Warehousing system and transport device

Abstract

A warehousing system and a transport device (1-10). The warehousing system comprises racks (1-20), track assemblies (1-21), and a transport device (1-10). Each track assembly (1-21) comprises at least a first track (1-211) and a second track (1-212) spaced apart in a height direction of the corresponding rack (1-20) and fixed around the periphery of the rack (1-20). The first track (1-211) comprises first longitudinal tracks (1-2112) and first transverse tracks (1-2111). The second track (1-212) comprises second longitudinal tracks (1-2122) and second transverse tracks (1-2121). The first transverse tracks (1-2111) and the second transverse tracks (1-2121) are used for switching aisles (1-22). The transport device (1-10) comprises a column assembly (1-100), and a lifting / lowering mechanism (1-400), a first driving mechanism (1-200), a second driving mechanism (1-300) and a goods pickup mechanism (1-500) which are arranged on the column assembly (1-100). The lifting / lowering mechanism (1-400) is connected to the goods pickup mechanism (1-500) and drives the goods pickup mechanism (1-500) to move up and down along the column assembly (1-100). The first driving mechanism (1-200) and the second driving mechanism (1-300) are used for driving the transport device (1-10) to move along the track assembly (1-21) and traverse between two adjacent aisles (1-22), enabling the pickup and placement of goods on adjacent racks (1-20).

Description

Warehouse system and carrying device

[0001] The present application claims priority to Chinese Patent Application No. 202410719067.4, filed on June 4, 2024, entitled "Warehouse system and carrying device" and Chinese Patent Application No. 202410718478.1, filed on June 4, 2024, entitled "Warehouse system and carrying device", the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of warehouse carrying, in particular to a warehouse system and a carrying device. BACKGROUND

[0003] With the continuous development of the logistics industry, intelligent warehousing has become an important development direction of the logistics industry. Among them, the application range and advantages of automated stereoscopic warehouse are continuously expanding, becoming an effective means for logistics enterprises to improve warehouse efficiency and reduce costs. The advantage of stereoscopic warehouse is its high space utilization rate, which can greatly reduce the logistics cost of enterprises. By vertically stacking goods, reducing the warehouse floor area, enterprises can save land rent and construction cost. In addition, the automated equipment of the stereoscopic warehouse can reduce the time and cost of manual carrying, further reducing the logistics cost.

[0004] At present, a material box carrying robot is generally used, which walks in the lane through a moving chassis, occupies a large space, and has a slow carrying speed, so that flexible scheduling of the carrying device cannot be realized, affecting the efficiency of overall goods taking and placing. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a warehouse system and a carrying device. The carrying device in the warehouse system can be flexibly scheduled, and the efficiency of overall goods taking and placing can be improved. The specific technical solutions are as follows:

[0006] The first aspect of the present application provides a warehouse system, comprising: a plurality of shelves arranged at intervals along a first direction, a lane being formed between adjacent shelves; a track assembly comprising at least a first track and a second track, the first track and the second track being arranged at intervals along the height direction of the shelves and being arranged around the outer periphery of the shelves; the first track comprises a first longitudinal track arranged between adjacent shelves and a first transverse track arranged on the outer side of the shelves perpendicular to the first direction, the second track comprises a second longitudinal track arranged between adjacent shelves and a second transverse track arranged on the outer side of the shelves perpendicular to the first direction, the first transverse track and the second transverse track being used to switch lanes; a carrying device, the carrying device comprising a column assembly and a lifting mechanism, a first driving mechanism, a second driving mechanism and a goods taking mechanism arranged on the column assembly, the lifting mechanism being connected with the goods taking mechanism and driving the goods taking mechanism to move up and down along the column assembly, the goods taking mechanism being used to carry goods at different heights on the shelves; wherein the first driving mechanism and the second driving mechanism are used to drive the carrying device to travel along the track assembly and pass through between two adjacent lanes, so as to take and place goods on adjacent shelves.

[0007] The second aspect of the present application provides a carrying device for traveling on a curved track, the carrying device comprising a column assembly and at least one set of lifting mechanisms, at least one set of driving mechanisms and at least one set of goods taking mechanisms arranged on the column assembly, the lifting mechanisms being connected with the goods taking mechanisms and driving the goods taking mechanisms to move up and down along the column assembly, the goods taking mechanisms being used to carry goods at different heights on the shelves; the column assembly comprises a first column extending along the height direction of the shelves and a second column arranged at intervals along a direction perpendicular to the height direction; the driving mechanisms comprise a first roller rotatably connected with the first column and a second roller rotatably connected with the second column, the first roller and the second roller being used to travel on a curved track, at least one of the first roller and the second roller being connected with the first driving motor to drive the first roller and the second roller to roll along the curved track and drive the column assembly to travel straight or turn.

[0008] The embodiments of the present application have the following beneficial effects:

[0009] The warehouse system and the carrying device provided by the embodiments of the present application are characterized in that the first track and the second track are arranged around the periphery of the shelf, the carrying device can run on the first track and the second track, and the position of the carrying device can be changed from one side of the shelf to the other side, so that the goods on both sides of the shelf can be taken or placed. That is, the carrying device can realize track change by running along the first track and the second track, so that the number of carrying devices can be reduced when the business volume is small, and more carrying devices can be deployed in adjacent areas when the business volume is large, so that the carrying efficiency and the carrying flexibility can be improved.

[0010] The third aspect of the present application provides a warehouse system, comprising: a plurality of shelves arranged at intervals, a passageway being formed between adjacent shelves; a first track and a second track, the first track and the second track being arranged at intervals along the height direction of the shelf and being arranged around the periphery of the shelf; the first track comprising a plurality of first shelf tracks arranged in a first direction and located on at least one side of the same shelf, a first conversion track arranged in a second direction and located on at least one side of the shelf, and a first connecting track arranged at at least one end of each first shelf track or at least one end of each first conversion track, the first connecting track being movably connected with the first shelf track or the first conversion track, so that the free end of the first connecting track can be connected with or disconnected from the first conversion track or the first shelf track; the second track comprising a plurality of second shelf tracks arranged in the first direction and located on at least one side of the same shelf, a second conversion track arranged in the second direction and located on at least one side of the shelf, and a second connecting track arranged at at least one end of each second shelf track or at least one end of each second conversion track, the second connecting track being movably connected with the second shelf track or the second conversion track, so that the free end of the second connecting track can be connected with or disconnected from the second conversion track or the second shelf track; wherein the first direction is the extension direction of the passageway, and the second direction intersects the first direction.

[0011] The fourth aspect of the present application provides a carrying device capable of changing track driving, the carrying device comprising a control component, a column assembly, at least one set of lifting mechanism, at least one set of driving mechanism and at least one set of goods taking mechanism arranged on the column assembly, the lifting mechanism being connected with the goods taking mechanism and driving the goods taking mechanism to move up and down along the column assembly, the goods taking mechanism being used for carrying goods at different heights on the goods shelf; the column assembly comprising a first column and a second column extending along the height direction of the goods shelf and being arranged in the height direction at intervals; the driving mechanism comprising a first roller rotatably connected with the first column, a second roller rotatably connected with the second column and a telescopic assembly electrically connected with the control component, the first roller and the second roller being used for driving between tracks, at least one of the first roller and the second roller being connected with the first driving motor to drive the first roller and the second roller to roll and drive the column assembly to move straight or turn; wherein the telescopic assembly is used for changing the connection state of the track.

[0012] The embodiments of the present application have the following beneficial effects:

[0013] The warehouse system and the carrying device provided by the embodiments of the present application, the first track and the second track are arranged around the periphery of the goods shelf, the carrying device can run on the first track and the second track, the position of the carrying device can be changed from one side of the goods shelf to the other side, so that the goods on both sides of the goods shelf can be taken and placed. That is, the carrying device can realize track change by running along the first track and the second track, so that the number of carrying devices can be reduced when the business volume is small, and more carrying devices can be deployed in adjacent areas when the business volume is large, thereby improving the carrying efficiency and the carrying flexibility. Moreover, since the first track and the second track both have two states of connection and disconnection, the carrying device running on the first track and the second track can change lanes by connecting or disconnecting the first connecting track and the first conversion track, so that the carrying device can successfully run between various aisles instead of only running between adjacent aisles, thereby the scheduling is more flexible, a small number of carrying devices can meet the taking and placing requirements when the business volume is small, and more carrying devices can be deployed in the required area when the business volume is large, thereby improving the carrying efficiency. In addition, by arranging two tracks up and down, the carrying device runs on the two tracks at the same time, the first track and the second track arranged up and down can constrain each other, thereby improving the running stability of the carrying device. The first track and the second track are supported by the plurality of support frames.

[0014] Of course, implementing any product or method of the present application does not necessarily require all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. The detailed description of the application refers to the accompanying drawings.

[0016] Fig. 1 is a perspective view of a warehouse system according to an embodiment of the present application;

[0017] Fig. 2a is a view of the cooperation between the carrying device and the first track and the second track according to an embodiment of the present application;

[0018] Fig. 2b is a view of the carrying device according to an embodiment of the present application;

[0019] Fig. 3 is a view of the first driving mechanism according to an embodiment of the present application;

[0020] Fig. 4 is a view of the second driving mechanism according to an embodiment of the present application;

[0021] Fig. 5 is an enlarged view of part A in Fig. 1;

[0022] Fig. 6 is an enlarged view of part B in Fig. 1;

[0023] Fig. 7 is an enlarged view of part C in Fig. 2a;

[0024] Fig. 8 is a perspective view of a shelf according to an embodiment of the present application;

[0025] Fig. 9 is a top view of a warehouse system according to an embodiment of the present application;

[0026] Fig. 10 is a top view of a warehouse system according to another embodiment of the present application;

[0027] Fig. 11 is a top view of a warehouse system according to yet another embodiment of the present application;

[0028] Fig. 12 is a view of the carrying device according to another embodiment of the present application;

[0029] Fig. 13 is an enlarged view of part D in Fig. 12;

[0030] Fig. 14 is a view of the carrying device according to yet another embodiment of the present application;

[0031] Fig. 15 is a view of a warehouse system according to another embodiment of the present application, in which the second connecting track is disconnected from the second conversion track;

[0032] Fig. 16 is a view of a warehouse system according to another embodiment of the present application, in which the second connecting track is connected to the second conversion track;

[0033] Fig. 17 is an enlarged view of portion A in Fig. 15;

[0034] Fig. 18 is an enlarged view of portion B in Fig. 15;

[0035] Fig. 19 is an enlarged view of portion C in Fig. 15;

[0036] Fig. 20 is an enlarged view of portion D in Fig. 16;

[0037] Fig. 21 is a schematic view of the cooperation between the carrying device and the track in Fig. 15;

[0038] Fig. 22 is an enlarged view of portion E in Fig. 21;

[0039] Fig. 23 is a schematic view of the structure of the first driving mechanism;

[0040] Fig. 24 is a schematic view of the structure of the second driving mechanism;

[0041] Fig. 25 is a schematic view of the state of the warehouse system in another embodiment provided by the present application, in which the carrying device enters the second connection track from the second conversion track;

[0042] Fig. 26 is an enlarged view of portion F in Fig. 25;

[0043] Fig. 27 is a schematic view of the state of the warehouse system in another embodiment provided by the present application, in which the carrying device moves straight in the negative direction of the second direction;

[0044] Fig. 28 is an enlarged view of portion G in Fig. 27;

[0045] Fig. 29 is an enlarged view of portion H in Fig. 27;

[0046] Fig. 30a is a schematic view of the structure of the carrying device;

[0047] Fig. 30b is a schematic view of the structure of the carrying device without the goods taking mechanism;

[0048] Fig. 30c is a schematic view of the structure of the carrying device from another perspective;

[0049] Fig. 31a is an enlarged view of portion I in Fig. 30a;

[0050] Fig. 31b is an enlarged view of portion J in Fig. 30c;

[0051] Fig. 32 is a top view of the warehouse system in another embodiment provided by the present application, in which the first connection track is separated from the first conversion track;

[0052] Fig. 33 is a top view of the warehouse system in another embodiment provided by the present application, in which the first connection track is connected to the first conversion track;

[0053] Figure 34 is a top view of the warehousing system provided in another embodiment of this application;

[0054] Figure 35 is an enlarged schematic diagram of part L in Figure 15;

[0055] Figure 36 is a three-dimensional structural diagram of the warehousing system provided in another embodiment of this application;

[0056] Figure 37 is an enlarged schematic diagram of part K in Figure 36;

[0057] Figure 38 is a partial structural diagram of the warehousing system provided in one embodiment of this application.

