Intelligent storage shelf for warehousing and working method thereof

Abstract

The invention discloses an intelligent storage goods shelf for warehousing and a working method thereof. The intelligent storage goods shelf for warehousing comprises a shelf body, a horizontal conveying mechanism, a layer changing mechanism and a lifting conveying mechanism. The rack body comprises a plurality of layers of horizontally-arranged storage platforms, each layer of storage platform is provided with a fixing rod, a plurality of storage rollers are arranged on the two sides of each fixing rod, and a gap exists between every two adjacent storage rollers; the horizontal conveying mechanism comprises rails arranged on the two sides of the storage platform and a delivery robot, the delivery robot comprises a base, the base is connected with a lifting platform through a lifting air cylinder, the lifting platform is hinged to a pushing rod, walking wheels are arranged at the lower end of the base, and the lifting platform is connected with two supporting rods. By means of the technical scheme, under the condition that goods on the outer side are not moved, storage and taking operation of middle goods can be achieved, interference to other goods in the goods storage and taking-out process is avoided, disorder caused by misoperation is greatly reduced, and storage flexibility and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing equipment, and in particular to an intelligent storage shelf for warehousing and a working method thereof. Background Art

[0002] With the continuous development of modern warehouse management, traditional storage systems can no longer meet the needs of fast and efficient logistics. Existing warehouse systems usually have problems such as insufficient space utilization, low storage efficiency, and poor automation level in the storage, management, and processing of goods. Therefore, it is particularly important to design an efficient and intelligent storage shelf system that can automatically complete the storage, transfer, and level exchange of goods.

[0003] In response to the above problems, some improvements have been proposed in the prior art. For example, the patent with application number 202410534820.2 discloses an intelligent shelf for logistics warehousing, which includes a frame, a cargo pusher, a pusher layer changing mechanism, a cargo lifting platform and a control module. The pusher layer changing mechanism drives the track docking seat to move to the designated storage plate layer and then be flush with the track according to the instructions of the control module; the cargo pusher includes a main body, a folding arm and a walking wheel, and a photoelectric alignment module is arranged between the two cargo pushers; the cargo lifting platform is located at the end of the frame; a number of addressing points are arranged at equal intervals on the track, and an addresser is arranged on the cargo pusher.

[0004] However, the logistics warehousing intelligent shelf of the above structure can only load and unload goods in sequence, and cannot load and unload the middle goods without moving the outer goods. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to provide an intelligent storage shelf for warehousing and a working method thereof, so as to solve the problem that the intelligent shelves for logistics warehousing in the prior art can only load and unload goods in sequence, and cannot load and unload the middle goods without moving the outer goods.

[0006] Technical solution:

[0007] An intelligent storage shelf for warehousing, comprising a frame, a horizontal conveying mechanism, a layer changing mechanism, and a lifting conveying mechanism, wherein the horizontal conveying mechanism, the layer changing mechanism, and the lifting conveying mechanism are connected to a control module;

[0008] The frame includes multiple layers of horizontally arranged storage platforms, each layer of the storage platforms includes a fixing rod arranged along the length direction of the storage platform, and the fixing rod is provided with multiple storage rollers on both sides of the length direction thereof, and there is a gap between adjacent storage rollers;

[0009] The horizontal conveying mechanism includes tracks and delivery robots arranged on both sides of the storage platform, a delivery robot is arranged on each of the tracks on both sides and a photoelectric alignment module is arranged between each other, the delivery robot includes a base, the base is connected to a lifting platform through a lifting cylinder, the lifting platform is hinged with a push rod through a first driving unit, the lower end of the base is provided with a walking wheel adapted to the track, the lifting platform is also connected to two supporting rods, the supporting rods are located at the lower end of the push rods, the width of the supporting rods is smaller than the gap between adjacent storage rollers, and the spacing between the two supporting rods is an integer multiple of the spacing between the storage rollers;

[0010] The layer-changing mechanism comprises a track docking seat and a first driving component that drives the track docking seat to rise and fall;

[0011] The lifting and conveying mechanism is arranged at one end of the frame, and the lifting and conveying mechanism comprises a conveyor belt type lifting platform and a second driving component for driving the lifting platform to rise and fall.

