A storage system and lifting mechanism

Abstract

This application relates to the field of warehousing and logistics technology, and more particularly to a warehousing system and lifting mechanism. The warehousing system includes a first conveying mechanism configured to move items; a robot including a mobile chassis and a lifting mechanism, the lifting mechanism being disposed on the mobile chassis and configured to carry items and place them onto the first conveying mechanism; and a first correction component configured to correct the posture of the items moving on the first conveying mechanism. The warehousing system and lifting mechanism provided in this application can correct the posture of items, thereby preventing items from slipping and improving warehouse operation safety.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a warehousing system and lifting mechanism. Background Technology

[0002] Currently, automated storage and retrieval systems (AS / RS) are widely used to improve warehouse utilization. An AS / RS can include multiple storage levels for storing goods. Within an AS / RS system, each storage level has multiple storage locations to achieve dense storage of goods.

[0003] To facilitate the storage of goods, robots can be used in automated warehouses to move items between different aisles. When moving items, the robots need to lift them to retrieve them from storage locations or place them on storage locations.

[0004] However, after the robot performs multiple lifting and lowering movements on the same item, the item may shift. If the item shifts significantly, it may slip off the robot or storage location, affecting warehouse operational safety. Utility Model Content

[0005] To address the aforementioned issues, this application provides a storage system and lifting mechanism that can correct the posture of items, thereby preventing items from slipping and improving warehouse operation safety.

[0006] To achieve the above objectives, in a first aspect, embodiments of this application provide a warehousing system, including a first conveying mechanism configured to move items; a robot including a mobile chassis and a lifting mechanism, the lifting mechanism being disposed on the mobile chassis and configured to carry items and place items on the first conveying mechanism; and a first correction component configured to correct the posture of items moving on the first conveying mechanism.

[0007] In one alternative implementation, the mobile chassis is configured such that after the lifting mechanism performs a preset number of lifting and lowering movements on the item, it places the item on the first conveying mechanism to move, so as to correct the posture of the item through the first correction component.

[0008] In one optional implementation, the first correction component includes a first baffle and a second baffle; the first baffle and the second baffle are symmetrically arranged on both sides of the first conveying mechanism along the center line of the direction in which the first conveying mechanism conveys the article; the distance between the first baffle and the second baffle decreases within a preset distance along the direction in which the first conveying mechanism conveys the article; the first baffle and / or the second baffle are configured to guide the article when the article moves in the first conveying mechanism, so as to correct the posture of the article.

[0009] In one alternative implementation, the first conveying mechanism includes a first transmission assembly configured to move an article; the first transmission assembly is located between a first baffle and a second baffle; and the bearing surface of the first transmission assembly is lower than the first baffle and the second baffle.

[0010] In one alternative implementation, the first conveying mechanism further includes a first support frame; the first support frame includes a first support beam and a second support beam; a first transmission assembly is disposed between the first support beam and the second support beam; a first baffle is disposed on the first support beam, and a second baffle is disposed on the second support beam.

[0011] In one alternative implementation, there are two sets of first transmission components, which are spaced apart on the first support frame; the lifting mechanism is also configured to be movable to the spaced position between the two sets of first transmission components.

[0012] In one alternative implementation, the first transmission assembly includes any one of a transmission belt assembly, a transmission chain assembly, and a transmission rack assembly.

[0013] In one alternative implementation, a lifting mechanism is also included, comprising: a carrying component configured to carry an article or robot; a driving component configured to drive the carrying component to a specified height; and a second correction component disposed on one side of the carrying component and configured to correct the posture of the article located on the carrying component.

[0014] In one alternative implementation, the carrying component includes a second conveying mechanism configured to dock with the first conveying mechanism to receive an article from the first conveying mechanism; the second correction component includes a third baffle located on both sides of the first conveying mechanism; the third baffle is configured to block the article when it moves on the second conveying mechanism to correct the posture of the article.

[0015] In one alternative implementation, the second conveying mechanism includes a second transmission assembly; the second transmission assembly is configured to move the article; and a third baffle is located at the end of the second transmission assembly along the transmission direction and is higher than the bearing surface of the second transmission assembly.

[0016] In one alternative implementation, the second conveying mechanism further includes a second support frame; the second support frame includes a third support beam and a fourth support beam; and the second transmission assembly is disposed between the third support beam and the fourth support beam.

[0017] In one optional implementation, the second correction component further includes a fourth baffle and a fifth baffle; the fourth baffle and the fifth baffle are symmetrically arranged on both sides of the second conveying mechanism along the center line of the direction in which the article is conveyed by the second conveying mechanism; the distance between the fourth baffle and the fifth baffle decreases within a preset distance along the direction in which the article is conveyed by the second conveying mechanism; the fourth baffle and / or the fifth baffle are configured to guide the article when the article moves in the second conveying mechanism, so as to correct the posture of the article.

[0018] In one alternative implementation, the second transmission component is located between the fourth and fifth baffles; the bearing surface of the second transmission component is lower than the fourth and fifth baffles.

[0019] In one alternative implementation, a first track is also included; a movable chassis is configured to move along the first track; a lifting mechanism is configured to lift the item to a position above the first conveyor when the movable chassis moves along the first track near the first conveyor; the lifting mechanism is further configured to lower the item to place the item on the first conveyor when the movable chassis moves along the first track below the first conveyor.

[0020] In one alternative implementation, the mobile chassis is further configured to move along a first track to a load-bearing component; the drive component is configured to move the robot to a storage layer at a specified height.

[0021] In one alternative implementation, the carrier component further includes a second track and a carrier frame located below the second conveying mechanism; the second track is disposed on the carrier frame; the second track is configured to dock with the first track under the drive of the drive component; the mobile chassis is also configured to move along the second track.

[0022] In one alternative implementation, the system further includes a carrier and a lifting mechanism; the carrier has multiple storage layers along the height direction, each storage layer having multiple storage positions configured to store items; the lifting mechanism includes a carrying component and a driving component, the carrying component being configured to carry items or a robot, and the driving component being configured to drive the carrying component to move to a storage layer at a specified height.

[0023] To achieve the above objectives, in a second aspect, embodiments of this application provide a lifting mechanism, including: a carrying component configured to carry an article; a driving component configured to drive the carrying component to move to a storage layer at a specified height; and a second correction component disposed on one side of the carrying component and configured to correct the posture of the article located on the carrying component.

[0024] In one alternative implementation, the carrying component includes a second conveying mechanism configured to carry and move an article; the second correcting component includes a third baffle located at the end of the second conveying mechanism along the conveying direction; the third baffle is configured to block the article when it moves in the second conveying mechanism to correct the posture of the article.

[0025] In one alternative implementation, the second conveying mechanism includes a second transmission assembly; the second transmission assembly is configured to carry and drive the article to move; a third baffle is located at the end of the second transmission assembly along the transmission direction and is higher than the carrying surface of the second transmission assembly.