[0058] Fig. 1-14 are as follows: carrying device 1-10; column assembly 1-100; first column 1-101; second column 1-102; third slide rail 1-103; first driving mechanism 1-200; first driving motor 1-201; first roller 1-202; second roller 1-203; first cross beam 1-204; first side wall 1-2041; first slide rail 1-2041a; first limiting table 1-2041b; second side wall 1-2042; second slide rail 1-2042a; second limiting table 1-2042b; first bottom wall 1-2043; first support 1-205; first connecting plate 1-2051; second connecting plate 1-2052; second support 1-206; third connecting plate 1-2061; fourth connecting plate 1-2062; first guide wheel 1-207; first rotating shaft 1-207a; second guide wheel 1-208; second rotating shaft 1-208a; first floating piece 1-209; first containing groove 1-2091; first elastic piece 1-2092; first sliding groove 1-2093; second floating piece 1-210; second containing groove 1-2101; second elastic piece 1-2102; second sliding groove 1-2103; first rotating shaft 1-220; second rotating shaft 1-230; second driving mechanism 1-300; second driving motor 1-301; third roller 1-302; fourth roller 1-303; second cross beam 1-304; third side wall 1-3041; first section 1-3041a; fourth side wall 1-3042; second section 1-3042a; second bottom wall 1-3043; third support 1-305; fifth connecting plate 1-3051; sixth connecting plate 1-3052; fourth support 1-306; seventh connecting plate 1-3061; eighth connecting plate 1-3062; third guide wheel 1-307; third rotating shaft 1-307a; fourth guide wheel 1-308; fourth rotating shaft 1-308a; third rotating shaft 1-309; fourth rotating shaft 1-310; lifting mechanism 1-400; third driving motor 1-401; speed reduction motor 1-402; first driven wheel 1-403; second driven wheel 1-404; first synchronous belt 1-405; third driven wheel 1-406; fourth driven wheel 1-407; second synchronous belt 1-408; shaft coupling 1-409; goods taking mechanism 1-500; hook pulling assembly 1-501; supporting plate 1-502; camera 1-503; sliding block 1-504; connecting side plate 1-505; screw 1-506; power supply mechanism 1-600; slide wire 1-601; brush plate 1-602; goods shelf 1-20; third column 1-20a; third cross beam 1-20b; support beam 1-20c; track assembly 1-21; first track 1-211; first transverse track 1-2111; first body section 1-2111a; first transition section 1-2111b; first longitudinal track 1-2112; second track 1-212;second lateral rail 1-2121; second body segment 1-2121a; second transition segment 1-2121b; second longitudinal rail 1-2122; storage bit 1-213; cache bit 1-214; aisle 1-22; height direction H, first direction X; second direction Y;

[0059] Figures 15-38 are the following reference signs: carrying device 2-10; column assembly 2-100; first column 2-101; second column 2-102; third slide rail 2-103; first driving mechanism 2-200; first driving motor 2-201; first roller 2-202; second roller 2-203; first cross beam 2-204; first side 2-2041; first slide rail 2-2041a; first limiting table 2-2041b; second side 2-2042; second slide rail 2-2042a; second limiting table 2-2042b; first cross 2-2043; first support 2-205; first connecting plate 2-2051; second connecting plate 2-2052; second support 2-206; third connecting plate 2-2061; fourth connecting plate 2-2062; first guide wheel 2-207; first rotating shaft 2-207a; second guide wheel 2-208; second rotating shaft 2-208a; first floating piece 2-209; first containing groove 2-2091; first elastic piece 2-2092; first sliding groove 2-2093; second floating piece 2-210; second containing groove 22-101; second elastic piece 22-102; second sliding groove 22-103; first rotating shaft 2-220; second rotating shaft 2-230; first telescopic assembly 2-240; first driving piece 2-2401; first telescopic piece 2-2402; first connecting rod 2-2402a; first rolling wheel 2-2402b; second driving mechanism 2-300; second driving motor 2-301; third roller 2-302; fourth roller 2-303; second cross beam 2-304; third side 2-3041; first section 2-3041a; fourth side 2-3042; second section 2-3042a; second cross 2-3043; third support 2-305; fifth connecting plate 2-3051; sixth connecting plate 2-3052; fourth support 2-306; seventh connecting plate 2-3061; eighth connecting plate 2-3062; third guide wheel 2-307; third rotating shaft 2-307a; fourth guide wheel 2-308; fourth rotating shaft 2-308a; third rotating shaft 2-309; fourth rotating shaft 2-310; second telescopic assembly 2-311; second driving piece 2-3111; second telescopic piece 2-3112; second connecting rod 2-3112a; second rolling wheel 2-3112b; lifting mechanism 2-400; third driving motor 2-401; speed reduction motor 2-402; first driven wheel 2-403; second driven wheel 2-404; first synchronous belt 2-405; third driven wheel 2-406; fourth driven wheel 2-407; second synchronous belt 2-408; shaft coupling 2-409; goods taking mechanism 2-500; hook pulling assembly 2-501; supporting plate 2-502; camera 2-503; sliding block 2-504; connecting side plate 2-505; screw 2-506; power supply mechanism 2-600; slide wire 2-601; brush plate 2-602;Shelf 2-20; third upright column 2-20a; third cross beam 2-20b, support beam 2-20c; first track 2-211; first outer side wall 2-211a; first shelf track 2-2111; first conversion track 2-2112; first bearing surface 2-2112a; first side wall 2-2112b; second side wall 2-2112c; first connecting track 2-2113; second track 2-212; second outer side wall 2-212a; second shelf track 2-2121; second conversion track 2-2122; second bearing surface 2-2122a; third side wall 2-2122b; second opening 2-2122b1; second swing piece 2-2122b2; fourth side wall 2-2122c; second avoiding part 2-2122c1; second mounting part 2-2122c2; second connecting track 2-2123; second protruding part 2-2123a; storage position 2-213; buffer position 2-214; aisle 2-22; support frame 2-23; fourth driving piece 2-24; first linkage mechanism 2-30; first sub-linkage 2-31; first inclined surface 2-31a; second sub-linkage 2-32; first vertical section 2-32a; first horizontal section 2-32b; second vertical section 2-32c; third reset piece 2-33; second linkage mechanism 2-40; third sub-linkage 2-41; second inclined surface 2-41a; fourth sub-linkage 2-42; third vertical section 2-42a; second horizontal section 2-42b; fourth vertical section 2-42c; fourth reset piece 2-43; third linkage mechanism 2-50; fifth sub-linkage 2-51; sixth sub-linkage 2-52; seventh sub-linkage 2-53; first adapter 2-54; fourth linkage mechanism 2-60; eighth sub-linkage 2-61; second recess 2-61a; sixth inclined surface 2-61b; seventh inclined surface 2-61c; third guide surface 2-61d; fourth guide surface 2-61e; ninth sub-linkage 2-62; tenth sub-linkage 2-63; eighth inclined surface 2-63a; second adapter 2-64; height direction H'; first direction X', second direction Y'; positive direction Y'1, negative direction Y'2. DETAILED DESCRIPTION

[0060] To make the objectives, technical solutions, and advantages of the present application clearer, further detailed description will be made to the present application with reference to the drawings and examples. Obviously, the described examples are only some of the examples of the present application, but not all the examples. All other examples obtained by those skilled in the art based on the examples in the present application shall fall into the scope of protection of the present application.

[0061] In order to solve the problem that the material box carrying robot in the related art occupies a large space, has a slow carrying speed, cannot realize flexible scheduling of the carrying device, and affects the overall goods taking and placing efficiency, since it walks in the lane by moving the chassis, the embodiments of the present application provide a warehouse system, which comprises a plurality of shelves, a track assembly and a carrying device. The track assembly at least comprises a first track and a second track. The first track and the second track are arranged in a height direction of the shelf and are arranged around the outer periphery of the shelf. The first track and the second track can be arranged on the outer periphery of the same shelf or adjacent shelves, so that the carrying device can run between adjacent lanes, realizing flexible scheduling of the carrying device between adjacent lanes.

[0062] The first track and the second track can also be arranged on the outer periphery of a plurality of shelves, so that the carrying device can run between any lanes, realizing flexible scheduling of the carrying device between any lanes. The difference between the two lies in that the extension length of the conversion track of the first track and the second track in the direction perpendicular to the lane is different, and the connection mode between the conversion track and the shelf track can be fixed connection or movable connection.

[0063] As shown in FIG. 1, FIG. 2a and FIG. 2b, the present application provides a warehouse system, which comprises a plurality of shelves 1-20 arranged in a first direction X, a track assembly 1-21 and a carrying device 1-10. Adjacent shelves 1-20 form a lane 1-22. The track assembly 1-21 at least comprises a first track 1-211 and a second track 1-212. The first track 1-211 and the second track 1-212 are arranged in a height direction H of the shelf 1-20 and are arranged around the outer periphery of the shelf 1-20. The first track 1-211 comprises a first longitudinal track 1-2112 arranged between adjacent shelves 1-20 and a first transverse track 1-2111 arranged on the outer side of the shelf 1-20 perpendicular to the first direction X. The second track 1-212 comprises a second longitudinal track 1-2122 arranged between adjacent shelves 1-20 and a second transverse track 1-2121 arranged on the outer side of the shelf 1-20 perpendicular to the first direction X. The first transverse track 1-2111 and the second transverse track 1-2121 are used to switch the lane 1-22. The carrying device 1-10 comprises a column assembly 1-100, a lifting mechanism 1-400, a first driving mechanism 1-200, a second driving mechanism 1-300 and a goods taking mechanism 1-500 arranged on the column assembly 1-100. The lifting mechanism 1-400 is connected with the goods taking mechanism 1-500 and drives the goods taking mechanism 1-500 to move up and down along the column assembly 1-100. The goods taking mechanism 1-500 is used to carry goods at different heights on the shelf 1-20. The first driving mechanism 1-200 and the second driving mechanism 1-300 are used to drive the carrying device 1-10 to walk along the track assembly 1-21 and pass through between two adjacent lanes 1-22, so as to take and place goods on adjacent shelves 1-20.