[0012] Furthermore, a distance sensor is also arranged on the lifting platform.

[0013] Furthermore, addressing points are arranged at equal intervals on the track, and the delivery robot is provided with an addresser.

[0014] Furthermore, the delivery robot is provided with a visual sensor.

[0015] Furthermore, the first driving assembly includes lead screws arranged at the four corners of the frame, a servo motor for controlling the rotation of the lead screw, and a guide shaft, and the track docking seat is threadedly connected to the lead screw and slidably connected to the guide shaft.

[0016] Furthermore, four groups of the layer-changing mechanisms are provided at both ends of the tracks on both sides.

[0017] Furthermore, the second driving assembly is a pulley conveying structure, a synchronous belt conveying structure or a chain conveying structure.

[0018] Furthermore, the support rod is hinged on the lifting platform through a second driving unit.

[0019] The present invention also discloses a working method of an intelligent storage shelf for warehousing, comprising the following steps:

[0020] S1: Cargo storage: Place the cargo on the lifting platform, the second drive assembly drives the lifting platform to the corresponding storage platform end side and docks with the storage platform, start the conveyor belt on the lifting platform to move the cargo to the storage platform; if the delivery robot is located on the storage platform of that layer, the delivery robots on both sides move along the side tracks to the end of the cargo close to the outside of the frame and align through the photoelectric alignment module, the first drive unit drives the push rod to rotate to the horizontal direction, the delivery robots on both sides move synchronously and push the cargo to the corresponding position of the storage platform through the push rod, if the delivery robot is located on the storage platform of other layers, the first drive assembly drives the track docking seat to move and transport the delivery robot to the corresponding storage platform position, the first drive unit drives the push rod to rotate to the storage state, and the control system marks the addressing point of the cargo;

[0021] S2: Cargo removal: The cargo is positioned according to the addressing point, and the control system controls the second drive component to drive the lifting platform to the corresponding storage platform end side and dock with the storage platform. If the delivery robot is located on the storage platform of that layer, the delivery robots on both sides move along the side tracks to the end of the cargo away from the lifting platform and complete the alignment through the photoelectric alignment module. The first drive unit drives the push rod to rotate to the horizontal direction, and the delivery robots on both sides move synchronously to push the cargo onto the lifting platform through the push rod. If the delivery robot is located on the storage platform of other layers, the first drive component drives the track docking seat to move and transport the delivery robot to the corresponding storage platform position.

[0022] Furthermore, if there are other goods between the lifting platform and the designated location for cargo delivery,

[0023] In step S1, after the conveyor belt on the lifting platform is started to move the goods to the storage platform, the delivery robots on both sides respectively move to the two sides of the goods along the side tracks and complete the alignment through the photoelectric alignment module and the gap between the support rod and the storage roller through the distance sensor. The second drive unit drives the support rod to move to a horizontal position, and the lifting cylinder drives the lifting platform to rise and lift the goods to a height higher than other goods between the lifting platform and the designated position for goods delivery. The delivery robots on both sides drive the movement and drive the goods to the corresponding storage platform position, and the lifting cylinder drives the lifting platform to descend until the support rod is separated from the goods, and the second drive unit drives the support rod to rotate to a storage state;

[0024] In step S2, the cargo is positioned according to the addressing point, the control system controls the second driving component to drive the lifting platform to the corresponding storage platform end side and dock with the storage platform, the delivery robots on both sides move along the side tracks to the two sides of the cargo respectively and complete the alignment through the photoelectric alignment module and the gap between the support rod and the storage roller through the distance sensor, the second driving unit drives the support rod to move to a horizontal position, the lifting cylinder drives the lifting platform to rise and lifts the cargo to a height higher than other cargo between the lifting platform and the designated cargo delivery position, the delivery robots on both sides drive the movement and drive the cargo to the side end of the lifting platform, the lifting cylinder drives the lifting platform to descend until the support rod is separated from the cargo, the second driving unit drives the support rod to rotate to a storage state, the delivery robots on both sides move along the side tracks to the end of the cargo away from the lifting platform, the first driving unit drives the push rod to rotate to a horizontal direction, the delivery robots on both sides move synchronously and push the cargo onto the lifting platform through the push rod;

[0025] The support rod is oriented toward the lower end when in the stored state.