[0026] The second conveying mechanism also includes a second support frame; the second support frame includes a third support beam and a fourth support beam; the second transmission assembly is disposed between the third support beam and the fourth support beam.

[0027] In one optional implementation, the second correction component further includes a fourth baffle and a fifth baffle; the fourth baffle and the fifth baffle are symmetrically arranged on both sides of the second conveying mechanism along the center line of the direction in which the article is conveyed by the second conveying mechanism; the distance between the fourth baffle and the fifth baffle decreases within a preset distance along the direction in which the article is conveyed by the second conveying mechanism; the fourth baffle and / or the fifth baffle are configured to guide the article when the article moves in the second conveying mechanism, so as to correct the posture of the article.

[0028] In one alternative implementation, the second transmission component is located between the fourth and fifth baffles; the bearing surface of the second transmission component is lower than the fourth and fifth baffles.

[0029] In one optional implementation, the supporting component further includes a second track and a supporting frame located below the second conveying mechanism; the second track is disposed on the supporting frame; the second track is configured to dock with the first track under the drive of the driving component; the mobile chassis is also configured to move along the second track. The storage system and lifting mechanism provided in this application embodiment, after the robot places an item on the first conveying mechanism, the first correction component can perform posture correction on the item moving on the first conveying mechanism, thereby restoring the item's posture to its initial state to correct rotation and offset. Thus, after posture correction, the item, when moving on the first conveying mechanism or placed in a storage position, can reduce the possibility of falling off, thereby improving the operational safety of the storage system. Attached Figure Description

[0030] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the warehousing system provided in the embodiments of this application from one perspective;

[0032] Figure 2 This is a schematic diagram of the warehousing system provided in the embodiments of this application from another perspective;

[0033] Figure 3 This is a schematic diagram of the robot's operation provided in the embodiments of this application;

[0034] Figure 4 This is a schematic diagram of the movement process of the lifting mechanism of the robot provided in the embodiments of this application;

[0035] Figure 5 This is a schematic diagram of the posture of the article relative to the carrier provided in the embodiments of this application;

[0036] Figure 6 This is a top view of a warehousing system (partial structure omitted) provided in an embodiment of this application;

[0037] Figure 7 This is a schematic diagram illustrating the process by which the first correction component provided in this application corrects an article located in the first conveying mechanism;

[0038] Figure 8 This is a schematic diagram showing the shapes of the first and second baffles provided in the embodiments of this application;

[0039] Figure 9 It is along Figure 6 A cross-sectional view along the AA direction;

[0040] Figure 10 This is a schematic diagram of a storage layer of the vehicle provided in an embodiment of this application;

[0041] Figure 11 This is a partial structural diagram of a lifting mechanism provided in an embodiment of this application;

[0042] Figure 12 This is a schematic diagram illustrating the process of the lifting mechanism correcting the posture of an object according to an embodiment of this application;

[0043] Figure 13 This is a schematic diagram of the load-bearing component of another lifting mechanism provided in an embodiment of this application.

[0044] Illustration markings:

[0045] P - Item; 10 - First conveying mechanism; 11 - First support frame; 111 - First support beam; 112 - Second support beam; 12 - First transmission assembly; 13 - Transmission roller; 20 - Robot; 21 - Mobile chassis; 22 - Lifting mechanism; 221 - Transmission structure; 222 - Load-bearing component; 30 - First straightening assembly; 31 - First baffle; 32 - Second baffle; 40 - First track; 50 - Carrier; 51 - Cargo channel; 52 - Lane; 53 - First moving track 54-Second moving track; 55-Overlapping support area; 60-Lifting mechanism; 61-Bearing component; 611-Second conveying mechanism; 6111-Second support frame; 6112-Second transmission component; 611a-Third support beam; 611b-Fourth support beam; 612-Second track; 613-Bearing frame; 62-Drive component; 63-Second correction component; 631-Third baffle; 632-Fourth baffle; 633-Fifth baffle; 64-Outer frame. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the protection scope of this application.

[0047] In the following description, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0048] Furthermore, in this application, directional terms such as "upper," "lower," "inner," and "outer" are defined relative to the indicated placement of the components in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the placement of the components in the accompanying drawings.

[0049] Figure 1 This is a schematic diagram of the warehousing system provided in the embodiments of this application from one perspective. Figure 2 This is a schematic diagram of the warehousing system provided in the embodiments of this application from another perspective, wherein, Figure 1 The items were not placed on the robot.

[0050] Combination Figure 1 and Figure 2As shown in the embodiment of this application, the warehousing system includes a first conveying mechanism 10 and a robot 20.

[0051] In some examples, the first conveying mechanism 10 is capable of moving the items. In this way, the first conveying mechanism 10 can transport the items to improve the efficiency of item transportation.

[0052] In some examples, the first conveying mechanism 10 may be located on the warehouse floor, or the first conveying mechanism 10 may be spaced apart from the floor. Alternatively, when the storage space has multiple storage units, the first conveying mechanism 10 may be located on some or all of the units. The specific configuration of the first conveying mechanism 10 is not limited in the embodiments of this application.

[0053] In some examples, robot 20 may include a mobile chassis 21 and a lifting mechanism 22, which may be mounted on the mobile chassis 21 so that the mobile chassis 21 can drive the lifting mechanism 22 to move. Simultaneously, the lifting mechanism 22 can carry items and can also move the items up and down, thereby moving the items to different heights as needed.

[0054] In some examples, when the lifting mechanism 22 moves the item up and down, the item can be placed on the first conveying mechanism 10.

[0055] It should be noted that items include, but are not limited to, goods, original boxes or packages containing goods, containers containing goods or original boxes, etc., where containers may include, but are not limited to, bins, pallets, etc.

[0056] Figure 3 This is a schematic diagram of the robot's operation provided in the embodiments of this application. Figure 4 This is a schematic diagram of the movement process of the lifting mechanism of the robot provided in the embodiments of this application.

[0057] Combination Figure 3 and Figure 4 As shown, in some examples, robot 20 can be a four-way shuttle, meaning the shuttle can travel along the first direction (e.g., ...). Figure 3 It can move back and forth along the x-axis (as shown in the image), or along a second direction (such as...). Figure 3 It moves back and forth along the y-axis.

[0058] In some examples, when robot 20 reciprocates in a first direction, it can move via the first set of drive wheels on the movable chassis 21. When robot 20 reciprocates in a second direction, it can move via the second set of drive wheels on the movable chassis 21. The two sets of drive wheels of robot 20 can move in different directions to achieve four-way movement of robot 20.

[0059] In some examples, omnidirectional wheels can also be installed on the bottom of the robot 20 to enable the robot 20 to turn, thereby facilitating four-way movement of the robot 20.

[0060] In some examples, robot 20 is able to transfer items between different storage locations.

[0061] In some examples, the lifting mechanism 22 of the robot 20 includes a transmission structure 221 and a carrier 222. One end of the transmission structure 221 is disposed on the mobile chassis 21, and the other end is connected to the carrier 222. In this way, the carrier 222 can move up and down under the drive of the transmission structure 221.