[0064] The second direction Y is defined as the extension direction of the lane, and the first direction X is a direction intersecting the second direction Y, specifically, as shown in FIG. 1, the first direction X is perpendicular to the second direction Y.

[0065] In the embodiment, the first track 1-211 and the second track 1-212 are arranged around the outer periphery of the shelf 1-20, and the carrying device 1-10 can run on the first track 1-211 and the second track 1-212 to realize position conversion from one side of the shelf 1-20 to the other side, so as to take and place goods on both sides of the shelf 1-20 and goods on adjacent shelves 1-20 on both sides of the shelf 1-20. That is, the carrying device 1-10 can realize track conversion by running along the first track 1-211 and the second track 1-212, so that the number of carrying devices 1-10 can be reduced when the business volume is small, and more carrying devices 1-10 can be deployed in adjacent areas when the business volume is large, thereby improving the carrying efficiency and flexibility.

[0066] The carrying device 1-10 is provided with a goods taking mechanism 1-500 connected with the column assembly 1-100 and a lifting mechanism 1-400, the lifting mechanism 1-400 can drive the goods taking mechanism 1-500 to move up and down along the column assembly 1-100, so as to take and place goods at different heights of the shelf 1-20. The carrying device not only can take and place goods around the shelf 1-20 at any time, but also can take and place goods at any height of the shelf 1-20 at any time, so that the number of carrying devices 1-10 can be further saved when the business volume is small, and the carrying devices 1-10 can be flexibly scheduled.

[0067] The track assembly 1-21 at least includes the first track 1-211 and the second track 1-212, that is, the track assembly 1-21 can only include two tracks of the first track 1-211 and the second track 1-212, the track assembly 1-21 can also include a third track (not shown in the figure), that is, the track assembly 1-21 includes three tracks of the first track 1-211, the second track 1-212 and the third track. The track assembly 1-21 can also include four or more tracks, and each track is arranged at intervals along the height direction of the shelf 1-20. Of course, the track assembly 1-21 can also only include one track, which can be the first track 1-211 or the second track 1-212.

[0068] In some embodiments, the column assembly 1-100 includes a first column 1-101 and a second column 1-102 extending along a height direction H of the shelf 1-20 and spaced apart along a direction perpendicular to the height direction H. The first longitudinal rail 1-2112 and the second longitudinal rail 1-2122 are straight rails, and the first transverse rail 1-2111 and the second transverse rail 1-2121 are curved rails. As shown in FIG. 1, the first transverse rail 1-2111 includes a first body segment 1-2111a and a first transition segment 1-2111b, the first transition segment 1-2111b is arranged between the first body segment 1-2111a and the first longitudinal rail 1-2112, and the first transition segment 1-2111b is used to switch from the first longitudinal rail 1-2112 to the first transverse rail 1-2111 or from the first transverse rail 1-2111 to the first longitudinal rail 1-2112, thereby switching the aisle. The second transverse rail 1-2121 includes a second body segment 1-2121a and a second transition segment 1-2121b, the second transition segment 1-2121b is arranged between the second body segment 1-2121a and the second longitudinal rail 1-2122, and the second transition segment 1-2121b is used to switch from the second longitudinal rail 1-2122 to the second transverse rail 1-2121 or from the second transverse rail 1-2121 to the second longitudinal rail 1-2122, thereby switching the aisle.

[0069] As shown in FIG. 3, the first driving mechanism 1-200 includes a first driving motor 1-201, a first roller 1-202 rotatably connected to the first column 1-101, and a second roller 1-203 rotatably connected to the second column 1-102. The first roller 1-202 and the second roller 1-203 run on the first rail 1-211. At least one of the first roller 1-202 and the second roller 1-203 is connected to the first driving motor 1-201 to drive the first roller 1-202 and the second roller 1-203 to roll along the first rail 1-211 and drive the column assembly 1-100 to move straight or turn. The first driving motor 1-201 can be a stepper motor, a servo motor, or a brushless motor.

[0070] As shown in FIG. 4, the second driving mechanism 1-300 includes a third roller 1-302 rotatably connected to the first column 1-101 and a fourth roller 1-303 rotatably connected to the second column 1-102. The third roller 1-302 and the fourth roller 1-303 run on the second rail 1-212. At least one of the third roller 1-302 and the fourth roller 1-303 is connected to the second driving motor 1-301 to drive the third roller 1-302 and the fourth roller 1-303 to roll along the second rail 1-212 and drive the column assembly 1-100 to move straight or turn. The second driving motor 1-301 can be a stepper motor, a servo motor, or a brushless motor.

[0071] In the embodiment, the column assembly 1-100 includes two columns, i.e., a first column 1-101 and a second column 1-102, facilitating the mounting of the carrying device 1-10 on the column assembly 1-100. The first driving mechanism 1-200 of the carrying device 1-10 includes a first roller 1-202 and a second roller 1-203 arranged on the first column 1-101 and the second column 1-102 respectively, and the carrying device 1-10 can travel along the first track 1-211 through the front and rear rollers, thereby improving the running stability of the carrying device 1-10. In addition, the carrying device 1-10 further includes a second driving mechanism 1-300, and the two driving mechanisms enable the carrying device 1-10 to travel along the upper and lower curved tracks, and the running stability of the carrying device 1-10 can be further improved through the constraint of the two curved tracks.

[0072] The first roller 1-202 and the second roller 1-203 are connected with at least one first driving motor 1-201, i.e., one of the rollers is connected with the first driving motor 1-201 as a driving wheel, and the other is a driven wheel; or both of the rollers are connected with the first driving motor 1-201 as driving wheels. The third roller 1-302 and the fourth roller 1-303 are connected with at least one second driving motor 1-301, i.e., one of the rollers is connected with the second driving motor 1-301 as a driving wheel, and the other is a driven wheel; or both of the rollers are connected with the second driving motor 1-301 as driving wheels. Since the first roller 1-202 and the third roller 1-302 are rotationally connected with the first column 1-101, and the second roller 1-203 and the fourth roller 1-303 are rotationally connected with the second column 1-102, when passing through the turning sections of the first track 1-211 and the second track 1-212, the first roller 1-202 and the third roller 1-302 can rotate by a certain angle relative to the first column 1-101, and the second roller 1-203 and the fourth roller 1-303 can rotate by a certain angle relative to the second column 1-102, thereby enabling the carrying device 1-10 to smoothly turn through the rotation of the rollers relative to the column assembly 1-100 by a certain angle to adapt to the change of the tracks, and the carrying device 1-10 has the advantage of simple structure.

[0073] Optionally, the goods taking mechanism 1-500 comprises a hook-pull assembly 1-501 and a transmission assembly, the hook-pull assembly 1-501 comprises a hook-pull plate (not shown in the figure) which can reciprocate under the control of the driving part to realize the function. Among them, the hook-pull assembly 1-501 can also be replaced by other forms such as lifting, clamping, suction cup, etc. to realize similar functions. As shown in Figure 2a, taking the hook-pull form as an example, the goods taking mechanism 1-500 comprises a hook-pull assembly 1-501, a transmission assembly and a supporting plate 1-502. As shown in Figure 2b, the goods taking device 10 is also provided with a visual sensor or a distance sensor for sensing the distance between the goods and the goods taking mechanism 1-500. The visual sensor or the distance sensor can be installed on the column assembly 1-100 or on the goods taking mechanism 1-500, for example, on the hook-pull assembly 1-501. Among them, the visual sensor can be a camera 1-503.

[0074] In some embodiments, as shown in Figure 3, the first driving mechanism 1-200 comprises a first cross beam 1-204 and first and second supports 1-205 and 1-206 rotatably connected to both ends of the first cross beam 1-204. The first cross beam 1-204 is arranged perpendicular to the first and second columns 1-101 and 1-102, and is fixedly connected to the first and second columns 1-101 and 1-102 at both ends thereof. The first rotation axis 1-220 of the first and second supports 1-205 and 1-206 is parallel to the height direction H of the goods shelf 1-20. The first and second rollers 1-202 and 1-203 are rotatably connected to the first and second supports 1-205 and 1-206, respectively. The second rotation axis 1-230 of the first and second rollers 1-202 and 1-203 is perpendicular to the first rotation axis 1-220, so that the first roller 1-202 is rotatably connected to the first column 1-101 and the second roller 1-203 is rotatably connected to the second column 1-102.

[0075] As shown in FIG. 4, the second driving mechanism 1-300 comprises a second cross beam 1-304 and a third support 1-305 and a fourth support 1-306 rotatably connected to two ends of the second cross beam 1-304, the second cross beam 1-304 is arranged perpendicularly to the first upright column 1-101 and the second upright column 1-102, and two ends of the second cross beam 1-304 are fixedly connected to the first upright column 1-101 and the second upright column 1-102 respectively, the third rotation shaft 1-309 of the first support 1-205 and the second support 1-206 is parallel to the height direction H of the shelf 1-20, the third roller 1-302 is rotatably connected to the third support 1-305, the fourth roller 1-303 is rotatably connected to the fourth support 1-306, and the fourth rotation shaft 1-310 of the third roller 1-302 and the fourth roller 1-303 is perpendicular to the third rotation shaft 1-309, so that the third roller 1-302 is rotatably connected to the first upright column 1-101 and the fourth roller 1-303 is rotatably connected to the second upright column 1-102.

[0076] The first roller 1-202 and the second roller 1-203 are connected to the first cross beam 1-204 through the first support 1-205 and the second support 1-206 respectively, the first cross beam 1-204 is connected to the first upright column 1-101 and the second upright column 1-102, and the first cross beam 1-204 can constrain the first upright column 1-101 and the second upright column 1-102 to become an integral whole. Similarly, the second cross beam 1-304 can also constrain the first upright column 1-101 and the second upright column 1-102 to become an integral whole. The first support 1-205, the second support 1-206 and the first cross beam 1-204 are rotatably connected through the first rotation shaft 1-220, the first cross beam 1-204 is fixed between the first upright column 1-101 and the second upright column 1-102, so that the first roller 1-202 can rotate relative to the first upright column 1-101 and the second roller 1-203 can rotate relative to the second upright column 1-102, so that in the process of turning, the first roller 1-202 and the second roller 1-203 can rotate through a certain angle to adapt to the change of the track; the third support 1-305, the fourth support 1-306 and the second cross beam 1-304 are rotatably connected through the third rotation shaft 1-309, the second cross beam 1-304 is fixed between the first upright column 1-101 and the second upright column 1-102, so that the third roller 1-302 can rotate relative to the first upright column 1-101 and the fourth roller 1-303 can rotate relative to the second upright column 1-102, so that in the process of turning, the third roller 1-302 and the fourth roller 1-303 can also rotate through a certain angle to adapt to the change of the track, so that the carrying device 1-10 can smoothly pass through the curve.

