流行业的不断发展，如何提高物流效率、实现仓储物流系统的自动化、无人化和智能化运行以成为现代物流需要解决的难题。仓储物流包括货品入库、拆垛、分拣、上货、拣选、堆垛、货品出库等多个物流环节，其中，货品入库和货品出库实现货运车与仓库之间的对接，拆垛、分拣、上货等其他工序基本在仓库内部完成。
相关技术提供了一种智能化物流装卸输送系统，该系统入库端输送组件包括依次相连的卸货过渡线、快速卸货输送线、卸货缓存线、提升机构以及总装物料输送线。卸货过渡线用来与运输车对接以完成物流卸料和输送，物流从运输车上完成卸货后，依次经过快速卸货输送线、卸货缓存线、提升机构后输送给总装物流输送线，直至完成入库作业，实现自动化地货品入库。
相关技术提供的入库端输送组件虽然能够完成从运输车的自动卸货和货品至仓库间的自动输送，但卸货后的货品均被输送至总装物料输送线上，若该物流仓储区仅存在一个仓库，则总装物流输送线上的货品全部被输送至该仓库中，完成最终货品入库操作；但若是该物流仓储区存在多个仓库，每个仓库对应存放的货品种类不同，则需要人工对总装物料输送线上的货品进行信息识别，根据识别的货品信息将总装物流输送线上的货品分配至不同的叉车或者运输线上，由叉车或运输线等装置将货品输送至对应的仓库中。因此，当物流仓储区存在多个仓库时，相关技术提供的入库端输送组件难以实现对货品的高效入库，还需辅助人工或其他设备才能实现货品类型与仓库类型之间的对应，操作环节较多，效率低，且容易发生货品类型与所入仓库类型不一致的情况，不利于货品入库操作的自动化、高效化和智能化运行。
发明内容
本申请的一个目的在于提供一种自动入库系统，提高货品入库的自动化和 高效化操作，提高货品入库的准确性，满足多仓库对应的货品入库需求。
本申请的另一目的在于提供一种仓储物流系统，提高仓储物流系统的自动化和高效化运行。
本申请的又一目的在于提供一种自动入库方法，提高货品入库的自动化和高效化操作，提高货品入库的准确性。
本申请实施例提供一种自动入库系统，包括：
入库传输线，所述入库传输线沿长度方向设置有多个下货通道，多个下货通道的出口分别与多个仓库一一对应；
对接传输系统，设置为接收运输车上卸下的货品并将所述货品传输至所述入库传输线上；
扫描装置，设置为扫描并识别所述货品；
控制模块，被配置为根据所述货品信息将所述货品输送至与目标仓库所对应的所述下货通道中。
本申请实施例提供一种仓储物流系统，包括如上所述的自动入库系统。
本申请实施例提供一种采用上述自动入库系统的自动入库方法，包括如下步骤：
控制模块控制对接传输系统运行，将运输车上卸下的货品输送至入库传输线上；
扫描装置对所述货品上进行扫描并识别所述货品的货品信息，并将所述货品信息发送至所述控制模块；
所述控制模块根据所述货品信息控制所述入库传输线的运行，将所述货品传输至与目标仓库对应的下货通道中以使所述货品通过所述下货通道传输至所述目标仓库。
附图说明
图1是本申请实施例提供的自动入库系统的侧视图；
图2是本申请实施例提供的自动入库系统的俯视图；
图3是本申请实施例提供的中间传输装置的结构示意图；
图4是图3中I处的局部放大图；
图5是本申请实施例提供的规整装置的结构示意图；
图6是本申请实施例提供的入库传输线的部分结构示意图。
图中标记如下：
1-对接传输线；
2-中间传输装置；21-固定座；22-旋转座；221-中心座部；222-延伸臂部；23-转动驱动组件；231-驱动电机；232-主动齿轮；233-齿圈结构；24-抓取升降调节组件；241-升降驱动件；242-固定板；243-连接板；244-升降导向组件；25-抓取组件；251-支撑板；253-吸盘；
3-规整装置；31-规整转臂；311-连接臂；312-辅助臂；32-固定轴；33-转臂驱动组件；331-活塞杆；332-缸体；34-止挡件；35-夹紧辊；
4-入库传输线；41-主传输线；411-第一传输分段；412-第二传输分段；413-控向传输分段；414-第一传输件；42-分库传输线；421-第二传输件；43-过渡传输装置；431-升降板；432-第三传输件。
51-第一扫描装置；52-第二扫描装置；
6-仓库；
7-运输车；
8-货品，81-标签。
具体实施方式
下面结合附图和实施例对本申请进行说明。此处所描述的实施例仅仅用于解释本申请，而非对本申请的限定。为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
在本申请的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。可以实际情况理解上述术语在本申请中的含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之 “下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本实施例的描述中，术语“上”、“下”、“右”、等方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅仅用于在描述上加以区分，并没有特殊的含义。
本申请实施例提供一种自动入库系统，包括：
入库传输线，入库传输线沿长度方向设置有多个下货通道，多个所述下货通道的出口分别与多个仓库一一对应；
对接传输系统，设置为接收运输车上卸下的货品并将所述货品传输至所述入库传输线上；
扫描装置，设置为扫描并识别所述货品；
控制模块，被配置为根据所述货品信息将所述货品输送至与目标仓库所对应的所述下货通道中。
可选地，所述对接传输系统包括：
对接传输线，对接传输线的前端设置为接收运输车上卸下的货品，对接传输线的后端与所述入库传输线垂直对接。
可选地，所述对接传输系统还包括：
中间传输装置，设置在所述对接传输线的后端和所述入库传输线之间，设置为将所述对接传输线上的货品输送至所述入库传输线上。
可选地，所述入库传输线沿所述仓库的排布方向设置，所述对接传输线与所述入库传输线的中间位置对接。
可选地，所述中间传输装置包括：
固定座，相对所述对接传输线固定设置；
抓取组件，设置在所述固定座上，且被配置为能相对所述固定座水平旋转以及竖直升降，所述抓取组件设置为抓取所述货品。
可选地，所述中间传输装置还包括：
旋转座，与所述固定座转动连接；
转动驱动组件，被配置为驱动所述旋转座相对所述固定座旋转；
抓取升降调节组件，所述抓取组件通过所述抓取升降调节组件与所述旋转座连接。
可选地，所述转动驱动组件包括：
驱动电机，与所述固定座连接；
主动齿轮，套设在所述驱动电机的输出轴上；
齿圈结构，设置在所述旋转座上，与所述主动齿轮配合。
可选地，所述中间传输装置还包括：
回转轴承，回转轴承的内圈与所述固定座连接，回转轴承的外圈与所述旋转座连接，且所述回转轴承的外圈为所述齿圈结构。
可选地，所述抓取组件包括：
吸盘，设置为通过真空吸取的方式抓取或放置所述货品。
可选地，所述抓取组件还包括：
支撑板，与所述抓取升降调节组件连接，所述支撑板上设置有多个所述吸盘。
可选地，所述旋转座沿其旋转方向的周向间隔设置有多组抓取组件。
可选地，所述旋转座包括：
中心座部，与所述固定座转动连接；
延伸臂部，沿所述中心座部的旋转轴的径向向外延伸，所述延伸臂部远离所述中心座部的一端设置有所述抓取组件和所述抓取升降调节组件。
可选地，所述入库传输线包括：