[0062] In some examples, the transmission structure 221 can be a scissor fork transmission structure 221, or the transmission structure 221 can be a guide rail transmission structure 221 or other structures that can realize lifting transmission. In this embodiment, no limitation is made.

[0063] In some examples, the drive source for the transmission structure 221 can be located on the mobile chassis 21 to provide power for the lifting and lowering movement of the transmission structure 221.

[0064] In some examples, the support member 222 can be a plate-like structure or a frame structure, which is not limited in this embodiment. Among them, the plate-like structure can save more space and reduce the overall volume of the robot 20.

[0065] In some examples, when robot 20 transfers items between storage locations, the movable chassis 21 can move the lifting mechanism 22 to a position below the item in the first storage location. Then, the transmission structure 221 of the lifting mechanism 22 can raise the carrier 222 to contact the item and lift it (e.g., ...). Figure 4 As shown in (a) in the diagram), the robot 20 can carry the item away. After the robot 20 leaves the storage location carrying the item, the transmission structure 221 of the lifting mechanism 22 can drive the carrier 222 to descend, so that the item is close to the mobile chassis 21 (as shown in the diagram). Figure 4 As shown in (b) in the figure, the center of gravity of movement is lowered, which improves the movement stability of robot 20.

[0066] It should be noted that when robot 20 needs to place the carried item into the second storage location, the specific process is the reverse of retrieving the item from the first storage location, which will not be described in detail here.

[0067] In some examples, the process by which robot 20 places an item on or retrieves an item from the first conveyor 10 can be referenced to the process of transferring items between different storage locations, which will not be elaborated here.

[0068] It is understood that the robot 20 can transfer items between different storage locations, transfer items between storage locations and the first conveying mechanism 10, and transfer items between different first conveying mechanisms 10. In this embodiment, the specific path of the robot 20 when transferring items is not limited.

[0069] Figure 5 This is a schematic diagram of the posture of the article relative to the carrier provided in the embodiments of this application.

[0070] like Figure 5 As shown in (a), in some examples, the initial posture of the item relative to the lifting mechanism 22 can be the posture in which the center O1 of the item coincides with the bearing center O2 of the bearing member 222, and the item is not rotated relative to the lifting mechanism 22.

[0071] In some examples, when the robot 20 transfers items, the lifting mechanism 22 needs to move the items up and down; that is, the lifting mechanism 22 needs to repeatedly move the items up and down. Figure 4 As shown in (a) and as Figure 4 Switch between (b) shown. If robot 20 needs to perform multiple lifting and lowering movements on an object, the object's posture may change during the lifting and lowering process.

[0072] In some examples, such as Figure 5 (b) and Figure 5 As shown in (c), the change in the orientation of the article includes a deviation of the position of the center O1 of the article from the position of the center O2 of the carrier 222. For example, the center offset can be an offset along a first direction (such as...). Figure 5 (as shown in (b)) can also be an offset along the second direction (such as...). Figure 5 (as shown in (c)) or both directions are offset.

[0073] In some examples, such as Figure 5 As shown in (d), the change in the orientation of the item includes the rotation of the item relative to the carrier 222.

[0074] In some examples, the change in the object's posture includes situations where the object undergoes both positional deviation and rotation, which are changes relative to its initial posture. This embodiment does not impose specific limitations on these situations.

[0075] In some examples, if the posture of the item on the lifting mechanism 22 changes, the item may slip due to instability when the robot 20 moves the item while carrying it; or, when the robot 20 places the item in the storage position or the first conveying mechanism 10, it may slip due to instability, affecting the safety of warehousing operations, especially in warehousing spaces with multiple storage positions.

[0076] Please refer to it again. Figure 1 and Figure 2 In some examples, to improve operational safety, the warehousing system also includes a first correction component 30. When the robot 20 places an item on the first conveyor 10, the first correction component 30 can correct the posture of the item moving on the first conveyor 10, thereby restoring the item's posture to its initial state and correcting rotation and offset. Thus, after posture correction, the item is less likely to fall off when moving on the first conveyor 10 or placed in a storage location, improving operational safety of the warehousing system.

[0077] In some examples, the changes in the posture of the same item may differ depending on the number of times the lifting mechanism 22 performs lifting and lowering movements on the same item. Generally speaking, the more times the lifting mechanism 22 performs lifting and lowering movements on the same item, the greater the likelihood of changes in the item's posture. Therefore, when correcting the posture of the item, the number of times the lifting mechanism 22 performs lifting and lowering movements on the same item can be recorded first. After the lifting mechanism 22 performs a preset number of lifting and lowering movements on the same item, the robot 20 can place the item on the first conveying mechanism 10 to correct the posture of the item through the first correction component 30.

[0078] In some examples, the preset number of times can be 3, 5, 8, 10, 15, or 20 times, etc., but this embodiment does not limit it.

[0079] In some examples, after correcting the posture of an object, the number of times the object moves up and down can be reset to zero so that it can be recounted later.

[0080] In some examples, the first correction component 30 may be a robotic arm located near the first conveying mechanism 10, which can pick up the item located on the first conveying mechanism 10 and straighten its orientation to correct the posture of the item.

[0081] In other examples, the first correction component 30 may be a suction cup assembly disposed near the first conveying mechanism 10. The suction cup assembly can pick up and orient an item located on the first conveying mechanism 10 to correct the item's posture.

[0082] Figure 6 This is a top view of a warehousing system (partial structure omitted) provided in an embodiment of this application.

[0083] Combination Figure 2 and Figure 6As shown, in some other examples, to simplify the structure of the first correction component 30, the first correction component 30 may include a first baffle 31 and a second baffle 32. The first baffle 31 and the second baffle 32 may be symmetrically arranged on both sides of the first conveying mechanism 10 along the centerline of the direction in which the first conveying mechanism 10 conveys the items (e.g., along the direction in which the first conveying mechanism 10 conveys the items). Figure 6 In the y-axis direction (as shown in the image), within a preset distance, the distance L between the first baffle 31 and the second baffle 32 decreases. Thus, the first baffle 31 and the second baffle 32 can form a funnel-shaped structure. When the first conveying mechanism 10 moves the item along the conveying direction (e.g., along the y-axis), the distance L between the first baffle 31 and the second baffle 32 decreases. Figure 6 When the object moves (in the y-axis direction), the first baffle 31 and / or the second baffle 32 can guide the object to correct its posture.

[0084] In some examples, the preset distance can be the same as the conveying distance of the first conveying mechanism 10.

[0085] In some examples, the preset distance can be less than the conveying distance of the first conveying mechanism 10. In this case, the first baffle 31 and the second baffle 32 can extend to the middle of the first conveying mechanism 10, or the first baffle 31 and the second baffle 32 can be provided only at the position of the first conveying mechanism 10 near the entrance. In this embodiment, the specific length of the first baffle 31 and the second baffle 32 is not limited.