[0077] Optionally, the first support 1-205 includes a first connecting plate 1-2051 and a second connecting plate 1-2052 arranged perpendicularly to each other, the first connecting plate 1-2051 is parallel to the bearing surface of the first track 1-211, the second connecting plate 1-2052 is perpendicular to the bearing surface of the first track 1-211, one end of the first rotating shaft 1-220 is fixedly connected with the first connecting plate 1-2051, and the other end is rotatably connected with the first cross beam 1-204, the first drive motor is arranged outside the second connecting plate 1-2052, the second connecting plate 1-2052 has a through hole, the output shaft of the first drive motor 1-201 passes through the through hole and is connected with the first roller 1-202, and the output shaft of the first drive motor 1-201 is the second rotating shaft 1-230.

[0078] Similarly, the second support 1-206 includes a third connecting plate 1-2061 and a fourth connecting plate 1-2062 arranged perpendicularly to each other, the third connecting plate 1-2061 is parallel to the bearing surface of the first track 1-211, and the fourth connecting plate 1-2062 is perpendicular to the bearing surface of the first track 1-211, the difference between the second support 1-206 and the first support 1-205 is that the first drive motor 1-201 can be arranged on the second support 1-206 or not, if the first drive motor 1-201 is not arranged, the second rotating shaft 1-230 of the second roller 1-203 is rotatably connected in the through hole of the fourth connecting plate 1-2062. One end of the first rotating shaft 1-220 is fixedly connected with the third connecting plate 1-2061, and the other end is rotatably connected with the first cross beam 1-204.

[0079] The third support 1-305 includes a fifth connecting plate 1-3051 and a sixth connecting plate 1-3052 arranged perpendicularly to each other, and the structure of the third support 1-305 is the same as that of the first support 1-205, which will not be described here. The fourth support 1-306 includes a seventh connecting plate 1-3061 and an eighth connecting plate 1-3062 arranged perpendicularly to each other, and the structure of the fourth support 1-306 is the same as that of the second support 1-206, which will not be described here.

[0080] In some embodiments, as shown in FIG. 3, the first driving mechanism 1-200 further comprises a first guide arranged on at least one side of the first roller 1-202, and / or a second guide arranged on at least one side of the second roller 1-203, the first guide and / or the second guide being configured to constrain the running direction of the first roller 1-202 and / or the second roller 1-203 to be parallel to the sidewall of the first track 1-211; as shown in FIG. 4, the second driving mechanism 1-300 further comprises a third guide arranged on at least one side of the third roller 1-302, and / or a fourth guide arranged on at least one side of the fourth roller 1-303, the third guide and / or the fourth guide being configured to constrain the running direction of the third roller 1-302 and / or the fourth roller 1-303 to be parallel to the sidewall of the second track 1-212.

[0081] In order to reduce the direct collision between the carrying device 1-10 and the first track 1-211 and the second track 1-212, and facilitate the turning of the carrying device 1-10, the first driving mechanism 1-200 and the second driving mechanism 1-300 further comprise guides. The guides are configured to constrain the running direction of the rollers to be always parallel to the sidewall of the track, thereby avoiding direct collision with the track during lane changing.

[0082] In some embodiments, the first driving mechanism 1-200 can comprise the first guide alone or the second guide alone, or the first driving mechanism 1-200 comprises both the first guide and the second guide. The second driving mechanism 1-300 can also comprise the third guide alone or the fourth guide alone, or the second driving mechanism 1-300 comprises both the third guide and the fourth guide.

[0083] Optionally, as shown in FIG. 3 and FIG. 4, the first driving mechanism 1-200 comprises a first guide and a second guide, and the second driving mechanism 1-300 comprises a third guide and a fourth guide. The first guide is a first guide wheel 1-207 arranged on at least one side of the first roller 1-202 along the running direction, the outer peripheral wall of the first guide wheel 1-207 is in contact with the inner walls of the two sides of the first track 1-211, the first guide wheel 1-207 is connected with the first support 1-205 through a first rotating shaft 1-207a parallel to the height direction H of the shelf 1-20, and the first guide wheel 1-207 is rotationally connected with the first rotating shaft 1-207a. The second guide is a second guide wheel 1-208 arranged on at least one side of the second roller 1-203 along the running direction, the outer peripheral wall of the second guide wheel 1-208 is in contact with the two side walls of the first track 1-211, the second guide wheel 1-208 is connected with the second support 1-206 through a second rotating shaft 1-208a parallel to the height direction H of the shelf 1-20, and the second guide wheel 1-208 is rotationally connected with the second rotating shaft 1-208a. The third guide is a third guide wheel 1-307 arranged on at least one side of the third roller 1-302 along the running direction, the outer peripheral wall of the third guide wheel 1-307 is in contact with the two side walls of the second track 1-212, the third guide wheel 1-307 is connected with the third support 1-305 through a third rotating shaft 1-307a parallel to the height direction H of the shelf 1-20, and the third guide wheel 1-307 is rotationally connected with the third rotating shaft 1-307a. The fourth guide is a fourth guide wheel 1-308 arranged on at least one side of the fourth roller 1-303 along the running direction, the outer peripheral wall of the fourth guide wheel 1-308 is in contact with the two side walls of the second track 1-212, the fourth guide wheel 1-308 is connected with the fourth support 1-306 through a fourth rotating shaft 1-308a parallel to the height direction H of the shelf 1-20, and the fourth guide wheel 1-308 is rotationally connected with the fourth rotating shaft 1-308a.

[0084] In this embodiment, the first guide wheel 1-207 can be arranged on one side of the running direction of the first roller 1-202, or on both sides, the second guide wheel 1-208 can be arranged on one side of the running direction of the second roller 1-203, or on both sides, the third guide wheel 1-307 can be arranged on one side of the running direction of the third roller 1-302, or on both sides, and the fourth guide wheel 1-308 can be arranged on one side of the running direction of the fourth roller 1-303, or on both sides, as shown in FIG. 3 and FIG. 4.

[0085] When the carrying device 1-10 runs along the first track 1-211 and the second track 1-212, the first driving motor 1-201 drives the first roller 1-202 and the second roller 1-203 to run along the first track 1-211, and the second driving motor 1-301 drives the third roller 1-302 and the fourth roller 1-303 to run along the second track 1-212. The first guide wheel 1-207 and the second guide wheel 1-208 abut against the two side walls of the first track 1-211, which can guide the carrying device 1-10 and avoid the direct collision between the first roller 1-202 and the second roller 1-203 and the first track 1-211 during the turning process. The third guide wheel 1-307 and the fourth guide wheel 1-308 abut against the two side walls of the second track 1-212, which can guide the carrying device 1-10 and avoid the direct collision between the third roller 1-302 and the fourth roller 1-303 and the second track 1-212 during the turning process. At the same time, the rotation of the first guide wheel 1-207 and the second guide wheel 1-208 can avoid the direct friction between the first guide wheel 1-207 and the second guide wheel 1-208 and the two side walls of the first track 1-211, and the rotation of the third guide wheel 1-307 and the fourth guide wheel 1-308 can avoid the direct friction between the third guide wheel 1-307 and the fourth guide wheel 1-308 and the two side walls of the second track 1-212, which can protect the first track 1-211 and the second track 1-212 and the carrying device 1-10 and reduce the running resistance of the carrying device 1-10.

[0086] When the carrying device 1-10 moves straight along the first track 1-211 and the second track 1-212, as shown in FIG. 5, at this time, the running routes of the first roller 1-202 and the second roller 1-203 of the first driving mechanism 1-200 are parallel to the first cross beam 1-204, and the running routes of the third roller 1-302 and the fourth roller 1-303 of the second driving mechanism 1-300 are parallel to the second cross beam 1-304. When the carrying device 1-10 enters a curve along the first track 1-211 and the second track 1-212, as shown in FIG. 6, at this time, the first roller 1-202 and the second roller 1-203 of the first driving mechanism 1-200 rotate with the first support 1-205 and the second support 1-206 under the guidance of the first guide and / or the second guide, so as to rotate relative to the first cross beam 1-204, and the running routes are changed from being parallel to the first cross beam 1-204 to being at a certain angle with the first cross beam 1-204, so that the first roller 1-202 and the second roller 1-203 adapt to the change of the track direction, complete the direction transformation along the first track 1-211, and thus enter the other side of the shelf 1-20. At the same time, the third roller 1-302 and the fourth roller 1-303 of the second driving mechanism 1-300 rotate with the third support 1-305 and the fourth support 1-306 under the guidance of the third guide and / or the fourth guide, so as to rotate relative to the second cross beam 1-304, and the running routes are changed from being parallel to the second cross beam 1-304 to being at a certain angle with the second cross beam 1-304, so that the third roller 1-302 and the fourth roller 1-303 adapt to the change of the track direction, complete the direction transformation along the second track 1-212, and thus enter the other side of the shelf 1-20.

[0087] Optionally, the first guide and / or the second guide can be a first U-shaped piece, the first U-shaped piece is sleeved on the side wall of one side of the first track 1-211, and in order to reduce the friction between the first guide and / or the second guide and the side wall, the contact surface between the first U-shaped piece and the side wall can be set as rolling contact, such as setting a ball or a roller on the two side walls of the first U-shaped piece. The third guide and / or the fourth guide can be a second U-shaped piece, the second U-shaped piece is sleeved on the side wall of one side of the second track 1-212, and in order to reduce the friction between the guide and the side wall, the contact surface between the U-shaped piece and the side wall can be set as rolling contact, such as setting a ball or a roller on the two side walls of the U-shaped piece.

[0088] In this embodiment, the first guide member can be arranged on one side or both sides of the first roller 1-202 along the running direction of the conveying device 1-10, or arranged on one side or both sides of the first roller 1-202 along a direction perpendicular to the running direction of the conveying device 1-10. The second guide member can be arranged on one side or both sides of the second roller 1-203 along the running direction of the conveying device 1-10, or arranged on one side or both sides of the second roller 1-203 along a direction perpendicular to the running direction of the conveying device 1-10. The third guide member can be arranged on one side or both sides of the third roller 1-302 along the running direction of the conveying device 1-10, or arranged on one side or both sides of the third roller 1-302 along a direction perpendicular to the running direction of the conveying device 1-10. The fourth guide member can be arranged on one side or both sides of the fourth roller 1-303 along the running direction of the conveying device 1-10, or arranged on one side or both sides of the fourth roller 1-303 along a direction perpendicular to the running direction of the conveying device 1-10.

[0089] Optionally, the first guide member, the second guide member, the third guide member and the fourth guide member can be a set of guide wheels arranged on the inner and outer sides of the same side wall, i.e. abutting the inner and outer sides of one of the side walls, so as to constrain the running direction of the conveying device 1-10. The set of guide wheels can be arranged on one side or both sides of the conveying device 1-10 along the running direction, or arranged on one side or both sides of the conveying device 1-10 along a direction perpendicular to the running direction.

[0090] In some embodiments, as shown in FIG. 1, the first track 1-211 is arranged on the upper portion of the shelf 1-20, and the second track 1-212 is arranged on the lower portion of the shelf 1-20. The first track 1-211 and the second track 1-212 are arranged opposite to each other.

[0091] In this embodiment, the first track 1-211 and the second track 1-212 are arranged opposite to each other, which can constrain the conveying device 1-10 in the height direction H, and reduce the risk of up-and-down movement of the conveying device 1-10 during operation.