主传输线，沿所述仓库的排布方向设置；
分库传输线，分库传输线的一端连接主传输线，分库传输线的另一端与对应的仓库入口连接，所述分库传输线形成所述下货通道，所述分库传输线的传输方向与所述主传输线的传输方向垂直。
可选地，所述入库传输线还包括：
升降传输平台，所述分库传输线与所述主传输线在竖直方向上平行且间隔设置，所述升降传输平台上设置有过渡传输线，所述过渡传输线被配置为带动所述升降传输平台上的所述货品向所述分库传输线传输。
可选地，所述主传输线包括沿其长度方向并排设置的多个传输分段，所述多个传输分段的个数不小于所述分库传输线的个数，且每个分库传输线对应于一个传输分段。
可选地，所述传输分段包括：
第一传输分段，与分库传输线一一对应设置，且与分库传输线对接；
第二传输分段，相邻两个第一传输分段之间设置有一个第二传输分段。
可选地，所述扫描装置包括设置在所述对接传输线上的第一扫描装置。
可选地，所述扫描装置包括设置在所述第一传输分段上的第二扫描装置，且每个第一传输分段上均设置有一个所述第二扫描装置。
可选地，所述自动入库系统还包括：
规整装置，设置在所述对接传输线靠近所述入库传输线的一端，所述规整装置被配置为对所述货品在所述对接传输线上的位置和/或位姿进行规整。
可选地，所述规整装置包括：
两个规整转臂，分别设置在所述对接传输线沿宽度方向的两侧；
转臂驱动组件，与所述规整转臂的一端连接，且被配置为驱动两个规整转臂的另一端相对且同步水平转动，以使两个规整转臂分别与所述货品沿所述对接传输线宽度方向的两侧面接触。
可选地，所述规整装置还包括：
固定轴，固定轴竖直设置在所述对接传输线的后端，所述规整转臂与所述固定轴转动连接；
活塞缸，活塞缸的两端均具有水平设置的活塞杆，且两端的所述活塞杆分别与对应的所述规整转臂靠近所述入库传输线的一端连接。
可选地，当两个所述规整转臂分别与所述货品的相对两侧面接触时，两个所述规整转臂之间的最小距离等于所述货品沿所述对接传输线宽度方向的尺寸。
可选地，所述规整转臂为弧形结构，且当两个所述规整转臂分别与所述货品的相对两侧面接触时，所述弧形结构的两端连线与所述对接传输线的长度方向平行。
可选地，所述规整装置还包括：
夹紧辊，竖直设置在所述规整转臂用于接触所述货品的一端，且所述夹紧辊与所述规整转臂转动连接。
可选地，所述入库传输线4上设置有与所述对接传输线对接的控向传输分段，所述控制模块根据所述第一扫描装置的扫描结果控制所述控向传输分段的运行方向。
本申请实施例提供的自动入库系统，通过在设置扫描装置，对货品进行扫描并识别货品信息，并通过设置入库传输线，并在入库传输线上设置与仓库对应的下货通道，控制模块根据货品信息控制入库传输线运行将货品输送至对应的下货通道中，即能够根据货品的信息将货品输送至与货品对应的仓库中，克服了货品与仓库出现不对应的入库错误的情况发生，满足货品的对应入库，提高货品入库的效率和准确性；且通过在入库传输线上设置与多个仓库对应的下货通道，能够实现多仓库的货品同时入库操作，克服了采用叉车等辅助设备等对属于多个仓库的货品进行分拣搬运的需要，简化自动入库系统的结构，提高货品入库的效率。
图1为本申请实施例提供的自动入库系统的侧视图，图2为本申请实施例提供的自动入库系统的俯视图，如图1和2所示，本实施例提供了一种自动入库系统，该系统应用于仓储物流过程中，实现货品8在运输车7和仓库6之间的对接，以实现货品8的自动化和高效化入库操作。
在一实施例中，自动入库系统包括对接传输系统、入库传输线4、扫描装置和控制模块。其中，对接传输系统设置为接收运输车7上卸下的货品8，并将货品8搬运至入库传输线4上，货品8上设置标签81，标签81上携带有货品信息；入库传输线4设置为将货品8输送至对应的仓库6中，入库传输线4沿其长度方向上设置有多个下货通道，且下货通道的个数和位置与仓库6的个数和位置一一对应；扫描装置设置在对接传输系统中，设置为扫描货品8上的标签81并识别货品信息，并将货品信息传输至控制模块中；控制模块，分别与扫描装置及入库传输线4连接，并控制入库传输线4根据货品信息将货品8输送至与对应仓库6对应的下货通道中。
本实施例提供的自动入库系统，通过在对接传输系统中设置扫描装置，能够在对接传输系统对货品8进行搬运输送时，对货品8上的标签81进行扫描并识别货品8的信息；通过设置入库传输线4，并在入库传输线4上设置与仓库6对应的下货通道，控制模块根据货品信息控制入库传输线4运行将货品8输送至对应的下货通道中，即能够根据货品8的信息将货品8输送至与货品8对应的仓库6中，满足货品8的对应入库，提高货品8入库的效率和准确性；且通过在入库传输线4上设置与多个仓库6分别对应的下货通道，能够实现多仓库6的货品8同时入库操作，不需要额外设置叉车或搬运装置等对属于多个仓库6的货品8进行分拣搬运，简化自动入库系统的结构，提高货品8入库的效率。
在本实施例中，可选地，用于搬运和入库的货品8为经过规则包装的货品，如具有规则形状的料箱等。但本申请并不限于此，货品8还可以为经过不规则包装的物品，如异形包装箱、包装衣物等。
在本实施例中，运输车7上卸下的货品8可以直接放置在对接传输系统上，能够减小中间环节，但由于对接传输系统一次仅能对接一个运输车7，当运输车7运送货品8的时期较为集中时，会产生运输车7等待的过程。为避免运输车7等待，可以是在自动入库系统中设置卸货集聚地，将运输车7的货品8集中卸下至卸货集聚地，对接传输系统将卸货集聚地中的货品8搬运至入库传输线4中。
从运输车7上进行货品8的卸货可以是通过人工进行卸货，也可以是通过装载车、叉车、卸货传输线等卸货装置将货品8从运输车7上卸下。本实施例对于货品8从运输车7上卸载的卸载方式不做限制，可选地是采用卸货装置对运输车7上的货品8进行卸载，以提高货品8入库的连贯性和自动化操作。
在本实施例中，可选地，对接传输系统包括对接传输线1和中间传输装置2，对接传输线1的前端设置为接收运输车7上卸下的货品8，中间传输装置2设置在对接传输线1的后端和入库传输线4之间，设置为将对接传输线1上的货品8输送至入库传输线4上。
同上，对接传输线1接收货品8的方式可以是直接接收从运输车7上卸下的货品8，也可以是通过卸货集聚地间接接收运输车7上卸下的货品8。且由于对接传输线1不具备货品8抓取的功能，因此，运输车7上的货品8或卸货集聚地的货品8可以通过人工放置在对接传输线1上，也可以采用机械臂放置在对接传输线1上。且可选地，对于采用卸货集聚地进行运输车7卸货的方式，卸货集聚地设置在对接传输线1的前端位置，减小货品8搬运至对接传输线1的中间路程，提高搬运效率。可选地，对接传输系统还包括机械臂，机械臂可以具有自移动功能，也可以为固定式机械臂结构，通过机械臂对货品8的抓取进行卸货集聚地中货品8在对接传输线1上的搬运。
在本实施例中，采用输送线的方式实现货品8在运输车7或卸货集聚地与入库传输线4之间的搬运，可以实现一条传输线上多个货品8同步且间隔地搬运，能够保证货品8搬运和传输的连续性和有序性，提高货品8输送的效率。在其他一个施例中，对接传输系统也可以采用搬运机器人实现货品8在运输车7或卸货集聚地与入库传输线4之间的搬运。搬运机器人可以是具备自驱动功能的机械臂结构，通过机械臂对货品8的取放功能实现对运输车7或卸货集聚地处的货品8抓取以及货品8在入库传输线4上的放置。在该种情况下，为避免搬运机器人的一次搬运路径过长，卸货集聚地可选地设置在靠近入库传输线4 的位置。在其他另一个实施例中，可以是通过叉车配合搬运机械臂的方式实现货品8在运输车7或卸货集聚地与入库传输线4之间的搬运，通过叉车将部分货品8从运输车7或卸货集聚地中一次性搬运至靠近入库传输线4的位置，再通过搬运机械臂将叉车上的货品8一一搬运至入库传输线4上。该种方式下，卸货集聚地或运输车7停放地可以设置在远离入库传输线4上的位置，且搬运机械臂可以为非移动式机械臂结构，通过叉车的多货品8搬运，减小搬运机器人的往复搬运行程。