[0026] Beneficial effects: The intelligent storage shelf of the present invention can achieve storage and retrieval operations of the middle goods without moving the outer goods by setting the support rods and the lifting platform. This can avoid interference with other goods during the storage and retrieval process, greatly reduce the confusion caused by improper operation, and improve the flexibility and efficiency of storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a stereogram of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the frame of the present invention;

[0029] Figure 3 It is a structural schematic diagram of the layer changing mechanism of the present invention;

[0030] Figure 4 It is a structural schematic diagram of the lifting and conveying mechanism of the present invention;

[0031] Figure 5 This is a schematic diagram of a first working state of the delivery robot of the present invention;

[0032] Figure 6 Schematic diagram of the second working state of the delivery robot of the present invention. DETAILED DESCRIPTION

[0033] In order to make the technical solution of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Example 1

[0035] like Figure 1-6As shown, an intelligent storage shelf for warehousing includes a frame 1, a horizontal conveying mechanism 2, a layer changing mechanism 3, and a lifting conveying mechanism 4, wherein the horizontal conveying mechanism 2, the layer changing mechanism 3, and the lifting conveying mechanism 4 are connected to a control module;

[0036] The frame 1 includes multiple horizontally arranged storage platforms 11, each storage platform 11 includes a fixing rod 12 arranged along the length direction of the storage platform, and the fixing rod 12 is provided with multiple storage rollers 13 on both sides of the length direction thereof, and there is a gap between adjacent storage rollers 13;

[0037] The horizontal conveying mechanism 2 includes tracks 21 and a delivery robot 22 arranged on both sides of the storage platform 11. A delivery robot 22 is arranged on each of the tracks 21 on both sides and a photoelectric alignment module 227 is arranged between each other. The delivery robot 22 includes a base 221. The base 221 is connected to a lifting platform 223 through a lifting cylinder 222. The lifting platform is hinged with a push rod 224 through a first driving unit. A walking wheel 225 adapted to the track is arranged at the lower end of the base 221. The lifting platform is also connected to two supporting rods 226. The supporting rods are located at the lower end of the pushing rods. The width of the supporting rods 226 is smaller than the gap between adjacent storage rollers 13. The spacing between the two supporting rods 226 is an integer multiple of the spacing between the storage rollers 13.

[0038] The layer-changing mechanism 3 includes a track docking seat 31 and a first driving component 32 that drives the track docking seat 31 to rise and fall;

[0039] The lifting and conveying mechanism 4 is disposed at one end of the frame 1 , and includes a conveyor belt type lifting platform 41 and a second driving component 42 for driving the lifting platform 41 to move up and down.

[0040] Through multi-level design, intelligent storage racks can make full use of vertical space and maximize the storage capacity of the warehouse, especially suitable for warehouse environments with limited space. The design between each layer of storage platform and the optimization of the track system make it easy to dispatch goods vertically and horizontally, avoiding the space waste of traditional rack systems.

[0041] The intelligent storage shelf can automatically select the appropriate access path according to the needs of the goods. Through the linkage of the horizontal conveying mechanism, the layer changing mechanism and the lifting conveying mechanism, the goods can be quickly delivered or taken out from the designated location, greatly improving the efficiency and response speed of goods access. Compared with traditional manual operation, it reduces processing time and error rate and improves overall work efficiency.

[0042] At the same time, by setting up the support rod and the lifting platform, the storage and retrieval operation of the middle goods can be realized without moving the outer goods. This can avoid interference with other goods during the storage and retrieval process, greatly reduce the confusion caused by improper operation, and improve the flexibility and efficiency of storage.

[0043] In this embodiment, a distance sensor 228 is further provided on the lifting platform, and the position of the delivery robot 22 is controlled by the distance sensor. When the distance sensor is aligned with the gap between the storage rollers 13, the support rod is just located between the gaps between the storage rollers 13, or when the distance sensor is aligned with the storage rollers 13, the support rod is located between the gaps between the storage rollers 13. Regardless of the structure, it is used to facilitate positioning so that the support rod will not be affected by the storage rollers 13 during the lifting process. The distance between the two support rods 226 is an integer multiple of the distance between the storage rollers 13, so that the two support rods 226 can be aligned with the gaps between the storage rollers 13 at the same time.