[0086] In some examples, the direction in which the items are conveyed along the first conveyor 10 (e.g.) Figure 6 Within a preset distance (in the y-axis direction), the distance L between the first baffle 31 and the second baffle 32 decreases. Beyond the preset distance, the distance L between the first baffle 31 and the second baffle 32 can increase. Thus, the first baffle 31 and the second baffle 32 can form double-sided flared openings on the first conveying mechanism 10, facilitating the entry of items from both sides of the first conveying mechanism 10 for posture correction.

[0087] Figure 7 This is a schematic diagram illustrating the process by which the first correction component provided in this application corrects an article located in the first conveying mechanism.

[0088] The warehousing system of this application embodiment performs the following actions when it receives a task to correct the posture of an item:

[0089] like Figure 7 As shown in (a), the robot 20 carrying the items can move toward the first conveying mechanism 10.

[0090] like Figure 7As shown in (b), the robot 20 can lift the item above the first conveying mechanism 10 using the lifting mechanism 22, so that the item can be placed on the first conveying mechanism 10. The first baffle 31 and the second baffle 32, which are shaped like a flared mouth, are far apart at the entrance of the first conveying mechanism 10 to facilitate the placement of the item, even if its posture has changed, onto the first conveying mechanism 10. After the robot 20 moves the item above the first conveying mechanism 10, the lifting mechanism 22 of the robot 20 can descend so that the item rests on the first conveying mechanism 10, thereby placing the item. After the item is placed on the first conveying mechanism 10, the lifting mechanism 22 of the robot 20 can continue to descend, and the robot 20 leaves the first conveying mechanism 10.

[0091] like Figure 7 As shown in (c), the first conveying mechanism 10 is activated, and the first conveying mechanism 10 can drive the item along the conveying direction (e.g., Figure 7 The object moves along the y-axis. During the movement of the object, the first baffle 31 and the second baffle 32, which are shaped like a trumpet, can come into contact with the object separately or simultaneously. Figure 7 In the state shown in (c), both the first baffle 31 and the second baffle 32 are in contact with the article.

[0092] like Figure 7 As shown in (d), the item will rotate under the drive of the first conveying mechanism 10 to straighten its own posture.

[0093] like Figure 7 As shown in (e), under the drive of the first conveying mechanism 10 and the guidance of the first baffle 31 and the second baffle 32, the posture of the item can be corrected, and the center of the item along the x-axis can move along the center line of the first conveying mechanism 10, thereby correcting the position of the item along the x-axis.

[0094] In some examples, such as Figure 7 As shown in (e), when correcting the object's posture, the distance between the first baffle 31 and the second baffle 32 can eventually be reduced to the same size as the object, so that the object passes exactly through the channel formed between the first baffle 31 and the second baffle 32. In this way, the center of the object along the x-axis can be restored to the position of its initial posture.

[0095] Figure 8 This is a schematic diagram of the shape of the first baffle and the second baffle provided in the embodiments of this application.

[0096] like Figure 8 (a) and Figure 8 As shown in (b), in some examples, the distance between the first baffle 31 and the second baffle 32 can be gradually reduced.

[0097] like Figure 8 (c) and Figure 8 As shown in (d), in some examples, the distance between the first baffle 31 and the second baffle 32 can decrease in a stepped manner, which can achieve gradual adjustment of the object's posture.

[0098] like Figure 8 As shown in (a) in some examples, the first baffle 31 and the second baffle 32 can be straight plate-like structures.

[0099] like Figure 8 As shown in (b) in some examples, the first baffle 31 and the second baffle 32 can be curved plate-like structures.

[0100] It is understood that the shapes of the first baffle 31 and the second baffle 32 are not limited in this embodiment.

[0101] In some examples, the first baffle 31 and the second baffle 32 can be made of steel, aluminum, or other materials. Compared to aluminum, steel has better structural rigidity, is less prone to deformation, and has a longer service life. Compared to steel, aluminum is lighter, which can reduce the burden on the supporting structure. It is understood that the materials of the first baffle 31 and the second baffle 32 can be selected according to actual needs, and this application does not impose any limitations.

[0102] In some examples, to facilitate the guidance of the item, lubricant, guide rollers, etc. can also be provided on the side of the first baffle 31 and the second baffle 32 facing the item, so as to prevent the item from getting stuck between the first baffle 31 and the second baffle 32.

[0103] Figure 9 It is along Figure 6 A cross-sectional view along the AA direction.

[0104] Combination Figure 7 and Figure 9 As shown, in some examples, the first conveying mechanism 10 includes a first support frame 11 and a first transmission assembly 12. A first baffle 31 and a second baffle 32 may be disposed on the first support frame 11. The first transmission assembly 12 may be disposed on the first support frame 11 so that the first support frame 11 can be used to support the first transmission assembly 12.

[0105] In some examples, the first support frame 11 may include a first support beam 111 and a second support beam 112, and the first transmission assembly 12 may be disposed between the first support beam 111 and the second support beam 112.

[0106] In some examples, the first support beam 111 and the second support beam 112 can be spaced apart from the travel plane of the mobile chassis 21 of the robot 20. This allows the first support beam 111 and the second support beam 112 to create a gap h between the first transmission assembly 12 and the travel plane of the robot 20, enabling the robot 20 to travel within this gap and thus preventing the first conveying mechanism 10 from affecting the robot 20's trajectory.

[0107] In some examples, the ends of the first support beam 111 and the second support beam 112 can be supported by other support structures, such as steel columns or cement columns, but this is not limited in this embodiment.

[0108] In some examples, the first transmission component 12 is located between the first baffle 31 and the second baffle 32, and the bearing surface of the first transmission component 12 is lower than the first baffle 31 and the second baffle 32. In this way, when the first transmission component 12 drives the object to move, the first baffle 31 and the second baffle 32 located on both sides of the first transmission component 12 can contact the object and guide the object, thereby correcting the object's posture.

[0109] In some examples, the first transmission component 12 can be two sets, with the two sets of first transmission components 12 spaced apart on the first support frame 11. The movable chassis 21 can drive the lifting mechanism 22 to move to the spaced position of the first transmission components 12.

[0110] If the robot 20 wants to place an item on the first transmission assembly 12, the lifting mechanism 22 can lift the item to a position higher than the bearing surface of the first transmission assembly 12, and the movable chassis 21 will move the lifting mechanism 22 to below the first support frame 11. Accordingly, the lifting mechanism 22 will move to the interval position between the two sets of first transmission assemblies 12, at which point the item on the lifting mechanism 22 will be above the two sets of first transmission assemblies 12. Afterwards, the robot 20 can lower the lifting mechanism 22, and the item on the lifting mechanism 22 can be left on the two sets of first transmission assemblies 12, thereby realizing the placement of the item on the first transmission assembly 12.