在本实施例中，对接传输线1可以为皮带传输、辊子传输或滚筒传输等任意一种方式，本实施例不对对接传输线1的传输方式进行限制。且传输线的结构设置为常规技术手段，本实施例不再进行赘述。
图3为本申请实施例提供的中间传输装置的结构示意图，图4为图3中I处的局部放大图，如图3和4所示，在本实施例中，可选地，中间传输装置2包括固定座21和抓取组件25，其中固定座21相对对接传输线1固定设置，抓取组件25设置在固定座21上，且被配置为能够相对固定座21水平旋转以及竖直升降。抓取组件25设置为对传递至对接传输线1后端的货品8进行抓取，对货品8进行抓取后，将抓取组件25升高使货品8脱离对接传输线1，抓取组件25再经过旋转后使货品8位于入库传输线4的上方，使抓取组件25下降后将货品8放置在入库传输线4上。
在本实施例中，固定座21相对地面固定，使中间传输装置2相对对接传输线1和入库传输线4为独立的结构，有利于对接传输线1和入库传输线4的结构简化以及中间传输装置2的安装和拆卸，且能够防止中间传输装置2的运行与对接传输线1和入库传输线4运行之间的干涉，保证对接传输线1、入库传输线4和中间传输装置2的连续性工作。在其他实施例中，固定座21也可以固定在对接传输线1的末端或入库传输线4上。
可选地，在本实施例中，为方便抓取组件25相对固定座21的水平旋转和竖直升降，中间传输装置2还包括：旋转座22，与固定座21转动连接；转动驱动组件23，与旋转座22连接并驱动旋转座22相对固定座21旋转；抓取升降调节组件24，抓取组件25通过抓取升降调节组件24与旋转座22连接，以实现抓取组件25的竖直升降。通过设置旋转座22和抓取升降调节组件24，能够使抓取组件25的旋转结构设置与升降结构设置分离，简化中间传输装置2的结构。在其他实施例中，也可以是转动驱动组件23直接与抓取升降调节组件24连接，带动抓取升降调节组件24转动，抓取组件25设置在抓取升降调节组件24上。
在一实施例中，在本实施中，旋转座22与固定座21之间设置有回转轴承，旋转座22与固定座21中的一个与回转轴承的外圈连接，另一个与回转轴承的 内圈连接，以提高旋转座22相对固定座21的转动连接稳定性。
可选地，在本实施例中，转动驱动组件23包括驱动电机231，驱动电机231设置在固定座21的外表面。驱动电机231的输出轴竖直朝上设置，且其上套设有主动齿轮232。转动驱动组件23还包括设置在旋转座22上的齿圈结构233，设置为与主动齿轮232配合传动。可选地，在本实施例中，回转轴承的外圈与旋转座22固定连接，且回转轴承的外圈为上述的齿圈结构233，使齿圈结构233为回转轴承的一部分，简化转动驱动组件23的整体结构。在其他一个实施例中，也可以使旋转座22的外表面套设有上述齿圈结构233，或旋转座22的外表面一体形成有上述的齿圈结构233。在其他另一个实施例中，也可以是回转轴承的内圈为上述齿圈结构233，回转轴承的内圈与旋转座22连接，外圈与固定座21连接。固定座21为空心结构，驱动电机231设置在固定座21内部，使驱动电机231上套设的主动齿轮232与回转轴承的齿圈结构233配合传动。
在本实施例中，通过将回转轴承与齿轮结构一体设置，有利于简化中间传输装置2的整体结构。但本申请并不限于此，相关技术中，能够实现旋转座22相对固定座21转动的结构形式均可，本实施例不再进行赘述。
在本实施例中，可选地，旋转座22包括中心座部221和延伸臂部222，中心座部221与回转轴承连接实现相对固定座21的转动连接。中心座部221沿其旋转轴线的径向向外延伸有延伸臂部222，延伸臂部222远离中心座部221的一端设置有上述的抓取升降调节组件24及抓取组件25。通过设置延伸臂部222，可以在保证旋转座22上抓取组件25的作用范围的同时，减小旋转座22的表面积，有利于使延伸臂部222伸入对接传输线1和/或入库传输线4中，避免旋转座22的设置与对接传输线1和/或入库传输线4之间的结构和动作干涉。
为提高中间传输装置2对货品8的传输效率，在本实施例中，可选地，旋转座22沿其转动轴线的周向方向间隔设置有多组抓取组件25，从而在旋转座22的一个旋转周期内，能够实现对多个货品8的输送。可选地，旋转座22沿其转动轴线的周向方向均匀间隔设置有四个抓取组件25，即当其中一个抓取组件25在实现对货品8在入库传输线的放置时，与其相对的一个抓取组件25能够实现对对接传输线1上货品8的抓取，在提高抓取效率的同时，更有利于对接传输线1、入库传输线4和中间传输装置2的动作步调的控制，且能够在减小中间传输装置2整体尺寸的同时，避免相邻两个抓取组件25抓取的货品8相互碰撞或干涉，提高抓取货品8的安全性。
为简化中间传输装置2的结构，在本实施例中，抓取升降调节组件24与抓取组件25一一对应设置。即旋转座22上对应设置有四个延伸臂部222，每个延伸臂部222的末端均设置有抓取升降调节组件24，每个抓取升降调节组件24均 连接有一个抓取组件25。在其他实施例中，多个抓取组件25可以与同一个抓取升降调节组件24连接。
在一实施例中，抓取升降调节组件24包括升降驱动件241和连接板243。升降驱动件241与连接板243连接，并能驱动连接板243竖直升降。延伸臂部222的末端竖直设置有固定板242，升降驱动件241固定在固定板242上。连接板243上设置有上述的抓取组件25。在一实施例中，为提高抓取组件25的升降平稳性和准确性，抓取升降调节组件24还包括升降导向组件244，升降导向组件244包括竖直设置的滑轨和与滑轨配合的滑块，固定板242和连接板243中的一个设置有上述滑轨，另一个设置有上述滑块，通过滑轨和滑块的配合实现对连接板243相对固定板242的运动导向。
在本实施例中，升降驱动件241可选为气缸，气缸的活塞缸固定在固定板242上，活塞杆与连接板243连接，能够简化抓取升降调节组件24的结构，减小抓取升降调节组件24的体积。在其他实施例中，抓取升降调节组件24还可以为任意能够实现连接板243相对固定板242升降运动的其他结构形式，且升降调节组件为常规设置，本实施例不再对其他形式的抓取升降调节组件24的结构进行赘述。
在本实施例中，可选地，抓取组件25包括吸盘253和气路组件，吸盘253与连接板243连接，气路组件与吸盘253连接，以对吸盘253进行抽真空或充气。通过采用吸盘式抓取组件25对货品8进行抓取，能够简化抓取组件25的结构，同时减小抓取组件25对货品8形状、重量等的要求，不需要在货品8上设置额外的结构与抓取组件25配合进行抓取，成本较低，操作方便。在其他实施例中，抓取组件25也可以为抓手式结构，如气缸抓手等。
可选地，抓取组件25还包括支撑板251，支撑板251与连接板243可拆卸连接，以方便抓取组件25相对抓取升降调节组件24的安装、拆卸和更换。支撑板251水平设置，且支撑板251的下表面设置有多个吸盘253。通过在支撑板251上设置多个吸盘253，能够实现对不同尺寸和重量的货品8的吸取，提高抓取组件25的抓取灵活性和可靠性。在其他实施例中，也可以仅设置一个尺寸较大的吸盘253实现对货品8的抓取。