[0044] In this embodiment, addressing points are arranged at equal intervals on the track 21, and the delivery robot 22 is provided with an addresser, which can automatically identify the specific location of the goods to ensure accurate access operations.

[0045] In this embodiment, the delivery robot 22 is provided with a visual sensor 229 for identifying the position, size and shape of the goods, and helping the robot determine whether it needs to adjust the position or take further action.

[0046] The photoelectric alignment module 227 , distance sensor 228 and visual sensor 229 are preferably arranged in the middle of the delivery robot 22 .

[0047] In this embodiment, the first driving assembly 32 includes a lead screw 321 disposed at the four corners of the frame 1, a servo motor 322 for controlling the rotation of the lead screw 321, and a guide shaft 323. The track docking seat 31 is threadedly connected to the lead screw and slidably connected to the guide shaft.

[0048] In this embodiment, four groups of the layer-changing mechanisms 3 are provided at the two ends corresponding to the two side tracks.

[0049] In this embodiment, the second driving component 42 is a pulley conveying structure, a synchronous belt conveying structure or a chain conveying structure.

[0050] In this embodiment, the support rod 226 is hinged on the lifting platform 223 through the second driving unit, and when the support rod is not needed, the second driving unit rotates the support rod to the storage position. This position ensures that the support rod faces the lower end and does not affect other operations.

[0051] Example 2

[0052] A working method of an intelligent storage shelf for warehousing comprises the following steps:

[0053] S1: Cargo storage: Place the cargo on the lifting platform 41, the second driving component 42 drives the lifting platform 41 to the corresponding end side of the storage platform 11 and docks with the storage platform 11, and starts the conveyor belt on the lifting platform to move the cargo to the storage platform 11; if the delivery robot 22 is located on the storage platform of that layer, the delivery robots 22 on both sides respectively move along the side tracks 21 to the end of the cargo close to the outer side of the frame 1 and complete the alignment through the photoelectric alignment module 227, the first driving unit drives the push rod 224 to rotate to the horizontal direction, and the delivery robots 22 on both sides move synchronously through the push rod 224 to push the cargo to the corresponding position of the storage platform 11, if the delivery robot 22 is located on the storage platform 11 of other layers, the first driving component 32 drives the track docking seat 31 to move and transport the delivery robot 22 to the corresponding storage platform position, the first driving unit drives the push rod 224 to rotate to the storage state, and the control system marks the addressing point of the cargo;

[0054] S2: Cargo removal: The cargo is positioned according to the addressing point, and the control system controls the second driving component 42 to drive the lifting platform 41 to the end side of the corresponding storage platform 11 and dock with the storage platform 11. If the delivery robot 22 is located on the storage platform of that layer, the delivery robots 22 on both sides move along the side tracks 21 to the end of the cargo away from the lifting platform 41 and complete the alignment through the photoelectric alignment module 227. The first driving unit drives the pushing rod 224 to rotate to the horizontal direction, and the delivery robots 22 on both sides move synchronously through the pushing rod 224 to push the cargo to the lifting platform 41. If the delivery robot 22 is located on the storage platform 11 of other layers, the first driving component 32 drives the track docking seat 31 to move and transport the delivery robot 22 to the corresponding storage platform position.

[0055] Example 3

[0056] Based on Example 1, if there are other goods between the lifting platform 41 and the designated location for goods delivery;

[0057] In step S1, after the conveyor belt on the lifting platform is started to move the goods to the storage platform 11, the delivery robots 22 on both sides respectively move to both sides of the goods along the side tracks 21 and complete the alignment through the photoelectric alignment module 227 and the gap between the support rod and the storage roller 13 through the distance sensor 228. The second drive unit drives the support rod 226 to move to a horizontal position, and the lifting cylinder 222 drives the lifting platform 223 to rise and lift the goods to a height higher than other goods between the lifting platform 41 and the designated position for goods delivery. The delivery robots 22 on both sides drive the movement and drive the goods to the corresponding storage platform position, and the lifting cylinder 222 drives the lifting platform 223 to descend until the support rod 226 is separated from the goods, and the second drive unit drives the support rod 226 to rotate to a storage state;