[0111] It should be noted that the specific process by which the robot 20 removes the items from the two sets of first transmission components 12 is similar to the process of placing the items, and will not be described in detail here.

[0112] In some examples, the first transmission component 12 may be a transmission belt component.

[0113] In some examples, the first transmission component 12 may be a transmission chain component.

[0114] In some examples, the first transmission component 12 may be a transmission rack and pinion assembly.

[0115] In some examples, the first transmission assembly 12 may include a driving member, a driving wheel, a driven wheel, and a transmission element sleeved on the driving wheel and the driven wheel. The driving member, driving wheel, and driven wheel may be mounted on the first support frame 11, and the driving wheel and driven wheel may be spaced apart to support the transmission element.

[0116] In some examples, the driving component can be a drive motor, drive motor, etc., but this embodiment is not limited to this.

[0117] In some examples, when the first transmission component 12 is a transmission chain assembly, the transmission element is a transmission chain, and the driving wheel and driven wheel can be sprockets.

[0118] In some examples, when the first transmission component 12 is a transmission rack assembly, the transmission element is a transmission rack, and the driving wheel and driven wheel can be gears.

[0119] In some examples, when the first transmission component 12 is a transmission belt assembly, the transmission element is a transmission belt, and the driving pulley and driven pulley can be pulleys.

[0120] In some examples, a transmission roller 13 may also be provided between the two sets of first transmission components 12 to support the items, thereby reducing the load on the first transmission components 12 and reducing the power consumption of the conveying.

[0121] In some examples, the storage system also includes a first track 40. The first track 40 may be set on the travel plane of the robot 20 to facilitate the movement of the robot 20 along the first track 40.

[0122] In some examples, the first track 40 may be positioned below the first conveyor 10, so that the robot 20 can move along the first track 40 to the area below the first conveyor 10.

[0123] In some examples, if the robot 20 needs to place an item on the first conveyor 10, the mobile chassis 21 can move along the first track 40 close to the first conveyor 10, while the lifting mechanism 22 can lift the item to a position higher than the first conveyor 10, so that when the mobile chassis 21 moves below the first conveyor 10, it can drive the item down to place the item on the first conveyor 10.

[0124] Figure 10 This is a schematic diagram of a storage layer of the vehicle provided in the embodiments of this application.

[0125] like Figure 10 As shown, in some examples, the warehousing system also includes a carrier 50. The carrier 50 can be a rack with multiple storage layers. For example, the rack can be a four-way mobile warehouse rack, which is densely arranged in the storage space.

[0126] In some examples, each shelf level has an aisle 51, and storage locations are provided on the aisle 51. The aisle 51 can be along a first direction of the shelf (e.g., Figure 10 The shelf extends along the direction of the x-axis (as shown in the diagram). It can be understood that each shelf level extends along the second direction (e.g., the direction along the x-axis). Figure 10 Multiple aisles 51 can be arranged at intervals along the y-axis, and multiple storage positions can be set at intervals on each aisle 51, thereby increasing the storage density of each shelf layer.

[0127] In some examples, each shelf level may have an aisle 52 extending in a second direction to communicate with a plurality of aisles 51 arranged in a first direction. Exemplarily, each shelf level may be provided with a plurality of aisles 52 spaced apart along the first direction. Each storage location has at least one aisle 52 on one side, allowing an item retrieved from any storage location to be moved out through the aisle 52 on one side.

[0128] In some examples, to enable the robot 20 to move stably along the aisles 51 and 52, the vehicle 50 further includes a first moving track 53 and a second moving track 54. The first moving track 53 is disposed on one of the aisles 52 and 51 of the vehicle 50, and the second moving track 54 is disposed on the other. The robot 20 travels along the first moving track 53 and the second moving track 54 on each shelf.

[0129] For example, a first moving track 53 is provided in the aisle 52 for the robot 20 to move within the aisle 52. A second moving track 54 is provided in the cargo aisle 51 for the robot 20 to move within the cargo aisle 51.

[0130] For ease of description, the following description will use the example of the first moving track 53 being located in the aisle 52 and the second moving track 54 being located in the cargo aisle 51 to illustrate the specific structure of the moving tracks. Of course, the structural improvements to the moving tracks in this embodiment of the application are also applicable to the scheme of the first moving track 53 being located in the cargo aisle 51 and the second moving track 54 being located in the aisle 52, which will not be elaborated here.

[0131] The first set of drive wheels of robot 20 can roll along the first moving track 53, so that robot 20 can move along the first moving track 53. The first moving track 53 can extend in a first direction.

[0132] In some examples, each aisle 52 has two first moving tracks 53, which are spaced apart along the width direction (e.g., a first direction) of the aisle 52. The two first moving tracks 53 are configured to allow two opposing first sets of drive wheels of the robot 20 to travel. For example, the first sets of drive wheels on opposite sides of the robot 20 along the first direction can both be supported on corresponding first moving tracks 53 and travel along the first moving tracks 53 in a second direction. For ease of description, the two first moving tracks 53 on an aisle 52 that cooperate with the same robot 20 can be referred to as a first moving track group.

[0133] It should be noted that in some examples, the first moving track 53 can be set on the frame of each shelf layer. For example, the first moving track 53 can be detachably set on the frame of each shelf layer to improve the assembly stability of the first moving track 53 on the shelf and to facilitate the assembly and disassembly of the first moving track 53.

[0134] In other examples, the first moving track 53 can directly serve as the frame for each layer of the shelving; that is, a set of first moving tracks directly forms an aisle 52 for each layer of the shelving. This simplifies the manufacturing and assembly process of the shelving.

[0135] In some examples, a second moving track 54 is disposed on either the aisle 52 or the cargo aisle 51 of the vehicle 50. For example, the second moving track 54 is disposed on the cargo aisle 51 to allow the robot 20 to move within the cargo aisle 51. For example, the robot 20 moves on the second moving track 54 via a second set of drive wheels to reach a storage location in the cargo aisle 51 and dock with that storage location to retrieve or return items. The second moving track 54 may extend along a first direction.

[0136] In some examples, each cargo lane 51 has two second moving tracks 54, which are spaced apart along the width direction (e.g., the second direction) of the cargo lane 51. Thus, the second set of drive wheels on opposite sides of the robot 20 along the first direction can be supported on the corresponding second moving tracks 54 and travel along the second moving tracks 54 in the first direction. For ease of description, the two second moving tracks 54 on a cargo lane 51 that cooperate with the same robot 20 can be referred to as a second moving track group.

[0137] It should be noted that in some examples, the second moving track 54 can be installed on the frame of each shelf layer. For example, the second moving track 54 can be detachably installed on the frame of each shelf layer to improve the assembly stability of the second moving track 54 on the shelf and to facilitate the assembly and disassembly of the second moving track 54.

[0138] In other examples, the second moving track 54 can directly serve as the frame for each shelf layer; that is, a set of second moving tracks directly forms a storage aisle 51 for each shelf layer. This simplifies the manufacturing and assembly process of the shelf.