在本实施例中，通过设置旋转抓取式的结构，在实现货品8在对接传输线1和入库传输线4之间的传递的同时，一方面简化中间传输装置2的结构，降低中间传输装置2的成本。且能通过在固定座21上沿其周向设置多个抓取组件25，可以实现多个货品8的连续抓取传输，提高对接传输线1和入库传输线4之间的对接效率，提高货品8入库的效率和连续性。
在其他一个实施例中，中间传输装置2可以为机械臂结构，机械臂的末端 设置用于抓取货物的抓手或吸盘等端拾器，通过机械臂的六自由度移动和端拾器的配合，对对接传输线1上的货品8进行抓取并放置在入库传输线4上。
在其他另一个实施例中，中间传输装置2可以为升降平台，此时，需要使入库传输线4的传输面高于对接传输线1的传输面。升降平台上设置有传输线，当货品8经过对接传输线1传输至中间传输装置2处时，升降平台升高至与入库传输线4平行，且升降平台上的传输线运行将升降平台上的货品8传递至入库传输线4上。
在其他又一个实施例中，中间传输装置2可以为推板式传输结构，即在对接传输线1的末端设置推板和推板驱动装置，在货品8到达对接传输线1末端时，驱动推板转动使推板位于货品8远离入库传输线4的一侧，并驱动推板沿朝向入库传输线4的方向运动，从而推动货品8从对接传输线1上传输至入库传输线4上。
在其他的实施例中，中间传输装置2还可以采用可以实现货品8在对接传输线1和入库传输线4之间传输的其他装置，本实施例不再一一进行列举。
在本实施例中，通过设置中间传输装置2实现货品8在对接传输线1和入库传输线4上的对接，有利于简化对接传输线1和入库传输线4的通用化结构设计，降低成本。在其他实施例中，也可以使对接传输线1与入库传输线4直接对接。如，对接传输线1采用皮带传输方式，其沿宽度方向间隔设置多根传输皮带。入库传输线4上采用滚筒或辊子传输方式，且入库传输线4与对接传输线1一端部分重合，在重合部分处，入库传输线4的滚筒或辊子设置在相邻两个皮带的间隙之间。该种对接方式下，由于重合部分存在两个不同的传输方向，当货品8通过对接传输线1运输到重合区域时，需要对对接传输线1进行暂停，同时启动入库传输线4实现对货品8在入库传输线4上的传输。
在一实施例中，为了提高抓取装置(即抓取组件)对货品8的抓取稳定性和可靠性，本实施例提供的自动入库系统还包括设置在对接传输线1后端的规整装置3，设置为对传输至对接传输线后端的货品8在对接传输线1上的位置和/或位姿进行规整，以方便抓取装置对货品8的抓取。
图5为本申请实施例提供的规整装置的结构示意图，如图5所示，可选地，在本实施例中，规整装置3包括两个规整转臂31和转臂驱动组件33。两个规整转臂31分别设置在对接传输线1沿宽度方向的两侧，转臂驱动组件33与规整转臂31的一端连接，并同时驱动两个规整转臂31的另一端转动，以使两个规整转臂31的相对端靠近或远离。当货品8传输至对接传输线1后端时，转臂驱动组件33驱动两个规整转臂同时相向转动，使规整转臂31的相对端相互靠近直至分别抵接至货品8沿对接传输线1宽度方向的相对两侧面上，对货品8在 对接传输线1上的位置进行规正。
可选地，两个规整转臂31相对对接传输线1的中心线对称设置，以使被规整后的货品8的中心线与对接传输线1的中心线重合，更有利于抓取组件25对货品8的抓取。在其他实施例中，两个规整转臂31也可以相对与中心线平行的线对称设置，以使货品8的中心线与对接传输线1的中心线平行。
在本实施例中，可选地，转臂驱动组件33设置在规整转臂31靠近入库传输线4的一端，有利于避免转臂驱动组件33的设置对货品8在对接传输线1上的运行造成干涉，且有利于使两个规整转臂31使用同一个转臂驱动件进行驱动。在其他实施例中，转臂驱动组件33也可以与规整转臂31远离入库传输线4的一端连接，此时，转臂驱动组件33设置在对接传输线1的侧部，且每个规整转臂31均连接有一个转臂驱动组件33，两个转臂驱动组件33通过控制模块进行同步驱动。
在本实施中，可选地，规整装置3还包括两个固定轴32，两个固定轴32竖直设置在对接传输线1的后端，且每个规整转臂31均与对应的固定轴32转动连接。转臂驱动组件33可选包括驱动活塞缸，且驱动活塞缸的两端均设置可相对缸体332伸缩的活塞杆331。两个活塞杆331沿对接传输线1的宽度方向水平设置，且每个活塞杆331均与规整转臂31靠近入库传输线4的一端连接。当活塞杆331相对缸体332伸出时，两个规整转臂31与活塞缸连接的一端相互远离，由于规整转臂31的中部与固定轴32转动连接，两个规整转臂31的另一端相互靠近，以与货品8接触，实现对货品8的规整。当活塞杆331相对缸体332缩回时，两个规整转臂31远离活塞杆331的一端相互远离，以与货品8脱离接触。
在本实施例中，通过设置具有双杆的驱动活塞缸，能够以简单的结构实现对两个规整转臂31的同步驱动，简化规整装置3的结构，降低规整装置3的体积。在其他实施例中，也可以采用电机驱动的形式带动规整转臂31水平转动，本实施例不再进行赘述。在本实施例中，驱动活塞缸为气缸，在其他实施例中，驱动活塞缸也可以为油缸等液压缸结构。
可选地，在本实施例中，固定轴32连接在规整转臂31靠近活塞杆331的一端附近，有利于通过活塞杆331小幅的移动获得规整转臂31另一端的大幅度水平转动，减小驱动活塞缸的体积和其在对接传输线1上的占用空间，从而减小整个规整装置3的尺寸。
可选地，在本实施例中，规整转臂31为弧形结构，且两个规整转臂31的弧形开口相对设置。当两个规整转臂31的前端与货品8两侧相抵接时，规整转臂31弧形结构的两端连线与对接传输线1的长度方向平行。该种设置方式，有利于使两个规整转臂31的前端与货品8两侧相抵接时，两个规整转臂31的弧 形结构设计能够使两个规整转臂31之间的距离不小于货品8沿对接传输线1宽度方向的尺寸。即规整转臂31作用于货品8时，货品8还可以继续在对接传输线1的传输作用下运行，增大规整转臂31与货品8的作用面积，提高对货品8的规整效果，且使货品8规整与货品8传输同步进行，提高货品8规整的效率；同时，能够减小两个规整转臂31连接活塞杆331一端之间的距离需求，从而减小规整装置3的体积。
在其他实施例中，规整转臂31也可以为直臂结构。但此时，为保证两个规整转臂31的前端与货品8两侧相抵接时，两个规整转臂31之间的距离不小于货品8的宽度，需要使两个规整转臂31连接有活塞杆331的一端位于固定轴32的外侧，因此，在货品8尺寸相同的情况下，会造成规整装置3尺寸的增大。
为方便规整转臂31与货品8抵接时，货品8在对接传输线1上的传输，在本实施例中，可选地，规整转臂31远离活塞杆331的一端连接有竖直设置的夹紧辊35。夹紧辊35与规整转臂31枢接连接，使夹紧辊35在外力作用下能够绕其自身轴线转动。因此，使规整装置3对货品8进行规整时，货品8与夹紧辊35滚动连接，减小货品8在对接传输线1上的传输阻力。
为提高规整转臂31的结构强度，规整转臂31包括沿竖直方向平行且间隔设置的连接臂311和辅助臂312，连接臂311和辅助臂312的形状基本相同，且连接臂311位于辅助臂312的上方。固定轴31和夹紧辊35的上端均与连接臂311转动连接；固定轴31和夹紧辊35的下端均与辅助臂312转动连接，且连接臂31的一端连接有活塞杆331。通过设置连接臂311和辅助臂312，能够提高规整转臂31的结构强度，同时，提高规整转臂31对货品8的作用面积。