[0058] In step S2, the cargo is positioned according to the addressing point, the control system controls the second driving component 42 to drive the lifting platform 41 to the corresponding end side of the storage platform 11 and dock with the storage platform 11, the delivery robots 22 on both sides move along the side tracks 21 to the two sides of the cargo respectively and align through the photoelectric alignment module 227 and the distance sensor 228 to align the gap between the support rod and the storage roller 13, the second driving unit drives the support rod 226 to move to a horizontal position, and the lifting cylinder 222 drives the lifting platform 223 to rise to lift the cargo beyond the lifting platform 41 and the gap between the lifting platform 41 and the storage roller 13. After the goods are transported to the height of other goods between the designated positions, the delivery robots 22 on both sides drive the goods to move to the side end of the lifting platform 41, and the lifting cylinder 222 drives the lifting platform 223 to descend until the support rod 226 is separated from the goods. The second drive unit drives the support rod 226 to rotate to the storage state, and the delivery robots 22 on both sides move along the side tracks 21 to the end of the goods away from the lifting platform 41. The first drive unit drives the push rod 224 to rotate to the horizontal direction, and the delivery robots 22 on both sides move synchronously through the push rod 224 to push the goods onto the lifting platform 41;

[0059] The support rod 226 faces downward when in the stored state.

[0060] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An intelligent storage shelf for warehousing, characterized in that: It comprises a frame (1), a horizontal conveying mechanism (2), a layer changing mechanism (3), and a lifting conveying mechanism (4), wherein the horizontal conveying mechanism (2), the layer changing mechanism (3), and the lifting conveying mechanism (4) are connected to a control module; The frame (1) comprises multiple layers of horizontally arranged storage platforms (11), each layer of the storage platforms (11) comprises a fixing rod (12) arranged along the length direction of the storage platform, and the fixing rod (12) is provided with multiple storage rollers (13) on both sides of the length direction thereof, and there is a gap between adjacent storage rollers (13); The horizontal conveying mechanism (2) comprises tracks (21) and a delivery robot (22) arranged on both sides of the storage platform (11); a delivery robot (22) is arranged on each of the tracks (21) on both sides, and a photoelectric alignment module (227) is arranged between the tracks; the delivery robot (22) comprises a base (221); the base (221) is connected to a lifting platform (223) via a lifting cylinder (222); the lifting platform is hinged to a push rod (224) via a first drive unit; a walking wheel (225) adapted to the track is arranged at the lower end of the base (221); the lifting platform is further connected to two supporting rods (226); the supporting rods are located at the lower end of the push rods; the width of the supporting rods (226) is smaller than the gap between adjacent storage rollers (13); and the spacing between the two supporting rods (226) is an integer multiple of the spacing between the storage rollers (13); The layer-changing mechanism (3) comprises a track docking seat (31) and a first driving component (32) for driving the track docking seat (31) to move up and down; The lifting and conveying mechanism (4) is arranged at one end of the frame (1), and comprises a conveyor belt type lifting platform (41) and a second driving component (42) for driving the lifting platform (41) to move up and down.

2. The intelligent storage shelf for warehousing according to claim 1, characterized in that: The lifting platform is also provided with a distance sensor (228).

3. The intelligent storage shelf for warehousing according to claim 1, characterized in that: Addressing points are arranged at equal intervals on the track (21), and the delivery robot (22) is provided with an addresser.

4. The intelligent storage shelf for warehousing according to claim 1, characterized in that: The delivery robot (22) is provided with a visual sensor (229).

5. The intelligent storage shelf for warehousing according to claim 1, characterized in that: The first driving assembly (32) comprises a lead screw (321) arranged at four corners of the frame (1), a servo motor (322) for controlling the rotation of the lead screw (321), and a guide shaft (323); the track docking seat (31) is threadedly connected to the lead screw and slidably connected to the guide shaft.

6. The intelligent storage shelf for warehousing according to claim 5, characterized in that: The layer changing mechanism (3) is provided with four groups corresponding to the two ends of the tracks on both sides.

7. The intelligent storage shelf for warehousing according to claim 1, characterized in that: The second driving component (42) is a pulley conveying structure, a synchronous belt conveying structure or a chain conveying structure.

8. The intelligent storage shelf for warehousing according to claim 1, characterized in that: The support rod (226) is hinged on the lifting platform (223) via a second driving unit.