[0092] In some embodiments, as shown in FIG. 3, FIG. 4 and FIG. 7, the first driving mechanism 1-200 further comprises a first floating piece 1-209 and a second floating piece 1-210, one end of the first floating piece 1-209 is movably connected with the first cross beam 1-204 in the height direction H, such as rolling connection or sliding connection, the other end of the first floating piece 1-209 is rotatably connected with the first support 1-205, the first floating piece 1-209 has a first accommodating groove 1-2091 arranged in the height direction H, the top end of the first accommodating groove 1-2091 is closed, the bottom end of the first accommodating groove 1-2091 is provided with a first opening, the first accommodating groove 1-2091 is provided with a first elastic piece 1-2092, the free end of the first side wall 1-2041 is provided with a first limiting table 1-2041b, the bottom end of the first elastic piece 1-2092 is connected with the first limiting table 1-2041b through the first opening, so that the first elastic piece 1-2092 applies a spring force to the first floating piece 1-209 to press the first track 1-211. One end of the second floating piece 1-210 is movably connected with the first cross beam 1-204 in the height direction H, such as rolling connection or sliding connection, the other end of the second floating piece 1-210 is rotatably connected with the second support 1-206, the second floating piece 1-210 has a second accommodating groove 1-2101 arranged in the height direction H, the top end of the second accommodating groove 1-2101 is closed, the bottom end of the second accommodating groove 1-2101 is provided with a second opening, the second accommodating groove 1-2101 is provided with a second elastic piece 1-2102, the free end of the second side wall 1-2042 is provided with a second limiting table 1-2042b, the bottom end of the second elastic piece 1-2102 is connected with the second limiting table 1-2042b through the second opening, so that the first elastic piece 1-2092 applies a spring force to the second floating piece 1-210 to press the first track 1-211.

[0093] The first support 1-205 is movably connected with the first cross beam 1-204 through the first floating piece 1-209, and the second support 1-206 is movably connected with the first cross beam 1-204 through the second floating piece 1-210, so that the first support 1-205 and the second support 1-206 can be adjusted along the height direction H relative to the first cross beam 1-204, thereby adjusting the first roller 1-202 and the second roller 1-203 connected with the first support 1-205 and the second support 1-206 along the height direction H to adapt to the height change of the first track 1-211 and the second track 1-212. And under the elastic force of the first elastic piece 1-2092 and the second elastic piece 1-2102, the first floating piece 1-209 and the second floating piece 1-210 can press the first support 1-205 and the second support 1-206 upward, so that the first roller 1-202 and the second roller 1-203 always contact the track surface of the first track 1-211, that is, the surface on which the first roller 1-202 and the second roller 1-203 travel. And by adjusting the compression amount of the first elastic piece 1-2092 and the second elastic piece 1-2102, sufficient positive pressure can be obtained to avoid slipping of the first roller 1-202 and the second roller 1-203 during travel.

[0094] Among them, the first elastic piece 1-2092 and the first limiting table 1-2041b can be fixedly connected or simply abutted. The second elastic piece 1-2102 and the second limiting table 1-2042b can be fixedly connected or simply abutted.

[0095] In some embodiments, as shown in FIG. 3 and FIG. 4, the first cross beam 1-204 comprises a first bottom wall 1-2043 perpendicular to the height direction H, and a first side wall 1-2041 and a second side wall 1-2042 connected at both ends of the first bottom wall 1-2043 at a preset angle perpendicular to the height direction H, one of the first side wall 1-2041 and the first floating part 1-209 is provided with a first sliding rail 1-2041a, and the other is provided with a first sliding groove 1-2093 matched with the first sliding rail 1-2041a, the extension direction of the first sliding rail 1-2041a is parallel to the height direction H, one of the second side wall 1-2042 and the second floating part 1-210 is provided with a second sliding rail 1-2042a, and the other is provided with a second sliding groove 1-2103 matched with the second sliding rail 1-2042a, the extension direction of the second sliding rail 1-2042a is parallel to the height direction H, the first limiting table 1-2041b is used for limiting the first floating part 1-209, and the second limiting table 1-2042b is used for limiting the second floating part 1-210. The second cross beam 1-304 comprises a second bottom wall 1-3043 perpendicular to the height direction H, and a third side wall 1-3041 and a fourth side wall 1-3042 connected at both ends of the second bottom wall 1-3043 at a preset angle perpendicular to the height direction H, the end of the third side wall 1-3041 is connected with a first section 1-3041a, and the end of the fourth side wall 1-3042 is connected with a second section 1-3042a, the first section 1-3041a and the second section 1-3042a are parallel to the second bottom wall 1-3043 and respectively located on the extension line of the side of the second bottom wall 1-3043, the third support 1-305 is rotationally connected with the first section 1-3041a, and the fourth support 1-306 is rotationally connected with the second section 1-3042a.

[0096] In the embodiment, the first floating part 1-209 is provided with the first sliding groove 1-2093, the first side wall 1-2041 is provided with the first sliding rail 1-2041a, the second floating part 1-210 is provided with the second sliding groove 1-2103, and the second side wall 1-2042 is provided with the second sliding rail 1-2042a. The first cross beam 1-204 is approximately U-shaped, which facilitates the movable connection of the first floating part 1-209 and the second floating part 1-210 with the first side wall 1-2041 and the second side wall 1-2042, and does not interfere with the first cross beam 1-204 during sliding. The first limiting table 1-2041b at the free end of the first side wall 1-2041 is used for limiting the first floating part 1-209, and the second limiting table 1-2042b at the free end of the second side wall 1-2042 is used for limiting the second floating part 1-210, so as to prevent the first floating part 1-209 and the second floating part 1-210 from being separated from the first side wall 1-2041 and the second side wall 1-2042.

[0097] Optionally, the first floating part 1-209 is perpendicular to the first side wall 1-2041, and the second floating part 1-210 is perpendicular to the second side wall 1-2042, facilitating the rotation connection of the first support 1-205 with the first floating part 1-209 and the rotation connection of the second support 1-206 with the second floating part 1-210.

[0098] The second bottom wall 1-3043 of the second cross beam 1-304 is also substantially U-shaped between the third side wall 1-3041 and the fourth side wall 1-3042, and the first connecting section at the end of the third side wall 1-3041 is perpendicular to the third side wall 1-3041, and the second connecting section at the end of the fourth side wall 1-3042 is perpendicular to the fourth side wall 1-3042, facilitating the connection of the third support 1-305 with the first connecting section and the connection of the fourth support 1-306 with the second connecting section.

[0099] In some embodiments, as shown in FIGS. 8 and 9, the rack 1-20 includes a plurality of third columns 1-20a arranged at intervals along a first direction X and a second direction Y, and the third columns 1-20a are connected by third cross beams 1-20b. The third columns 1-20a are rack columns, and the third cross beams 1-20b are rack cross beams. The first longitudinal track 1-2112 and the second longitudinal track 1-2122 are fixed to the third cross beams 1-20b of the same rack 1-20, and are used for the operation of the carrying device 1-10 and the taking and placing of goods on the racks 1-20 on both sides of the aisle 1-22. The carrying device 1-10 is arranged outside the first track 1-211 and the second track 1-212. The second direction Y is perpendicular to the first direction X and the height direction H.

[0100] It should be understood that the first direction X and the second direction Y in the drawings are only schematic and do not constitute a limitation on the present application.

[0101] In the present embodiment, the first longitudinal track 1-2112 and the second longitudinal track 1-2122 are fixed to the third cross beams 1-20b of the same rack 1-20, for example, can be fixed to the outside of the third cross beams 1-20b, and the first longitudinal track 1-2112 and the third cross beams 1-20b, and the second longitudinal track 1-2122 and the third cross beams 1-20b can be fixedly connected by screws. Adjacent racks 1-20 use the same first track 1-211 and second track 1-212, reducing the number of track settings, so that the spacing between adjacent racks 1-20 can be smaller, thereby improving space utilization. The carrying device 1-10 can enter adjacent aisles 1-22 through the first track 1-211 and the second track 1-212, and the scheduling is more flexible, and the goods on both sides of the aisle 1-22 can be taken and placed. When the business volume is small, the number of carrying devices 1-10 can be saved; when the business volume is large, more robots can be deployed in adjacent aisles 1-22 to improve efficiency and flexibility.

[0102] Please refer to Fig. 1, the first lateral rail 1-2111 and the first longitudinal rail 1-2112 can be an integral rail or a rail formed by separate setting and connection. The second lateral rail 1-2121 and the second longitudinal rail 1-2122 can be an integral rail or a rail formed by separate setting and connection. The first lateral rail 1-2111 and the second lateral rail 1-2121 can be supported by the support frame 1-23, thereby ensuring the strength and reliability of the first rail 1-211 and the second rail 1-212.

[0103] As shown in Fig. 1, each shelf 1-20 generally has a multi-layer structure, each layer can place a plurality of boxes, and the general shelf 1-20 has a single-row or double-row structure, each row has multiple columns along the direction of the aisle 1-22.

[0104] Preferably, the shelf 1-20 has a double-row structure, which can reduce the number of aisles 1-22, thereby improving the space utilization of the warehouse system. The double-row structure applied to the warehouse system of the present application has more obvious advantages. The carrying device 1-10 can run between adjacent aisles 1-22 to take and place goods in the double rows of the same shelf 1-20, and can also take and place goods in one row of the adjacent shelves 1-20 on both sides.

[0105] In other embodiments, the first longitudinal rail 1-2112 and the second longitudinal rail 1-2122 are fixed to the third cross beam 1-20b on the side of the two adjacent shelves 1-20 that are close to each other, for the carrying device 1-10 to run and take and place goods on the shelves 1-20 on both sides of the aisle 1-22. The carrying device 1-10 is arranged on the inner side of the first rail 1-211 and the second rail 1-212.

[0106] The arrangement positions of the first rail 1-211 and the second rail 1-212 in the present embodiment are slightly different from those in the previous embodiment. Instead of being fixed to the third cross beam 1-20b of the same shelf 1-20, a part of each of the first rail 1-211 and the second rail 1-212 is arranged on each of the two adjacent shelves 1-20, and on the third cross beam 1-20b on the side of the two adjacent shelves 1-20 that are close to each other. Moreover, due to the different arrangement positions of the first rail 1-211 and the second rail 1-212, the arrangement position of the carrying device 1-10 is also different from that in the previous embodiment. In the previous embodiment, the carrying device 1-10 is arranged on the outer side of the first rail 1-211 and the second rail 1-212. In the present embodiment, the carrying device 1-10 is arranged on the inner side of the first rail 1-211 and the second rail 1-212. Both of the two ways can reasonably utilize the space of the aisle 1-22.

[0107] In order to enhance the support strength of the shelf 1-20, a support beam 1-20c is further arranged between adjacent third columns 1-20a, as shown in FIG. 8. The support beam 1-20c can be provided with a plurality of support beams 1-20c along the height direction H of the shelf 1-20.

[0108] Whether the first track 1-211 and the second track 1-212 are arranged on the same shelf 1-20 or on adjacent shelves 1-20, the first track 1-211 and the second track 1-212 can be a ring track or a U-shaped track, and the opening direction of the U-shaped track is parallel to the extension direction of the aisle 1-22.