为避免货品8在对接传输线1上传输过程中与转臂驱动组件33发生碰撞，在本实施例中，可选地，规整装置3还包括设置在对接传输线1末端的止挡件34，设置为对货品8在对接传输线1上的运输进行止挡作用，防止货品8与转臂驱动组件33发生碰撞，提高规整装置3的安全性能。
在本实施例，采用旋转式的规整装置3对货品8进行规整，在其他实施例中，也可以采用其他结构对货品8在对接传输线1上的位置和/或位姿进行规整。如，可采用推动式的规整结构，在对接传输线1沿其宽度方向的两侧分别设置推动件和推动驱动组件，当货品8运输至对接传输线的末端时，推动驱动组件驱动推动件相向运动，以使两个推动件分别与货品8的两侧面接触，实现对货品8的规整。
在本实施例中，入库传输线4沿仓库6的排布方向设置，且对接传输线1的长度方向与入库传输线4的长度方向可选为垂直设置，方便入库传输线4和对接传输线1之间的对接。在其他实施例中，在空间布置允许的情况下，对接 传输线1与入库传输线4也可以为非垂直式设计，其对接位置和对接方式可以根据仓储园区的空间进行灵活设计。
在本实施例中，可选地，对接传输线1对应入库传输线4的中间位置设置，能够减小货品8在入库传输线4上的平均传输时间，提高货品8入库效率。在其他实施例中，对接传输线1也可以对应入库传输线4的任意位置设置，如入库传输线4的端部位置。
在本实施例中，入库传输线4包括长条状的主传输线41和对应仓库6设置的分库传输线42，主传输线41沿仓库6的排布方向设置，分库传输线42一端与主传输线41连接，另一端与对应仓库6的入口连接，该分库传输线42形成入库传输线4的下货通道，使主传输线41上的多个货品8能够通过分库传输线42输送至对应的仓库6中。在本实施例中，分库传输线42可选为垂直于主传输线41设置。
在本实施例中，可选地，为实现主传输线41和分库传输线42之间的对接，主传输线41和分库传输线42之间设置有过渡传输装置43，设置为实现货品8在主传输线41和分库传输线42之间的过渡传输。
在本实施例中，可选地，过渡传输装置43为升降传输平台，升降传输平台上设置有过渡传输线。该种设置下，分库传输线42与主传输线41相连的一端的高度要高于主传输线41对应处的高度，运输至升降传输平台上的货品8经升降传输平台升高后与主传输线41脱离接触，并且在过渡传输线的传输下，进入分库传输线42进行传输。
在一实施例中，图6为本申请实施例提供的入库传输线的部分结构示意图，如图6所示，主传输线41采用辊子或滚筒等转动传输件作为第一传输件414，第三传输件432沿主传输线41的长度方向平行间隔设置。升降传输平台包括升降支撑柱、升降板431、输送升降驱动组件和过渡传输线。两个升降支撑柱分别设置在主传输线41沿宽度方向两侧，两个升降板431沿主传输线41的长度方向相对设置在主传输线41沿宽度方向的两侧，且升降板431通过输送升降驱动组件与对应的升降支撑柱连接。过渡传输线设置在两个升降板431之间，且过渡输送线采用皮带作为第三传输件432进行传输，多根皮带沿主输送线的长度方向间隔设置，且每根第三传输件432均设置在相邻两根第一传输件414之间。
当升降传输平台与主传输线41平齐时，货品8在第一传输件414的作用下沿主传输线41的长度方向运送至主传输线41与升降传输平台重叠的位置；升降传输平台升高与分库传输线42对接，使货品8在过渡传输线的带动下升高，与主传输线41脱离接触；过渡传输线中第三传输件432运行，带动货品8沿垂直于主传输线41的长度方向运行；由于过渡传输线与分库传输线42的传输方 向基本相同，货品8在过渡传输线和分库传输线42的共同带动下传输至分库传输线42上进行传输，直至运行至对应仓库6的入口。分库传输线42中的第二传输件421的类型可以与主传输线41中第一传输件414的类型相同。
在其他一个实施例中，也可以是主传输线41采用皮带传动，过渡传输线采用辊子或滚筒传动的方式，同样能够实现过渡传输线在主传输线41上的区域重叠设置。
在其他有一个实施例中，升降传输平台也可以不与主传输线41重叠设置，而与分库传输线42重叠设置。即主传输线41为分段式传输线，且相邻两段传输线之间采用升降传输平台对接。当货品8运输到升降传输平台上时，通过使升降传输平台下降实现货品8与升降传输平台的脱离，即实现货品8在分库传输线42上的输送。
在其他另一个实施例中，也可以采用除升降传输平台外的其他过渡传输装置43进行主传输线41与分库传输线42之间的连接，如可以采用上述任一种的中间传输装置2的结构作为过渡传输装置43进行使用，本实施例不再进行赘述。
在其他另一个实施例中，也可以不设置过渡传输线，而直接实现主传输线41和分库传输线42的对接。以主传输线41的第一传输件414采用辊子传动为例，分库传输线42的一端与主处传输线的一端重合，且分库传输线42采用皮带作为第二传输件421，多根皮带沿分库传输线42的宽度方向间隔设置，且每根皮带均设置在主传输线41的相邻两个辊子之间。分库传输线42上通过升降装置实现整体的竖直升降或朝向主传输线41一端的抬高。当货品8经主传输线41输送至与分库传输线42重叠的区域后，升降装置带动分库传输线42升高，实现分库传输线42与主传输线41的分离，货品8在分库传输线42上传输。该种设置，不需要设置过渡传输装置43，但由于需要分库传输线42整体抬高，会造成成本的相对增加。
在本实施例中，可选地，主传输线41采用分段式传输方式，即主传输线41包括多个沿其长度方向并排设置的传输分段。每个传输分段均与控制模块连接，使控制模块可以单独控制每个传输分段的运行。传输分段的个数不少于分库传输线42的个数，且每个分库传输线42对应与一个传输分段连接。从而，控制每个传输分段的运行和启动时机以及控制每个传输分段的运行方向，能够使主传输线41上的货品8运行到对应的传输分段上，并进入对应的分库传输线42上进行入库处理。
在本实施例中，可选地，传输分段包括与每个分库传输线42对接的第一传输分段411，第一传输分段411与分库传输线42之间的对接采用上述描述的任意一种主传输线41与分库传输线42之间的对接方式进行。相邻两个第一传输 分段411之间设置有一个第二传输分段412，一方面减短第一传输分段411的长度，有利于第一传输分段411和分库传输分段的对接设置；另一方面，由于货品8从第一传输分段411过渡至分库传输分段的对接过程中，第一传输分段411需要暂停运行，以使货品8顺利地从第一传输分段411运行至分库传输分段中，因此，第二传输分段412的设置，可以保证货品8在第一传输分段411上对接时，另一货品8能够在第二传输分段412上运行，保证货品8的入库连续性，提高货品8入库效率。
在本实施例中，可选地，主传输线41与中间传输装置2对接的传输分段为第二传输分段412。即，中间传输装置2从对接传输线1上抓取的货品8放置在第二传输线上。为方便描述，将与中间传输装置2对应的第二传输线命名为控向传输分段413，控制模块通过扫描装置获取的标签81信息，确定货品8位于控向传输分段413哪一侧仓库6中，并通过仓库6相对控向传输分段413传输线的位置，确定控向传输分段413的运行方向，以使货品8运行到对应的第一传输分段411及分库传输线42中。