[0139] In some examples, the first moving track 53 and the second moving track 54 are arranged to cross each other, that is, the first moving track 53 and the second moving track 54 have an overlapping support area 55, which allows the robot 20 to switch between the aisle 52 and the cargo channel 51.

[0140] When the robot 20 in this embodiment receives a retrieval and return task, it performs the following actions:

[0141] The first set of drive wheels of robot 20 moves along the first moving track 53 so that robot 20 can move in the alley 52 until it reaches the cargo channel 51 where the target object is located;

[0142] The first set of drive wheels of robot 20 rises relative to the second set of drive wheels until the second set of drive wheels contacts the second moving track 54, and the first set of drive wheels disengages from the first moving track 53.

[0143] The second set of drive wheels moves along the second moving track 54, so that the robot 20 moves within the cargo channel 51 until it reaches the target storage location.

[0144] Robot 20 performs the action of retrieving and returning items.

[0145] It should be noted that when the first conveying mechanism 10 is installed on the carrier 50 with multiple storage layers, the first track 40 may include a first moving track 53 and a second moving track 54.

[0146] It is understood that the first moving track 53 and the second moving track 54 can be set on the ground or in a storage layer located at a higher level; this embodiment is not limited to either.

[0147] Please refer to it again. Figure 9 In some examples, the storage system also includes a lifting mechanism 60. This allows for the transfer of items between different storage levels.

[0148] In some examples, the warehousing system also includes a lifting mechanism 60, which allows the robot 20 to move along the height of the shelf, switching between different shelf levels and the ground. For instance, after the robot 20 retrieves a target item from a target shelf, it can descend to the ground under the lifting mechanism 60 and hand it over to other robots, who then transfer the target box to a workstation or other location for picking operations. Alternatively, after descending to the ground, the robot 20 can directly carry the target item to a workstation for picking.

[0149] In some examples, items, such as goods, can move along the height of the shelf under the action of the lifting mechanism 60 to switch between different shelves and the ground. For example, after robot 20 retrieves a target item from the target shelf, it can move to the lifting mechanism 60, transfer the target item onto the lifting mechanism 60, and then move out of the lifting mechanism 60. The lifting mechanism 60 then lowers the target item to the ground and hands it over to other robots, which then transfer the target item to workstations or other locations for picking operations. As another example, when a target item to be stored arrives at one side of the shelf, it can first be transferred to the lifting mechanism 60, and then lifted to the target shelf. Robot 20, located on the target shelf, moves through aisle 52 to the lifting mechanism 60, retrieves the target item, and moves along aisle 52 and driveway 51 of the target shelf to the target storage location to place the target box there.

[0150] In some examples, the lifting mechanism 60 is located at the front end of the warehouse, such as a automated storage and retrieval system (AS / RS). Additionally, an inbound buffer area and an outbound buffer area are located near the truck loading dock at the front end of the warehouse, such as the AS / RS. Items awaiting inbound or outbound movement will circulate within these buffer areas. Upon inbound, the operator places the item on the inbound conveyor line, which automatically moves forward, transporting the goods into the lifting mechanism 60. The lifting mechanism 60 lifts the item to a designated shelf level and then transports it out of the lifting mechanism 60 to the inbound conveyor line connection point. Finally, a robot 20 moves the item to the target storage location.

[0151] When the goods are to be shipped out, the robot 20 lifts and moves them to the connecting conveyor line in front of the outbound lifting mechanism 60. The conveyor line transports the goods into the lifting mechanism 60, which lifts the goods to the first floor of the shelf. The conveyor line then automatically moves forward to deliver the goods to the outbound exit, where they await manual shipment.

[0152] Combination Figure 10 As shown, in some examples, the lifting mechanism 60 may also be located inside the vehicle 50, and the columns of the vehicle 50 may be enclosed to form a receiving space for housing the lifting mechanism 60.

[0153] Figure 11 This is a partial structural schematic diagram of a lifting mechanism provided in an embodiment of this application.

[0154] Combination Figure 9 and Figure 11As shown, in some examples, the lifting mechanism 60 includes a support component 61 and a drive component 62. The support component 61 is capable of carrying items and the robot 20, and the drive component 62 is capable of driving the support component 61 to move to a storage layer at a specified height. In this way, the lifting mechanism 60 can transfer items and the robot 20 between storage locations on different layers, thereby improving the flexibility of item storage.

[0155] In some examples, the lifting mechanism 60 also includes a second correction component 63, which is also capable of correcting the posture of the item located on the carrying component 61.

[0156] In some examples, the second correction component 63 may be a structure such as a robotic arm or suction cup located near the lifting mechanism 60 for adjusting the posture of the item.

[0157] In some examples, the carrier component 61 includes a second conveyor 611 that can dock with the first conveyor 10 to receive items from the first conveyor 10. In this way, the second conveyor 611 can transport the posture-corrected items to a designated storage layer.

[0158] like Figure 11 As shown, in some examples, the second conveying mechanism 611 includes a second support frame 6111 and a second transmission assembly 6112. The second transmission assembly 6112 may be disposed on the second support frame 6111, and the second transmission assembly 6112 is capable of driving the movement of the article.

[0159] In some examples, the second support frame 6111 may include a third support beam 611a and a fourth support beam 611b, and the second transmission assembly 6112 may be disposed between the third support beam 611a and the fourth support beam 611b.

[0160] In some examples, the third support beam 611a and the fourth support beam 611b can be spaced apart from the travel plane of the mobile chassis 21 of the robot 20. This allows the third support beam 611a and the fourth support beam 611b to create a gap between the second transmission assembly 6112 and the travel plane of the robot 20, enabling the robot 20 to travel within this gap and thus preventing the second conveying mechanism 611 from affecting the robot 20's trajectory.

[0161] In some examples, the two ends of the third support beam 611a and the fourth support beam 611b can be connected by the external frame 64, but this is not limited in this embodiment.

[0162] In some examples, the second transmission component 6112 may be a transmission belt component.

[0163] In some examples, the second transmission component 6112 may be a transmission chain component.

[0164] In some examples, the second transmission component 6112 may be a transmission rack and pinion assembly.

[0165] In some examples, the second transmission assembly 6112 may include a driving member, a driving wheel, a driven wheel, and a transmission component sleeved on the driving wheel and the driven wheel. The driving member, driving wheel, and driven wheel may be mounted on the second support frame 6111, and the driving wheel and driven wheel may be spaced apart to support the transmission component.

[0166] In some examples, the driving component can be a drive motor, drive motor, etc., but this embodiment is not limited to this.

[0167] In some examples, when the second transmission assembly 6112 is a transmission chain assembly, the transmission element is a transmission chain, and the driving wheel and driven wheel can be sprockets.

[0168] In some examples, when the second transmission component 6112 is a transmission rack assembly, the transmission element is a transmission rack, and the driving wheel and driven wheel can be gears.