[0109] The ring track mentioned herein refers to a closed track, as shown in FIGS. 9 and 10. The U-shaped track refers to a non-closed track with an opening at one end, as shown in FIG. 11. The U-shaped track facilitates the installation and maintenance of the carrying device 1-10. In order to prevent the carrying device 1-10 from sliding out of the opening of the U-shaped track during normal driving, a limiting structure is arranged at the opening.

[0110] In some embodiments, as shown in FIGS. 2a, 2b, 5 and 6, the lifting mechanism 1-400 comprises at least one third driving motor 1-401 and a reduction motor 1-402. The third driving motor 1-401 is fixed to the top end of the first column 1-101 and the second column 1-102, and the third driving motor 1-401 and the reduction motor 1-402 are connected. The top end of the first column 1-101 is provided with a first driven wheel 1-403, and the bottom end of the first column 1-101 is provided with a second driven wheel 1-404. The first driven wheel 1-403 and the second driven wheel 1-404 are synchronous wheels or sprockets. A first synchronous belt 1-405 or a first chain is sleeved on the first driven wheel 1-403 and the second driven wheel 1-404, and the first synchronous belt 1-405 or the first chain is fixedly connected with the goods taking mechanism 1-500. The top end of the second column 1-102 is provided with a third driven wheel 1-406, and the bottom end of the second column 1-102 is provided with a fourth driven wheel 1-407. The third driven wheel 1-406 and the fourth driven wheel 1-407 are synchronous wheels or sprockets. A second synchronous belt 1-408 or a second chain is sleeved on the third driven wheel 1-406 and the fourth driven wheel 1-407, and the second synchronous belt 1-408 or the second chain is fixedly connected with the goods taking mechanism 1-500. The first driven wheel 1-403 and the third driven wheel 1-406 are respectively connected with the output shaft of one reduction motor 1-402, or the first driven wheel 1-403 is connected with the output shaft of the reduction motor 1-402, and the third driven wheel 1-406 is connected with the first driven wheel 1-403 through a shaft coupling 1-409.

[0111] The third driving motor 1-401 and the reduction motor 1-402 drive the first driven wheel 1-403 and the third driven wheel 1-406 to rotate, which can drive the synchronous belt or chain to move up and down, thereby driving the goods taking mechanism 1-500 to move up and down to reach different heights of the goods shelf 1-20 to take or place goods. The first driven wheel 1-403 and the third driven wheel 1-406 can share a set of third driving motor 1-401 and reduction motor 1-402, or can use a set of third driving motor 1-401 and reduction motor 1-402 respectively.

[0112] Of course, the form of the lifting mechanism 1-400 is not limited to the driven wheel and the synchronous belt, the sprocket and the chain, but also can be a gear rack.

[0113] In some embodiments, as shown in FIG. 3, the first upright 1-101 and / or the second upright 1-102 is provided with a third sliding rail 1-103, and the goods taking mechanism 1-500 is provided with a sliding block 1-504 matched with the third sliding rail 1-103, so that the goods taking mechanism 1-500 moves along a straight line.

[0114] The cooperation between the goods taking mechanism 1-500 and the upright assembly 1-100 through the third sliding rail 1-103 and the sliding block 1-504 can constrain the movement direction of the goods taking mechanism 1-500, so that the goods taking mechanism 1-500 moves along a straight line. As shown in FIG. 12 and FIG. 13, the goods taking mechanism 1-500 includes a supporting plate 1-502 and a connecting side plate 1-505 located on both sides of the supporting plate 1-502, the connecting side plate 1-505 is used to be fixedly connected with the first synchronous belt 1-405 and the second synchronous belt 1-408, for example, by screws 1-506, and the connecting side plate 1-505 is also used to be fixedly connected with the sliding block 1-504, for example, by screws 1-506, and the fixed connection can also be welding, riveting, etc.

[0115] In some embodiments, as shown in FIG. 1 and FIG. 8, the goods shelf 1-20 is provided with a plurality of storage sites 1-213 in the height direction H and the extension direction of the aisle 1-22, the extension direction of the aisle 1-22 is the second direction Y in FIG. 1 and FIG. 8, and the depth of the goods shelf 1-20 is a single storage site 1-213 or double storage sites 1-213. The lowermost storage site 1-213 is provided with a plurality of buffer sites 1-214, and the buffer sites 1-214 are used to temporarily store goods.

[0116] The buffer site 1-214 enables the goods taking mechanism 1-500 to temporarily store goods after completing a sorting and / or storage and retrieval action, and then transfers, sorts and delivers the goods to the destination storage site or sorting site, or even the completed transport site through the connection of the goods transport robot.

[0117] In some embodiments, as shown in FIG. 14, the carrying device 1-10 further comprises a power supply mechanism 1-600 and a battery, the power supply mechanism 1-600 comprises a slide wire 1-601, a brush plate 1-602 connected with a brush block, the first transverse rail 1-2111 comprises a first body segment 1-2111a and a first transition segment 1-2111b, the second transverse rail 1-2121 comprises a second body segment 1-2121a and a second transition segment 1-2121b, the first body segment 1-2111a and the second body segment 1-2121a are straight segments, the first transition segment 1-2111b and the second transition segment 1-2121b are curved segments, the slide wire 1-601 is arranged below the straight segments of the first rail 1-211 and / or the second rail 1-212, the brush plate 1-602 is in sliding connection with the slide wire 1-601, and the brush block is in electrical connection with the battery.

[0118] The slide wire 1-601 is arranged at the straight segments of the first rail 1-211 and / or the second rail 1-212, the brush block is in electrical connection with the battery of the carrying device 1-10, when the carrying device 1-10 is in the straight segments, the brush plate 1-602 is in contact with the slide wire 1-601, for charging the battery of the carrying device 1-10.

[0119] The second aspect of the present application provides a carrying device 1-10, as shown in FIG. 2a and FIG. 3, for driving on a curved track, the carrying device 1-10 comprises a column assembly 1-100 and at least one set of lifting mechanisms 1-400, at least one set of driving mechanisms and at least one set of goods taking mechanisms 1-500 arranged on the column assembly 1-100, the lifting mechanisms 1-400 are connected with the goods taking mechanisms 1-500 and drive the goods taking mechanisms 1-500 to move up and down along the column assembly 1-100, and the goods taking mechanisms 1-500 are used to carry goods at different heights on a goods shelf 1-20. The column assembly 1-100 comprises a first column 1-101 and a second column 1-102 extending along a height direction H of the goods shelf 1-20 and arranged at intervals along a direction perpendicular to the height direction H. The driving mechanisms comprise a first roller 1-202 rotatably connected with the first column 1-101 and a second roller 1-203 rotatably connected with the second column 1-102, the first roller 1-202 and the second roller 1-203 are used to drive on the curved track, and at least one of the first roller 1-202 and the second roller 1-203 is connected with a first driving motor 1-201 to drive the first roller 1-202 and the second roller 1-203 to roll along the curved track and drive the column assembly 1-100 to move straight or turn.

[0120] In the embodiment, the carrying device 1-10 can run on a curved track, and can realize position conversion from one side to the other side of the shelf 1-20, so as to take and place goods on both sides of the shelf 1-20. When the business volume is small, the number of carrying devices 1-10 can be reduced, and when the business volume is large, more carrying devices 1-10 can be deployed in adjacent areas, so that the carrying efficiency and flexibility can be improved. Moreover, the turning of the carrying device 1-10 is realized by the rotation connection of the first roller 1-202 and the first stand 1-101, and the rotation connection of the second roller 1-203 and the second stand 1-102, which is simple in structure and easy to implement. The first roller 1-202 is rotationally connected with the first stand 1-101, and the second roller 1-203 is rotationally connected with the second stand 1-102. When it is necessary to change direction, the first roller 1-202 rotates relative to the first stand 1-101, and the second roller 1-203 rotates relative to the second stand 1-102, so as to adapt to the change of the direction of the track, thereby turning through the curve.

[0121] The third aspect of the present application provides a warehouse system, the first conversion rail 2-2112 and the second conversion rail 2-2122 are through rails arranged corresponding to multiple racks 2-20 along the second direction Y'. The multiple aisles 2-22 on the same side correspond to the same first conversion rail 2-2112 and the second conversion rail 2-2122, which is equivalent to extending the first transverse rail 1-2111 and the second transverse rail 1-2121 of the warehouse system described above. The rail corresponding to one of the racks in the original Figure 1 becomes the rail corresponding to multiple racks in Figure 15. As shown in Figure 15 and Figure 16, the second connecting rail 2-2123 in part C of Figure 15 is in a disconnected state with the second conversion rail 2-2122, and the second connecting rail 2-2123 in part D of Figure 16 is in a connected state with the second conversion rail 2-2122. The warehouse system comprises: racks 2-20, first rails 2-211, and second rails 2-212. Among them, the racks 2-20 are multiple and arranged at intervals, and the aisles 2-22 are formed between adjacent racks 2-20. The first rail 2-211 and the second rail 2-212 are arranged at intervals along the height direction H' of the rack 2-20 and are arranged around the outer periphery of the rack 2-20. The first rail 2-211 includes multiple first rack rails 2-2111 arranged along the first direction X' and located on at least one side of the same rack 2-20, first conversion rails 2-2112 arranged along the second direction Y' and located on at least one side of the rack 2-20, and first connecting rails 2-2113 arranged at least one end of each of the first rack rails 2-2111 or at least one end of each of the first conversion rails 2-2112. The first connecting rail 2-2113 is movably connected with the first rack rail 2-2111 or the first connecting rail 2-2113 is movably connected with the first conversion rail 2-2112, so that the free end of the first connecting rail 2-2113 can be connected with or disconnected from the first conversion rail 2-2112 or the first rack rail 2-2111. The second rail 2-212 includes multiple second rack rails 2-2121 arranged along the first direction X' and located on at least one side of the same rack 2-20, second conversion rails 2-2122 arranged along the second direction Y' and located on at least one side of the rack 2-20, and second connecting rails 2-2123 arranged at least one end of each of the second rack rails 2-2121 or at least one end of each of the second conversion rails 2-2122. The second connecting rail 2-2123 is movably connected with the second rack rail 2-2121 or the second connecting rail 2-2123 is movably connected with the second conversion rail 2-2122, so that the free end of the second connecting rail 2-2123 can be connected with or disconnected from the second conversion rail 2-2122 or the second rack rail 2-2121. Among them, the first direction X' is the extension direction of the aisle 2-22, and the second direction Y' intersects the first direction.