扫描装置设置为扫描货品8上的标签81，并对标签81携带的货品信息进行识别。在本实施例中，标签81可以为二维码、条形码或射频识别(Radio Frequency Identification，RFID)码中的一种或多种，扫描装置的类型与标签81类型对应设置，如当标签81为RFID码时，扫描装置为射频读取器，当标签81为二维码时，扫描装置为扫码仪等。本实施例不对标签81和扫描装置的类型进行限定，只要能够实现标签81对货品信息的携带，扫描装置能够扫描并识别标签81携带的货品信息的电子标签81码形式以及扫描装置的形式均可。
在本实施例中，货品信息至少包括货品8的名称，以对货品8进行入库前的分类识别，使货品8能够进入对应的仓库6中。货品信息还可以包括产地、生产日期、保质日期等与货品8相关的信息。
在本实施例中，为提高货品8入库的效率，可选地，对接传输线1上设置有第一扫描装置51，设置为在货品8在对接传输线1上运输时对货品8的标签81进行扫描和识别。通过将第一扫描装置51设置在对接传输线1上，能够使货品8在对接传输线1上传输时被识别，不需要额外进行扫描识别的过程，保证货品8传输的连续性，提高货品8入库的效率。
在本实施例中，第一扫描装置51可以设置在对接传输线1的上方，此时，运行在对接传输线1上的货品8的标签81贴覆在货品8的上表面。在其他一个实施例中，第一扫描装置51也可以设置在对接传输线1的一侧或两侧，此时，货品8的标签81贴覆在货品8的相对两侧面。在其他另一个实施例中，第一扫描装置51也可以设置在对接传输线1的下方，且扫描头正对对接传输线1设置， 此时，标签81设置在货品8的下表面。上述标签81和第一扫描装置51的设置方式，需要在货品8放置至对接传输线1时，保证标签81的位置对应第一扫描装置51的位置放置。在其他又一实施例中，货品8的每一侧面上均可贴覆标签81，该种情况下，无论货品8在对接传输线1上的摆放状态如何，或无论第一扫描装置51设置在任意位置，只要货品8经过第一扫描装置51的扫描范围，均可被扫描装置扫描识别到。
在其他另一个实施例中，第一扫描装置51也可以与对接传输线1分离设置，如第一扫描装置51设置在对接传输线1的前端。在货品8放入对接传输线1上之前，通过人工或其他方式使扫描装置扫描货品8上的标签81并识别货品信息。其他方式可以为机械臂抓取货品8并使货品8运输至第一扫描装置51的扫描方位之内，并带动货品8进行六自由度旋转以使货品8上贴覆的标签81能够被扫描装置识别。
在其他又一实施例中，第一扫描装置51也可以设置在中间传输装置2上，如设置在固定支座正对对接传输线1的侧面等。此时，对应的，货品8朝向中间传输装置2一侧面上设置有上述标签81。
在本实施例中，为提高货品8与对应仓库6的入库准确性以及简化自动入库自动的控制，可选地，在主传输线41上设置有第二扫描装置52。可选地，每个第一传输分段411上均设置有第二扫描装置52，通过第二扫描装置52扫描到的货品信息控制对应的第一传输分段411的运行和停止，以及控制与该第一传输分段411对应的过渡传输装置43和分库传输装置的运行和启动。
在一实施例中，当货品8在主传输线41上运行，且通过一个第一传输分段411时，第一传输分段411上的第二扫描装置52扫描到货品8上的标签81并识别标签81携带的货品信息，并将货品信息发送至控制模块；控制模块根据货品信息判断该第一传输分段411对应的仓库6是否与货品信息相匹配，如果是，则控制模块检测到货品8运行至该第一传输分段411对应的升降传输平台上后，控制模块控制该第一传输分段411停止运行，升降传输平台升高与分库传输线42对接，当控制模块检测到第一传输分段411与对应的分库传输线42平齐后，控制模块控制升降传输平台上的过渡传输分段运行及分库传输线42运行，将货品8通过分库传输线42进入对应的仓库6；当控制模块未检测到第一传输分段411与对应的分库传输线42平齐，则控制模块通过该第一传输分段411继续运行，将货品8继续传输至该第一传输分段411前端的第二传输分段412中，使货品8经第二传输分段412传输至下一个第一传输分段411中并在此进行检测和判断。
通过在第一传输分段411上设置第二扫描装置52，能够对该第一传输分段 411和对应的过渡传输装置43及分库传输线42的运行进行更为准确地控制，避免对接传输线1和/或主传输线41上货品8数量较多，仅依靠第一扫描装置51的扫描结果控制入库传输线导致的控制逻辑复杂和误判等错误，简化入库传输线4的运行控制，保证货品8与对应仓库6入库的准确性，提高货品8入库的效率。同时，第二扫描装置52的设置，能够对经过该第二扫描装置52的货品8的位置进行判断，通过与货品8对应的仓库6位置进行对应，判断货品8是否运行超过仓库6对应位置，如果是，还可以通过控制第二传输分段412和第一传输分段411的运行方向，将货品8返回输送至对应仓库6对应的第一传输分段411中。即第二扫描装置52的设置使入库传输线4具备入库纠错功能，防止货品8进入错误的仓库6中，提高货品8入库的准确性。
在本实施例中，为方便对多个装置的运行控制，多个装置上均设置有到位检测装置。如，在对接传输线1的前端设置有第一到位检测装置，设置为控制对接传输线1的启动和停止；在对接传输线1的后端设置有第二到位检测装置，设置为控制规整装置3和中间传输装置2的运行；在控向传输分段413上设置有第三到位检测装置，设置为根据货品8是否放置在控向传输分段413上控制控向传输分段413的启动和停止；每个中间过渡装置上均设置有第四到位检测装置，设置为根据货品8是否到达过渡传输位置控制过渡传输装置43的运行；每个分库传输线42上均设置有第五到位检测装置，设置为控制对应的分库传输线42的运行和停止。还可以是在每个分段传输线上均设置第六到位检测装置，设置为控制每个分段传输线的运行和停止。
控制模块与对接传输线1、中间传输装置2、主传输线41、过渡传输装置43、规整装置3、分库传输线42、扫描装置及对应的到位检测装置连接，并根据多个到位检测装置的检测信号以及扫描装置的扫描信息控制对接传输线1、中间传输装置2、主传输线41、过渡传输装置43、规整装置3和分库传输线42的运行。
本申请实施例提供一种采用上述自动入库系统的自动入库方法，包括如下步骤：
控制模块控制对接传输系统运行，将运输车上卸下的货品输送至所述入库传输线上；
控制模块控制对接传输系统运行，将运输车7上卸下的货品8输送至所述入库传输线4上；
扫描装置对所述货品8进行扫描并识别所述货品8的货品信息，并将所述货品信息发送至所述控制模块；
所述控制模块根据所述货品信息控制所述入库传输线4的运行，将所述货品8传输至与所述货品8对应的下货通道中。
在一实施例中，所述对接传输系统包括对接传输线1，所述对接传输线1上设置有第一扫描装置51，所述入库传输线4上设置有与所述对接传输线1对接的控向传输分段413和与所述下货通道对接的第一传输分段411，所述第一传输分段411上设置有第二扫描装置52；
所述控制模块根据所述货品信息控制所述分库传输线42的运行，将所述货品8传输至与所述货品8对应的下货通道中，包括：
所述控制模块根据所述第一扫描装置51的扫描结果控制所述控向传输分段413的运行方向；
所述控制模块根据所述第二扫描装置52的扫描结果判断货品8是否进入与所述第一传输分段411对应的所述下货通道中。