[0169] In some examples, when the second transmission assembly 6112 is a belt assembly, the transmission element is a belt, and the driving pulley and driven pulley can be pulleys.

[0170] In some examples, the second correction component 63 may also include a third baffle 631, which may be located on both sides of the second conveying mechanism 611, respectively, from the first conveying mechanism 10.

[0171] In some examples, the third baffle 631 is located at the end of the second transmission assembly 6112 along the transmission direction and is higher than the bearing surface of the second transmission assembly 6112.

[0172] Figure 12 This is a schematic diagram illustrating the process of the lifting mechanism correcting the posture of an object, as provided in the embodiments of this application.

[0173] like Figure 12 As shown, the item can move on the second conveyor mechanism 611. When the item moves to the position shown... Figure 12 When the position shown in (b) is reached, the second conveying mechanism 611 provides the power for the item to continue moving in the second direction. However, the third baffle 631 at the end blocks the moving item to correct its position in the second direction, thereby correcting the item's posture and preventing the second conveying mechanism 611 from moving the item to the position shown in (b). Figure 12The state shown in (a) stops, resulting in a positional deviation of the item in the second direction. Thus, the item passing through the first conveying structure can be corrected a second time by the third baffle 631, so that the posture of the item can be restored to the initial state.

[0174] Figure 13 This is a schematic diagram of the load-bearing component of another lifting mechanism provided in an embodiment of this application.

[0175] Combination Figure 13 As shown, the second corrective assembly 63 may further include a fourth baffle 632 and a fifth baffle 633, wherein the fourth baffle 632 and the fifth baffle 633 may be symmetrically arranged on both sides of the second conveying mechanism 611 along the center line of the conveying direction of the second conveying mechanism 611. The direction of conveying the items along the second conveying mechanism 611 (e.g., along the center line of the conveying direction of the second conveying mechanism 611) Figure 13 In the y-axis direction (as shown in the image), within a preset distance, the distance L between the fourth baffle 632 and the fifth baffle 633 decreases. Thus, the fourth baffle 632 and the fifth baffle 633 can form a funnel-shaped structure. When the second conveying mechanism 611 drives the item along the conveying direction (e.g., along the y-axis direction), the distance L between the fourth baffle 632 and the fifth baffle 633 decreases. Figure 13 When the object moves (in the y-axis direction), the fourth baffle 632 and / or the fifth baffle 633 can guide the object to correct its posture.

[0176] In some examples, the preset distance can be the same as the conveying distance of the second conveying mechanism 611.

[0177] In some examples, the preset distance can be less than the conveying distance of the second conveying mechanism 611. In this case, the fourth baffle 632 and the fifth baffle 633 can extend to the middle of the second conveying mechanism 611, or the fourth baffle 632 and the fifth baffle 633 can be provided only at the position of the second conveying mechanism 611 near the entrance. In this embodiment, the specific length of the fourth baffle 632 and the fifth baffle 633 is not limited.

[0178] In some examples, the direction in which items are conveyed along the second conveyor 611 (e.g.) Figure 13 Within a preset distance (in the y-axis direction), the distance L between the fourth baffle 632 and the fifth baffle 633 decreases. Beyond the preset distance, the distance L between the fourth baffle 632 and the fifth baffle 633 can increase. Thus, the fourth baffle 632 and the fifth baffle 633 can form a double-sided flared opening on the second conveying mechanism 611, facilitating the entry of items from both sides of the second conveying mechanism 611 for posture correction.

[0179] It should be noted that the process of the fourth baffle 632 and the fifth baffle 633 correcting the posture of the object can refer to the process of the first baffle 31 and the second baffle 32 correcting the posture of the object. At the same time, the shapes of the fourth baffle 632 and the fifth baffle 633 can refer to the shapes of the first baffle 31 and the second baffle 32, which will not be described again here.

[0180] Combination Figure 9 and Figure 12 As shown, in some examples, if the robot 20 wants to move between different storage layers, the mobile chassis 21 of the robot 20 can move to the carrier component 61 via the first track 40 below the first conveyor mechanism 10, and the drive component 62 can drive the carrier component 61 and the robot 20 to move to the storage layer at a specified height.

[0181] In some embodiments, the support assembly 61 further includes a second track 612 and a support frame 613 located below the second conveying mechanism 611. The second track 612 is disposed on the support frame 613, and the drive assembly 62 can be connected to the support frame 613 to drive the support frame 613 to move up and down. The second track 612 can dock with the first track 40 under the drive of the drive assembly 62. In this way, the mobile chassis 21 can move along the second track 612 onto the support frame 613 to facilitate movement to a storage position at a specified height.

[0182] In some examples, the lifting mechanism 60 may also include an external frame 64. The external frame 64 may be set independently of the carrier 50 or may be formed by the columns of the carrier 50; this is not limited in this embodiment.

[0183] In some examples, the drive component 62 can be a drive structure disposed between the support frame 613 and the outer frame 64 to drive the support frame 613 to move up and down along the outer frame 64.

[0184] In some examples, the drive component 62 may include a drive belt component, a drive chain component, and a drive guide rail component arranged along the height direction. In this embodiment, the specific structure of the drive component 62 is not limited.

[0185] It should be noted that, upon considering the specification and practicing the application disclosed herein, those skilled in the art will readily conceive of other embodiments of this application. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0186] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The true scope is indicated by this application.

Claims

1. A warehousing system characterized by, include: The first conveying mechanism (10) is configured to move the items; The robot (20) includes a mobile chassis (21) and a lifting mechanism (22), the lifting mechanism (22) being disposed on the mobile chassis (21) and configured to carry the item and place the item on the first conveying mechanism (10); A first correction component (30) is configured to correct the posture of the article moving in the first conveying mechanism (10).

2. The warehousing system according to claim 1, characterized in that, The mobile chassis (21) is configured as follows: After the lifting mechanism (22) performs a preset number of lifting and lowering movements on the item, it places the item on the first conveying mechanism (10) for movement, so as to correct the posture of the item through the first correction component (30).

3. The warehousing system according to claim 1, characterized in that, The first corrective component (30) includes a first baffle (31) and a second baffle (32); The first baffle (31) and the second baffle (32) are symmetrically arranged on both sides of the first conveying mechanism (10) along the center line of the direction in which the first conveying mechanism (10) conveys the article; Along the direction of conveying the item by the first conveying mechanism (10), the distance between the first baffle (31) and the second baffle (32) decreases within a preset distance; The first baffle (31) and / or the second baffle (32) are configured to guide the article as it moves in the first conveying mechanism (10) to correct the posture of the article.

4. The warehousing system according to claim 3, characterized in that, The first conveying mechanism (10) includes a first transmission assembly (12). The first transmission assembly (12) is configured to move the article; The first transmission assembly (12) is located between the first baffle (31) and the second baffle (32); The bearing surface of the first transmission assembly (12) is lower than the first baffle (31) and the second baffle (32).