[0122] The first direction X' is defined as the extension direction of the aisle 2-22, and the first direction X' intersects with the second direction Y'. In an embodiment, the second direction Y' is perpendicular to the aisle 2-22. The directions in the drawings are only for illustration and should not be construed as limiting the present application, because the first direction X' can also be defined as the direction perpendicular to the aisle 2-22. Based on the above definition, the first shelf rail 2-2111 is a rail arranged along the extension direction of the aisle 2-22, and the first conversion rail 2-2112 is a rail perpendicular to the extension direction of the aisle 2-22. Similarly, the second shelf rail 2-2121 is a rail arranged along the extension direction of the aisle 2-22, and the second conversion rail 2-2122 is a rail perpendicular to the extension direction of the aisle 2-22. The first shelf rail 2-2111 located on at least one side of the same shelf 2-20 means that it can be located on one side of the same shelf 2-20 or on both sides of the same shelf 2-20. When located on one side of the same shelf 2-20, the first shelf rails 2-2111 of adjacent two shelves 2-20 are located on the same side of the respective shelves 2-20. The second shelf rail 2-2121 located on at least one side of the same shelf 2-20 means that it can be located on one side of the same shelf 2-20 or on both sides of the same shelf 2-20. When located on one side of the same shelf 2-20, the second shelf rails 2-2121 of adjacent two shelves 2-20 are located on the same side of the respective shelves 2-20. At least one end of the first shelf rail 2-2111 or at least one end of the first conversion rail 2-2112 is provided with a first connecting rail 2-2113, that is, the first connecting rail 2-2113 can be arranged at one end of the first shelf rail 2-2111 or at one end of the first conversion rail. At least one end of the second shelf rail 2-2121 or at least one end of the second conversion rail 2-2122 is provided with a second connecting rail 2-2123, that is, the second connecting rail 2-2123 can be arranged at one end of the second shelf rail 2-2121 or at one end of the second conversion rail 2-2122. The embodiments of the present application are described in detail taking the first connecting rail 2-2113 arranged at one end of the first shelf rail 2-2111 and the second connecting rail 2-2123 arranged at one end of the second shelf rail 2-2121 as an example.

[0123] Specifically, at least one end of the first shelf rail 2-2111 is provided with a first connecting rail 2-2113, which is movably connected with the first shelf rail 2-2111. For example, the first connecting rail 2-2113 can be rotatably connected with the first shelf rail 2-2111 through a rotating shaft. The first connecting rail 2-2113 can be connected with the first conversion rail 2-2112 by rotating a certain angle. At least one end of the second shelf rail 2-2121 is provided with a second connecting rail 2-2123, which is movably connected with the second shelf rail 2-2121. For example, the second connecting rail 2-2123 can be rotatably connected with the second shelf rail 2-2121 through a rotating shaft. The second connecting rail 2-2123 can be connected with the second conversion rail 2-2122 by rotating a certain angle. Therefore, the carrying device 2-10 running on the first rail 2-211 and the second rail 2-212 can change lanes by connecting or disconnecting the first connecting rail 2-2113 and the first conversion rail 2-2112, so that the carrying device 2-10 running thereon can successfully run between various aisles 2-22, and the scheduling is more flexible. When the business volume is small, a small number of carrying devices 2-10 can cover the picking and placing requirements; when the business volume is large, more carrying devices 2-10 can be deployed in the required area to improve the carrying efficiency.

[0124] In addition, by arranging two rails up and down, the carrying device 2-10 runs on the two rails at the same time. The first rail 2-211 and the second rail 2-212 arranged up and down can constrain the carrying device 2-10, thereby improving the running stability of the carrying device 2-10. The first rail 2-211 and the second rail 2-212 are supported by a plurality of support frames 2-23.

[0125] The warehouse system includes the first rail 2-211 and the second rail 2-212, i.e., the rail assembly in this embodiment can include only the first rail 2-211 and the second rail 2-212. The warehouse system can also include a third rail (not shown in the figure), i.e., the rail assembly in this embodiment includes the first rail 2-211, the second rail 2-212, and the third rail. The rail assembly in this embodiment can also include four or more rails, each of which is arranged at intervals along the height direction H' of the shelf 2-20. Of course, the warehouse system can also include only one rail, which can be the first rail 2-211 or the second rail 2-212.

[0126] Optionally, as shown in FIGS. 17, 18, 19 and 20, the first shelf rail 2-2111, the first conversion rail 2-2112, the second shelf rail 2-2121 and the second conversion rail 2-2122 are straight rails, and the first connecting rail 2-2113 and the second connecting rail 2-2123 are curved rails. The first conversion rail 2-2112 comprises a first bearing surface 2-2112a and first and second side walls 2-2112b and 2-2112c arranged on both sides of the first bearing surface 2-2112a, the first side wall 2-2112b being arranged close to the first connecting rail 2-2113 and having a first opening (not shown in the drawings), and the first shelf rail 2-2111 comprising a first swing member (not shown in the drawings) rotationally connected to the first side wall 2-2112b and configured to open the first opening under rotation of the first connecting rail 2-2113, and a first reset member (not shown in the drawings) arranged between the first swing member and the first side wall 2-2112b and configured to automatically block the first opening. The second conversion rail 2-2122 comprises a second bearing surface 2-2122a and third and fourth side walls 2-2122b and 2-2122c arranged on both sides of the second bearing surface 2-2122a, the third side wall 2-2122b being arranged close to the first connecting rail 2-2113 and having a second opening 2-2122b1, and the second conversion rail 2-2122 comprising a second swing member 2-2122b2 rotationally connected to the third side wall 2-2122b and configured to open the second opening 2-2122b1 under rotation of the second connecting rail 2-2123, and a second reset member (not shown in the drawings) arranged between the second swing member 2-2122b2 and the third side wall 2-2122b and configured to automatically block the second opening 2-2122b1.

[0127] The first side wall 2-2112b has a first opening, and the first side wall 2-2112b comprises a first swing member rotatably connected thereto, wherein the first opening and the first swing member can refer to the second opening 2-2122b1 and the second swing member 2-2122b2 in form. The first swing member can be turned through a certain angle under the push of the first connecting rail 2-2113, so as to open the first opening, so that the first connecting rail 2-2113 can enter the first conversion rail 2-2112 and be connected with the first conversion rail 2-2112 to form a rail changing channel. When the first connecting rail 2-2113 is disconnected with the first conversion rail 2-2112, the first swing member is automatically reset under the action of the first reset member, so as to block the first opening. The second side wall 2-2112c has a second opening 2-2122b1, and the second side wall 2-2112c comprises a second swing member 2-2122b2 rotatably connected thereto. The second swing member 2-2122b2 can be turned through a certain angle under the push of the second connecting rail 2-2123, so as to open the second opening 2-2122b1, so that the second connecting rail 2-2123 can enter the second conversion rail 2-2122 and be connected with the second conversion rail 2-2122 to form a rail changing channel. When the second connecting rail 2-2123 is disconnected with the second conversion rail 2-2122, the second swing member 2-2122b2 is automatically reset under the action of the second reset member, so as to block the second opening 2-2122b1.

[0128] Wherein, the opening and blocking of the first opening do not need to increase the electric control, and can be completed under the action of the first connecting rail 2-2113 and the first reset member. The opening and blocking of the second opening 2-2122b1 do not need to increase the electric control, and can be completed under the action of the second connecting rail 2-2123 and the second reset member, so as to simplify the structure of the first rail 2-211 and the second rail 2-212.

[0129] Optionally, the first reset member can be a reset spring, and the second reset member can also be a reset spring.

[0130] In some embodiments, as shown in FIG. 17, FIG. 18, FIG. 21 and FIG. 22, the warehouse system further comprises a first linkage mechanism 2-30, a second linkage mechanism 2-40 and a carrying device 2-10. One end of the first linkage mechanism 2-30 is connected to the first conversion rail 2-2112, and the other end is connected to the first connecting rail 2-2113. One end of the second linkage mechanism 2-40 is connected to the second conversion rail 2-2122, and the other end is connected to the second connecting rail 2-2123. The carrying device 2-10 travels along the first rail 2-211 and the second rail 2-212. The carrying device 2-10 comprises a control component, a column assembly 2-100, and a first drive mechanism 2-200 and a second drive mechanism 2-300 arranged on the column assembly 2-100. The column assembly 2-100 comprises a first column 2-101 and a second column 2-102 arranged in a vertical direction H' along the height of the shelf 2-20. The first drive mechanism 2-200 comprises a first roller 2-202 rotatably connected to the first column 2-101, a second roller 2-203 rotatably connected to the second column 2-102, and a first telescopic assembly 2-240 electrically connected to the control component. At least one of the first roller 2-202 and the second roller 2-203 is connected to a first drive motor 2-201. The second drive mechanism 2-300 comprises a third roller 2-302 rotatably connected to the first column 2-101, a fourth roller 2-303 rotatably connected to the second column 2-102, and a second telescopic assembly 2-311 electrically connected to the control component. At least one of the third roller 2-302 and the fourth roller 2-303 is connected to a second drive motor 2-301. When the carrying device 2-10 changes lanes from the first direction X' to the second direction Y', the carrying device 2-10 can apply a centrifugal force to the first connecting rail 2-2113 and the second connecting rail 2-2123, so that the first connecting rail 2-2113 rotates relative to the first conversion rail 2-2112, and the second connecting rail 2-2123 rotates relative to the second conversion rail 2-2122, thereby connecting the first connecting rail 2-2113 to the first conversion rail 2-2112 and connecting the second connecting rail 2-2123 to the second conversion rail 2-2122. When the carrying device 2-10 changes lanes from the second direction Y' to the first direction X', under the drive of the control component, the first telescopic assembly 2-240 acts on the first linkage mechanism 2-30 to connect the first connecting rail 2-2113 to the first shelf rail 2-2111, and the second telescopic assembly 2-311 acts on the second linkage mechanism 2-40 to connect the second connecting rail 2-2123 to the first conversion rail 2-2112.

[0131] The first connecting rod mechanism 2-30 and the second connecting rod mechanism 2-40 can support the first connecting rail 2-2113 and the second connecting rail 2-2123. When the carrying device 2-10 changes lanes from the second direction Y' to the first direction X', the first telescopic part 2-2402 is controlled by the control component to act on the first connecting rod mechanism 2-30, the first connecting rod mechanism 2-30 drives the first connecting rail 2-2113 to move towards the first conversion rail 2-2112, pushes the first swing part to open the first opening, so that the first connecting rail 2-2113 is connected with the first conversion rail 2-2112. At the same time, the second telescopic part 2-3112 is controlled by the control component to act on the second connecting rod mechanism 2-40, the second connecting rod mechanism 2-40 drives the second connecting rail 2-2123 to move towards the second conversion rail 2-2122, pushes the second swing part 2-2122b2 to open the second opening 2-2122b1, so that the second connecting rail 2-2123 is connected with the second conversion rail 2-2122. Therefore, the carrying device 2-10 can change lanes to the first conversion rail 2-2112 and the second conversion rail 2-2122 through the first connecting rail 2-2113 and the second connecting rail 2-2123, and change the driving direction. The carrying device 2-10 can also change lanes between different tunnels 2-22 in a similar manner. Therefore, more carrying devices 2-10 can be deployed in areas with high local traffic volume, and fewer carrying devices 2-10 can be deployed in areas with low traffic volume, thereby optimizing the allocation of carrying devices 2-10 and improving carrying efficiency. Because the carrying devices 2-10 can be flexibly deployed according to traffic volume, costs can also be saved.

[0132] In addition, the carrying device 2-10 can complete the rail change by the mechanism provided on the carrying device 2-10 itself during the rail change process, without the need for additional electric control, which is convenient for control and scheduling and is conducive to saving energy consumption.