在一实施例中，控制模块控制对接传输系统运行，将运输车上卸下的货品输送至所述入库传输线上；
扫描装置对所述货品上进行扫描并识别所述货品的货品信息，并将所述货品信息发送至所述控制模块；
所述控制模块根据所述货品信息控制所述入库传输线的运行，将所述货品传输至与所述货品对应的下货通道中。
在一实施例中，所述对接传输系统包括对接传输线，所述对接传输线上设置有第一扫描装置，所述入库传输线上设置有与所述对接传输线对接的控向传输分段和与所述下货通道对接的第一传输分段，所述第一传输分段上设置有第二扫描装置；
所述控制模块根据所述货品信息控制所述分库传输线的运行，将所述货品传输至与所述货品对应的下货通道中，包括：
所述控制模块根据所述第一扫描装置的扫描结果控制所述控向传输分段的运行方向；
所述控制模块根据所述第二扫描装置的扫描结果控制货品是否进入与该所述第一传输分段对应的所述下货通道中。
在控制模块的控制下，本实施例提供的自动入库系统的自动入库方法包括以下步骤：
步骤S1：控制模块控制对接传输线1启动运行。
该步骤可以是人工通过设置在对接传输线1上的启动开关启动对接传输线1 的运行，也可以是对接传输线1前端的第一到位检测模块检测到有货品8放置在对接传输线1上后，对接传输线1启动运行。
步骤S2：货品8在对接传输线1上运行并通过第一扫描装置51，第一扫描装置51对货品8上的标签81进行扫描和识别，并将识别到的货品信息发送至控制模块。
步骤S3：第二到位检测模块(即第二到位检测装置)检测货品8是否运行至规整位置处，并将检测结果发送至控制模块。
步骤S4：控制模块接收到第二到位检测模块检测的到位信息，控制规整装置3运行，对货品8进行规整。
步骤S5：控制模块在规整装置3对货品8规整后，控制模块控制中间传输装置2将对接传输线1上的货品8传输至主传输线41上。
该步骤包括以下步骤：
步骤S51：控制模块在规整装置3对货品8规整后，控制中间传输装置2旋转，并下降使抓取组件25与货品8接触。
该步骤中，规整装置3上可以设置货品8检测装置，设置为判断两个规整转臂31是否均与货品8接触，当两个规整装置3均与货品8接触后，基本完成规整装置3或货品8的规整动作。货品8检测装置将检测结果发送至控制模块，控制模块根据该检测结果，控制中间传输装置2的运行。
控制模块控制中间传输装置2的转动驱动组件23动作，使旋转座22转动以使其中一个空着的抓取组件25旋转至与货品8正对的位置，控制模块控制抓取升降调节组件24动作，使抓取组件25与货品8接触并对货品8进行抓取。控制模块对于转动驱动组件23的旋转控制可以直接通过角度控制进行，如对于有四个抓取组件25的中间传输装置2，每次旋转的角度为90°即可。
步骤S52：控制模块控制抓取组件25对货品8进行抓取。
步骤S53：抓取装置完成货品8的抓取后，控制模块控制抓取升降调节组件24运动，使抓取组件25升高，货品8与对接传输线1脱离接触。
步骤S54：控制模块控制转动驱动组件23运行，使货品8旋转至控向传输分段413的上方。
对转动驱动组件23的控制，可以通过角度控制运行，如，在本实施例中，控制转动驱动组件23旋转180°，即可实现货品8从对接传输线1上方至主传输线41上方的转换。
步骤S55：控制模块控制抓取升降调节组件24运动，将货品8放置在控向 传输分段413上。
步骤S6：第三到位检测装置检测控向传输分段413是否有货品8存在，并将检测结果发送至控制模块，如果有，检测模块根据第一扫描装置51扫描的货品信息控制控向传输分段413启动。
步骤S7：控制模块根据第一扫描装置51扫描的货品信息，控制控向传输分段413对应侧的分段传输线的运行。
步骤S8：货品8运行经过第一传输分段411时，第二扫描装置52对货品8进行扫描并识别货品信息，并将货品信息与该第一传输分段411对应的仓库6信息进行匹配，若该货品信息与对应仓库6相匹配，则执行步骤S9，否则执行步骤S13。
步骤S9：第一传输分段411将货品8运送至过渡传输装置43处，第四到位检测装置检测该过渡传输装置43是否有货品8，并将检测结果发送至控制模块。
步骤S10：控制模块根据第四到位检测装置检测的货品8的到位信息，控制对应的第一传输分段411停止运行，并控制升降传输平台升高。
步骤S11：当升降传输平台与分库传输平台对齐时，控制模块控制过渡传输线和分库传输线42运行将货品8从过渡传输线传递至分库传输线42。
步骤S12：第五到位检测模块(第五到位检测装置)检测到分库传输线42上有货品8并将检测结果发送至控制模块，控制模块控制过渡传输线停止运行，升降传输平台下降与第一传输分段411平齐。
步骤S13：控制模块控制第一传输分段411继续运行，将第一传输分段411上的货品8经前方的第二传输分段412传输至下一个第一传输分段411后，返回步骤S8。
本申请提供的自动入库方法，通过应用于上述的自动入库系统，克服了货品入库效率低、货品与仓库不对应等的问题，提高了货品入库的准确性和效率。
本实施例还提供了一种仓储物流系统，包括上述的自动入库系统。
本申请实施例提供的仓储物流系统，通过采用上述的自动入库系统，克服了货品入库效率低、货品与仓库不对应等的问题，提高了货品入库的准确性和效率。

Claims (28)

  1. 一种自动入库系统，包括：
    入库传输线(4)，所述入库传输线(4)沿长度方向设置有多个下货通道，所述多个下货通道的出口分别与多个仓库(6)一一对应；
    对接传输系统，设置为接收运输车(7)上卸下的货品(8)并将所述货品(8)传输至所述入库传输线(4)上；
    扫描装置，设置为扫描并识别所述货品(8)；
    控制模块，所述控制模块被配置为根据所述货品(8)的信息将所述货品(8)输送至与目标仓库(6)所对应的所述下货通道中。
  2. 根据权利要求1所述的自动入库系统，其中，所述对接传输系统包括：
    对接传输线(1)，对接传输线(1)的前端设置为接收运输车(7)上卸下的货品(8)，对接传输线(1)的后端与所述入库传输线(4)垂直对接。
  3. 根据权利要求2所述的自动入库系统，其中，所述对接传输系统还包括：
    中间传输装置(2)，设置在所述对接传输线(1)的后端和所述入库传输线(4)之间，设置为将所述对接传输线(1)上的货品(8)输送至所述入库传输线(4)上。
  4. 根据权利要求2或3所述的自动入库系统，其中，所述入库传输线(4)沿所述仓库(6)的排布方向设置，所述对接传输线(1)与所述入库传输线(4)的中间位置对接。
  5. 根据权利要求3所述的自动入库系统，其中，所述中间传输装置(2)包括：
    固定座(21)，固定座(21)相对所述对接传输线(1)固定设置；
    抓取组件(25)，设置在所述固定座(21)上，且被配置为能相对所述固定座(21)水平旋转以及竖直升降，所述抓取组件(25)设置为抓取所述货品(8)。
  6. 根据权利要求5所述的自动入库系统，其中，所述中间传输装置(2)还包括：
    旋转座(22)，与所述固定座(21)转动连接；
    转动驱动组件(23)，被配置为驱动所述旋转座(22)相对所述固定座(21)旋转；
    抓取升降调节组件(24)，所述抓取组件(25)通过所述抓取升降调节组件(24)与所述旋转座(22)连接。
  7. 根据权利要求6所述的自动入库系统，其中，所述转动驱动组件(23)包括：