5. The warehousing system according to claim 4, characterized in that, The first conveying mechanism (10) further includes a first support frame (11); The first support frame (11) includes a first support beam (111) and a second support beam (112); The first transmission assembly (12) is disposed between the first support beam (111) and the second support beam (112); The first baffle is disposed on the first support beam (111), and the second baffle is disposed on the second support beam (112).

6. The warehousing system according to claim 5, characterized in that, The first transmission assembly (12) consists of two sets, and the two sets of the first transmission assembly (12) are spaced apart on the first support frame (11); The lifting mechanism (22) is also configured to be movable to spaced positions of the two sets of the first transmission components (12).

7. The warehousing system according to claim 4, characterized in that, The first transmission assembly (12) includes any one of a transmission belt assembly, a transmission chain assembly, and a transmission rack assembly.

8. The warehousing system according to any one of claims 1-7, characterized in that, It also includes a lifting mechanism (60), which comprises: The carrier component (61) is configured to carry an article or the robot (20); The drive component (62) is configured to drive the carrier component (61) to move to a specified height; A second correction component (63) is disposed on one side of the support component (61) and configured to correct the posture of the article located on the support component (61).

9. The warehousing system according to claim 8, characterized in that, The carrying assembly (61) includes a second conveying mechanism (611) configured to dock with the first conveying mechanism (10) to receive the article from the first conveying mechanism (10); The second correction component (63) includes a third baffle (631), which is located on both sides of the first conveying mechanism (10); The third baffle (631) is configured to block the article as it moves in the second conveying mechanism (611) to correct the posture of the article.

10. The warehousing system according to claim 9, characterized in that, The second conveying mechanism (611) includes a second transmission assembly (6112); The second transmission assembly (6112) is configured to move the article; The third baffle (631) is located at the end of the second transmission assembly (6112) along the transmission direction and is higher than the bearing surface of the second transmission assembly (6112).

11. The warehousing system according to claim 10, characterized in that, The second conveying mechanism (611) also includes a second support frame (6111); The second support frame (6111) includes a third support beam (611a) and a fourth support beam (611b); The second transmission assembly (6112) is disposed between the third support beam (611a) and the fourth support beam (611b).

12. The warehousing system according to claim 10, characterized in that, The second corrective component (63) further includes a fourth baffle (632) and a fifth baffle (633); The fourth baffle (632) and the fifth baffle (633) are symmetrically arranged on both sides of the second conveying mechanism (611) along the center line of the direction in which the second conveying mechanism (611) conveys the article; Along the direction of conveying the article along the second conveying mechanism (611), the distance between the fourth baffle (632) and the fifth baffle (633) decreases within a preset distance; The fourth baffle (632) and / or the fifth baffle (633) are configured to guide the article as it moves in the second conveying mechanism (611) to correct the posture of the article.

13. The warehousing system according to claim 12, characterized in that, The second transmission assembly (6112) is located between the fourth baffle (632) and the fifth baffle (633); The bearing surface of the second transmission assembly (6112) is lower than that of the fourth baffle (632) and the fifth baffle (633).

14. The warehousing system according to claim 9, characterized in that, It also includes the first orbital (40); The mobile chassis (21) is configured to move along the first track (40); The lifting mechanism (22) is configured to lift the item to a position higher than the first conveying mechanism (10) when the mobile chassis (21) moves along the first track (40) close to the first conveying mechanism (10); The lifting mechanism (22) is also configured to lower the item to place it on the first conveying mechanism (10) when the mobile chassis (21) moves below the first conveying mechanism (10) along the first track (40).

15. The warehousing system according to claim 14, characterized in that, The mobile chassis (21) is also configured to move along the first track (40) to the load-bearing assembly (61); The drive component (62) is configured to move the robot (20) to a storage layer at a specified height.

16. The warehousing system according to claim 15, characterized in that, The support assembly (61) also includes a second track (612) and a support frame (613) located below the second conveying mechanism (611); The second track (612) is disposed on the supporting frame (613); The second track (612) is configured to dock with the first track (40) under the drive of the drive assembly (62); The mobile chassis (21) is also configured to move along the second track (612).

17. The warehousing system according to any one of claims 1-7, characterized in that, It also includes a vehicle (50) and a lifting mechanism (60); The vehicle (50) has multiple storage layers along the height direction, each storage layer having multiple storage slots configured to store the items; The lifting mechanism (60) includes a support component (61) and a drive component (62), the support component (61) being configured to support the item or the robot (20), and the drive component (62) being configured to drive the support component (61) to move to the storage layer at a specified height.

18. A lifting mechanism, characterized in that, include: The carrier component (61) is configured to carry an item; A drive component (62) is configured to drive the carrier component (61) to move to a storage layer at a specified height; A second correction component (63) is disposed on one side of the support component (61) and configured to correct the posture of the article located on the support component (61).

19. The lifting mechanism according to claim 18, characterized in that, The carrying component (61) includes a second conveying mechanism (611), which is configured to carry and move the article; The second correction component (63) includes a third baffle (631) located at the end of the second conveying mechanism (611) along the conveying direction; The third baffle (631) is configured to block the article as it moves in the second conveying mechanism (611) to correct the posture of the article.

20. The lifting mechanism according to claim 19, characterized in that, The second conveying mechanism (611) includes a second transmission assembly (6112); The second transmission assembly (6112) is configured to move the article; The third baffle (631) is located at the end of the second transmission assembly (6112) along the transmission direction and is higher than the bearing surface of the second transmission assembly (6112).

21. The lifting mechanism according to claim 20, characterized in that, The second conveying mechanism (611) also includes a second support frame (6111); The second support frame (6111) includes a third support beam (611a) and a fourth support beam (611b); The second transmission assembly (6112) is disposed between the third support beam (611a) and the fourth support beam (611b).

22. The lifting mechanism according to claim 20, characterized in that, The second corrective component (63) further includes a fourth baffle (632) and a fifth baffle (633); The fourth baffle (632) and the fifth baffle (633) are symmetrically arranged on both sides of the second conveying mechanism (611) along the center line of the direction in which the second conveying mechanism (611) conveys the article; Along the direction of conveying the article along the second conveying mechanism (611), the distance between the fourth baffle (632) and the fifth baffle (633) decreases within a preset distance; The fourth baffle (632) and / or the fifth baffle (633) are configured to guide the article as it moves in the second conveying mechanism (611) to correct the posture of the article.

23. The lifting mechanism according to claim 22, characterized in that, The second transmission assembly (6112) is located between the fourth baffle (632) and the fifth baffle (633); The bearing surface of the second transmission assembly (6112) is lower than that of the fourth baffle (632) and the fifth baffle (633).

24. The lifting mechanism according to claim 19, characterized in that, The support assembly (61) also includes a second track (612) and a support frame (613) located below the second conveying mechanism (611); The second track (612) is disposed on the supporting frame (613); The second track (612) is configured to dock with the first track (40) under the drive of the drive assembly (62).

Images