9. A method for operating the intelligent storage rack for warehousing according to any one of claims 1 to 8, characterized in that: The following steps are included: S1: Cargo storage: the cargo is placed on the lifting platform (41), the second driving component (42) drives the lifting platform (41) to the end side of the corresponding storage platform (11) and docks with the storage platform (11), and the conveyor belt on the lifting platform is started to move the cargo to the storage platform (11); if the delivery robot (22) is located on the storage platform at that level, the delivery robots (22) on both sides respectively move along the side tracks (21) to the end of the cargo close to the outside of the frame (1) and complete alignment through the photoelectric alignment module (227), and the second driving component (42) drives the lifting platform (41) to the end side of the corresponding storage platform (11) and docks with the storage platform (1 ... A driving unit drives the push rod (224) to rotate to a horizontal direction, and the delivery robots (22) on both sides move synchronously to push the goods to a corresponding position of the storage platform (11) through the push rod (224); if the delivery robot (22) is located on a storage platform (11) on another layer, the first driving component (32) drives the track docking seat (31) to move and transport the delivery robot (22) to the corresponding storage platform position, and the first driving unit drives the push rod (224) to rotate to a storage state, and the control system marks the addressing point of the goods; S2: Cargo removal: the cargo is positioned according to the addressing point, and the control system controls the second drive component (42) to drive the lifting platform (41) to reach the end side of the corresponding storage platform (11) and dock with the storage platform (11). If the delivery robot (22) is located on the storage platform of that layer, the delivery robots (22) on both sides move along the side tracks (21) to the end of the cargo away from the lifting platform (41) and align the cargo through the photoelectric alignment module (227). The first drive unit drives the push rod (224) to rotate to the horizontal direction, and the delivery robots (22) on both sides move synchronously to push the cargo onto the lifting platform (41) through the push rod (224). If the delivery robot (22) is located on the storage platform (11) of other layers, the first drive component (32) drives the track docking seat (31) to move and transport the delivery robot (22) to the corresponding storage platform position.

10. The working method of the intelligent storage rack for warehousing according to claim 9, characterized in that: If there are other goods between the lifting platform (41) and the designated location for goods delivery, In step S1, after the conveyor belt on the lifting platform is started to move the goods to the storage platform (11), the delivery robots (22) on both sides respectively move to the two sides of the goods along the side tracks (21) and complete alignment through the photoelectric alignment module (227) and complete alignment of the gap between the support rod and the storage roller (13) through the distance sensor (228), the second drive unit drives the support rod (226) to move to a horizontal position, the lifting cylinder (222) drives the lifting platform (223) to rise and lift the goods to a height higher than other goods between the lifting platform (41) and the designated position for goods delivery, the delivery robots (22) on both sides drive the goods to move and drive the goods to the corresponding storage platform position, the lifting cylinder (222) drives the lifting platform (223) to descend until the support rod (226) is separated from the goods, and the second drive unit drives the support rod (226) to rotate to a storage state; In step S2, the cargo is positioned according to the addressing point, the control system controls the second drive assembly (42) to drive the lifting platform (41) to the end side of the corresponding storage platform (11) and dock with the storage platform (11), the delivery robots (22) on both sides move along the side tracks (21) to the two sides of the cargo and align them through the photoelectric alignment module (227) and align the gap between the support rod and the storage roller (13) through the distance sensor (228), the second drive unit drives the support rod (226) to move to a horizontal position, and the lifting cylinder (222) drives the lifting platform (223) to rise to lift the cargo beyond the lifting platform (41) and the storage roller (13). After the goods are transported to the height of other goods between the designated positions, the delivery robots (22) on both sides drive the goods to move to the side end of the lifting platform (41), the lifting cylinder (222) drives the lifting platform (223) to descend until the support rod (226) is separated from the goods, the second drive unit drives the support rod (226) to rotate to a storage state, the delivery robots (22) on both sides move along the side tracks (21) to the end of the goods away from the lifting platform (41), the first drive unit drives the push rod (224) to rotate to a horizontal direction, and the delivery robots (22) on both sides move synchronously to push the goods onto the lifting platform (41) through the push rod (224); The support rod (226) faces the lower end when in the stored state.

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