    驱动电机(231)，与所述固定座(21)连接；
    主动齿轮(232)，套设在所述驱动电机(231)的输出轴上；
    齿圈结构(233)，设置在所述旋转座(22)上，与所述主动齿轮(232)配合。
  8. 根据权利要求7所述的自动入库系统，其中，所述中间传输装置(2)还包括：
    回转轴承，所述回转轴承的内圈与所述固定座(21)连接，所述回转轴承的外圈与所述旋转座(22)连接，且所述回转轴承的外圈为所述齿圈结构(233)。
  9. 根据权利要求6所述的自动入库系统，其中，所述抓取组件(25)包括：
    吸盘(253)，设置为通过真空吸取的方式抓取或放置所述货品(8)。
  10. 根据权利要求9所述的自动入库系统，其中，所述抓取组件(25)还包括：
    支撑板(251)，与所述抓取升降调节组件(24)连接，所述支撑板(251)上设置有多个吸盘(253)。
  11. 根据权利要求6-10任一项所述的自动入库系统，其中，沿所述旋转座(22)的旋转方向的周向间隔设置有多组抓取组件(25)。
  12. 根据权利要求11所述的自动入库系统，其中，所述旋转座(22)包括：
    中心座部(221)，与所述固定座(21)转动连接；
    延伸臂部(222)，沿所述中心座部(221)的旋转轴的径向向外延伸，所述延伸臂部(222)远离所述中心座部(221)的一端设置有所述抓取组件(25)和所述抓取升降调节组件(24)。
  13. 根据权利要求4所述的自动入库系统，其中，所述入库传输线(4)包括：
    主传输线(41)，沿所述仓库(6)的排布方向设置；
    分库传输线(42)，分库传输线(42)的一端连接主传输线(41)，分库传输线(42)的另一端与对应的仓库(6)入口连接，所述分库传输线(42)形成所述下货通道，所述分库传输线(42)的传输方向与所述主传输线(41)的传输方向垂直。
  14. 根据权利要求13所述的自动入库系统，其中，所述入库传输线(4)还包括：
    升降传输平台，所述分库传输线(42)与所述主传输线(41)在竖直方向上平行且间隔设置，所述升降传输平台上设置有过渡传输线，所述过渡传输线被配置为带动所述升降传输平台上的所述货品(8)向所述分库传输线(42)传输。
  15. 根据权利要求13所述的自动入库系统，其中，所述主传输线(41)包括沿主传输线(41)在长度方向上并排设置的多个传输分段，所述多个传输分段的个数不小于所述分库传输线(42)的个数，且每个分库传输线(42)对应于一个传输分段。
  16. 根据权利要求15所述的自动入库系统，其中，所述传输分段包括：
    第一传输分段(411)，与分库传输线(42)一一对应设置，且与所述分库传输线(42)对接；
    第二传输分段(412)，相邻两个第一传输分段(411)之间设置有一个第二传输分段(412)。
  17. 根据权利要求2所述的自动入库系统，其中，所述扫描装置包括设置在所述对接传输线(1)上的第一扫描装置(51)。
  18. 根据权利要求16所述的自动入库系统，其中，所述扫描装置包括设置在所述第一传输分段(411)上的第二扫描装置(52)，且每个第一传输分段(411)上均设置有一个第二扫描装置(52)。
  19. 根据权利要求4所述的自动入库系统，其中，所述自动入库系统还包括：
    规整装置(3)，设置在所述对接传输线(1)靠近所述入库传输线(4)的一端，所述规整装置(3)被配置为对所述货品(8)在所述对接传输线(1)上的位置以及位姿中的至少一种进行规整。
  20. 根据权利要求19所述的自动入库系统，其中，所述规整装置(3)包括：
    两个规整转臂(31)，分别设置在所述对接传输线(1)沿宽度方向的两侧；
    转臂驱动组件(33)，与所述规整转臂(31)的一端连接，且被配置为驱动两个规整转臂(31)的另一端相对且同步水平转动，以使所述两个规整转臂(31)分别与所述货品(8)沿所述对接传输线(1)在宽度方向的两侧面接触。
  21. 根据权利要求20所述的自动入库系统，其中，所述规整装置(3)还包括：
    固定轴(32)，固定轴(32)竖直设置在所述对接传输线(1)的后端，所述规整转臂(31)与所述固定轴(32)转动连接；
    活塞缸，所述活塞缸的两端均具有水平设置的活塞杆(331)，且两端的所 述活塞杆(331)分别与对应的规整转臂(31)靠近所述入库传输线(4)的一端连接。
  22. 根据权利要求20所述的自动入库系统，其中，在两个规整转臂(31)分别与所述货品(8)的相对两侧面接触的情况下，两个规整转臂(31)之间的最小距离等于所述货品(8)沿所述对接传输线(1)宽度方向上的尺寸。
  23. 根据权利要求22所述的自动入库系统，其中，所述规整转臂(31)为弧形结构，且在两个规整转臂(31)分别与所述货品(8)的相对两侧面接触的情况下，所述弧形结构的两端连线与所述对接传输线(1)的长度方向平行。
  24. 根据权利要求22所述的自动入库系统，其中，所述规整装置(3)还包括：
    夹紧辊(35)，竖直设置在所述规整转臂(31)用于接触所述货品(8)的一端，且所述夹紧辊(35)与所述规整转臂(31)转动连接。
  25. 根据权利要求24所述的自动入库系统，其中，所述入库传输线(4)上设置有与所述对接传输线(1)对接的控向传输分段(413)，所述控制模块根据所述第一扫描装置(51)的扫描结果控制所述控向传输分段(413)的运行方向。
  26. 一种仓储物流系统，包括如权利要求1-25任一项所述的自动入库系统。
  27. 一种采用权利要求1-25任一项所述的自动入库系统的自动入库方法，包括：
    控制模块控制对接传输系统运行，将运输车(7)上卸下的货品(8)输送至入库传输线(4)上；
    扫描装置对所述货品(8)进行扫描并识别所述货品(8)的货品信息，并将所述货品信息发送至所述控制模块；
    所述控制模块根据所述货品信息控制所述入库传输线(4)的运行，将所述货品(8)传输至与目标仓库对应的下货通道中以使所述货品(8)通过所述下货通道传输至所述目标仓库。
  28. 根据权利要求27所述的自动入库方法，其中，所述对接传输系统包括对接传输线(1)，所述对接传输线(1)上设置有第一扫描装置(51)，所述入库传输线(4)上设置有与所述对接传输线(1)对接的控向传输分段(413)和与所述下货通道对接的第一传输分段(411)，所述第一传输分段(411)上设置有第二扫描装置(52)；
    所述控制模块根据所述货品信息控制所述入库传输线(4)的运行，将所述 货品(8)传输至与所述目标仓库对应的下货通道中以使所述货品(8)通过所述下货通道传输至所述目标仓库，包括：
    所述控制模块根据所述第一扫描装置(51)的扫描结果控制所述控向传输分段(413)的运行方向；
    所述控制模块根据所述第二扫描装置(52)的扫描结果判断货品(8)是否进入与所述第一传输分段(411)对应的所述下货通道中。
PCT/CN2019/130297 2019-02-25 2019-12-31 自动入库系统、仓储物流系统及自动入库方法 WO2020173217A1 (zh)

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