[0133] As shown in FIG. 21, the column assembly 2-100 includes two columns, i.e., a first column 2-101 and a second column 2-102, which facilitates the mounting of the carrying device 2-10 on the column assembly 2-100. The first driving mechanism 2-200 of the carrying device 2-10 includes a first roller 2-202 and a second roller 2-203 arranged on the first column 2-101 and the second column 2-102 respectively, which can improve the running stability of the carrying device 2-10 by running along the first rail 2-211 through the front and rear rollers. The carrying device 2-10 further includes a second driving mechanism 2-300, and the two driving mechanisms enable the carrying device 2-10 to run on two rails, which can further improve the running stability of the carrying device 2-10 by constraining the carrying device 2-10 through the two rails.

[0134] As shown in FIG. 23 and FIG. 24, the first roller 2-202 and the second roller 2-203 are connected with at least one first driving motor 2-201, that is, one of them is connected with the first driving motor 2-201 as a driving wheel, and the other is a driven wheel; or both of them are connected with the first driving motor 2-201 as driving wheels. The third roller 2-302 and the fourth roller 2-303 are connected with at least one second driving motor 2-301, that is, one of them is connected with the second driving motor 2-301 as a driving wheel, and the other is a driven wheel; or both of them are connected with the second driving motor 2-301 as driving wheels. Since the first roller 2-202 and the third roller 2-302 are rotationally connected with the first vertical column 2-101, and the second roller 2-203 and the fourth roller 2-303 are rotationally connected with the second vertical column 2-102, when passing through the turning of the first track 2-211 and the second track 2-212, the first roller 2-202 and the third roller 2-302 can rotate a certain angle relative to the first vertical column 2-101, and the second roller 2-203 and the fourth roller 2-303 can rotate a certain angle relative to the second vertical column 2-102, which can adapt to the change of the track by rotating a certain angle of the roller relative to the vertical column assembly 2-100, so that the carrying device 2-10 can turn smoothly, and has the advantages of simple structure.

[0135] In some embodiments, as shown in FIG. 17 and FIG. 18, the first linkage mechanism 2-30 includes a first sub-linkage 2-31 and a second sub-linkage 2-32, the first sub-linkage 2-31 is rotationally connected with the first conversion track 2-2112, the first sub-linkage 2-31 is rotationally connected with the second sub-linkage 2-32, the second sub-linkage 2-32 is rotationally connected with the first connecting track 2-2113, and a third reset member 2-33 is arranged between the first sub-linkage 2-31 and the second sub-linkage 2-32, so that after the lane changing of the carrying device 2-10 is successful, the first connecting track 2-2113 is automatically reset under the action of the third reset member 2-33. The second linkage mechanism 2-40 includes a third sub-linkage 2-41 and a fourth sub-linkage 2-42, the third sub-linkage 2-41 is rotationally connected with the second conversion track 2-2122, the third sub-linkage 2-41 is rotationally connected with the fourth sub-linkage 2-42, the fourth sub-linkage 2-42 is rotationally connected with the second connecting track 2-2123, and a fourth reset member 2-43 is arranged between the third sub-linkage 2-41 and the fourth sub-linkage 2-42, so that after the lane changing of the carrying device 2-10 is successful, the second connecting track 2-2123 is automatically reset under the action of the fourth reset member 2-43.

[0136] In this embodiment, the first linkage mechanism 2-30 is composed of two sub-linkages, which is a binary linkage. The second linkage mechanism 2-40 is also composed of two sub-linkages, which is also a binary linkage. The first linkage mechanism 2-30 and the second linkage mechanism 2-40 are used to convert rotary motion into linear motion. The length and connection position of the first sub-linkage 2-31 and the second sub-linkage 2-32 determine the shape and mechanical properties of the first linkage mechanism 2-30. The length and connection position of the third sub-linkage 2-41 and the fourth sub-linkage 2-42 determine the shape and mechanical properties of the second linkage mechanism 2-40. Binary linkages are widely used in various mechanical devices, such as engines, transmission systems, rocker arms, cutting machines, elevators, etc. Their main advantages are simplicity, reliability, compact structure, high precision, strong transmission capacity, etc. Binary linkages are particularly suitable for occasions that require a large amount of linear motion output.

[0137] In this embodiment, the first sub-linkage 2-31, the second sub-linkage 2-32, the third sub-linkage 2-41, and the fourth sub-linkage 2-42 can be straight segment linkages, or can be special-shaped linkages or curved segment linkages.

[0138] It can be understood that the first linkage mechanism 2-30 and the second linkage mechanism 2-40 can also be ternary linkages, i.e., composed of three connecting rods. Ternary linkages can also be used in occasions that require more complex motion.

[0139] In some embodiments, as shown in FIG. 23 and FIG. 24, the first telescopic assembly 2-240 includes a first driving member 2-2401 and a first telescopic member 2-2402 connected with the first driving member 2-2401, the telescopic direction of the first telescopic member 2-2402 is parallel to the width direction of the first track 2-211, the second telescopic assembly 2-311 includes a second driving member 2-3111 and a second telescopic member 2-3112 connected with the second driving member 2-3111, the telescopic direction of the second telescopic member 2-3112 is parallel to the width direction of the second track 2-212. One end of the first sub-linkage 2-31 close to the first conversion track 2-2112 has a first inclined surface 2-31a, when the carrying device 2-10 moves in the positive direction Y’1 of the second direction Y’ and needs to change lanes, the control component controls the first driving member 2-2401 to drive the first telescopic member 2-2402 to cooperate with the first inclined surface 2-31a, and makes the first sub-linkage 2-31 rotate clockwise, so that the first connecting track 2-2113 is connected with the first conversion track 2-2112. One end of the third sub-linkage 2-41 close to the second conversion track 2-2122 has a second inclined surface 2-41a, when the carrying device 2-10 moves in the positive direction Y’1 of the second direction Y’ and needs to change lanes, the control component controls the second driving member 2-3111 to drive the second telescopic member 2-3112 to cooperate with the second inclined surface 2-41a, and makes the third sub-linkage 2-41 rotate clockwise, so that the second connecting track 2-2123 is connected with the second conversion track 2-2122.

[0140] In this embodiment, when the carrying device 2-10 changes lanes from the second direction Y' to the first direction X', as shown in FIGS. 25 and 26, the change of the second track 2-212 is taken as an example for illustration. The carrying device 2-10 can control the first driving member 2-2401 to work through the control member, the first driving member 2-2401 drives the first telescopic member 2-2402 to extend and act on the first inclined surface 2-31a, thereby driving the first connecting rod mechanism 2-30 to drive the first connecting track 2-2113 to move in the direction close to the first conversion track 2-2112, realizing the automatic closure of the first connecting track 2-2113 and the first shelf track 2-2111; the control member controls the second driving member 2-3111 to work at the same time, the second driving member 2-3111 drives the second telescopic member 2-3112 to extend and act on the second inclined surface 2-41a, thereby driving the second connecting rod mechanism 2-40 to drive the second connecting track 2-2123 to move in the direction close to the second conversion track 2-2122, realizing the automatic closure of the second connecting track 2-2123 and the second conversion track 2-2122. Specifically, the first telescopic member 2-2402 drives the first sub-connecting rod 2-31 to rotate clockwise by cooperating with the first inclined surface 2-31a, and the second telescopic member 2-3112 of the second driving mechanism 2-300 drives the third sub-connecting rod 2-41 to rotate clockwise by cooperating with the second inclined surface 2-41a, thereby automatically closing and connecting the first connecting track 2-2113 and the first conversion track 2-2112, and automatically closing and connecting the second connecting track 2-2123 and the second conversion track 2-2122.

[0141] The first inclined surface 2-31a and the second inclined surface 2-41a are arranged so that the carrying device 2-10 can complete the track change by the cooperation of the first telescopic member 2-2402 with the first connecting rod mechanism 2-30 and the second telescopic member 2-3112 with the second connecting rod mechanism 2-40, and the structure is simple and easy to realize.

[0142] The inclination angles and lengths of the first inclined surface 2-31a and the second inclined surface 2-41a determine the rotation angles of the first sub-connecting rod 2-31 and the second sub-connecting rod 2-32, and therefore the inclination angles and lengths of the first inclined surface 2-31a and the second inclined surface 2-41a can be set according to actual needs.

[0143] The first driving member 2-2401 and the second driving member 2-3111 can be motors or air cylinders.

[0144] The first telescopic member 2-2402 comprises a first connecting rod 2-2402a connected with the first driving member 2-2401 and a first rolling wheel 2-2402b connected with the first connecting rod 2-2402a, the first driving member 2-2401 drives the first connecting rod 2-2402a to extend or retract, the first rolling wheel 2-2402b is rotationally connected with the first connecting rod 2-2402a through an intermediate connecting member, and the cooperation of the first rolling wheel 2-2402b with each inclined surface is conducive to reducing the friction. Similarly, the second telescopic member 2-3112 comprises a second connecting rod 2-3112a connected with the second driving member 2-3111 and a second rolling wheel 2-3112b connected with the second connecting rod 2-3112a, as shown in FIG. 26. Among them, the first connecting rod 2-2402a and the second connecting rod 2-3112a are connected with the second rolling wheel 2-3112b through the vertically arranged connecting plates of each support, i.e., the second connecting plate 2-2052, the fourth connecting plate 2-2062, the sixth connecting plate 2-3052 and the eighth connecting plate 2-3062.

[0145] In some embodiments, as shown in FIGS. 23 and 24, the first driving mechanism 2-200 comprises a first cross beam 2-204 and a first support 2-205 and a second support 2-206 rotatably connected to two ends of the first cross beam 2-204, the first telescopic assembly 2-240 is connected to the first support 2-205, the second telescopic assembly 2-311 is connected to the second support 2-206, the first cross beam 2-204 is arranged perpendicularly to the first upright column 2-101 and the second upright column 2-102, two ends of the first cross beam 2-204 are fixedly connected to the first upright column 2-101 and the second upright column 2-102 respectively, a first rotation axis 2-220 of the first support 2-205 and the second support 2-206 is parallel to the height direction H’ of the shelf 2-20, the first roller 2-202 is rotatably connected to the first support 2-205, the second roller 2-203 is rotatably connected to the second support 2-206, a second rotation axis 2-230 of the first roller 2-202 and the second roller 2-203 is perpendicular to the first rotation axis 2-220, so that the first roller 2-202 is rotatably connected to the first upright column 2-101 and the second roller 2-203 is rotatably connected to the second upright column 2-102. The second driving mechanism 2-300 comprises a second cross beam 2-304 and a third support 2-305 and a fourth support 2-306 rotatably connected to two ends of the second cross beam 2-304, the second cross beam 2-304 is arranged perpendicularly to the first upright column 2-101 and the second upright column 2-102, two ends of the second cross beam 2-304 are fixedly connected to the first upright column 2-101 and the second upright column 2-102 respectively, a third rotation axis 2-309 of the first support 2-205 and the second support 2-206 is parallel to the height direction H’ of the shelf 2-20, the third roller 2-302 is rotatably connected to the third support 2-305, the fourth roller 2-303 is rotatably connected to the fourth support 2-306, a fourth rotation axis 2-310 of the third roller 2-302 and the fourth roller 2-303 is perpendicular to the third rotation axis 2-309, so that the third roller 2-302 is rotatably connected to the first upright column 2-101 and the fourth roller 2-303 is rotatably connected to the second upright column 2-102.

[0146] The first roller 2-202 and the second roller 2-203 are connected with the first cross beam 2-204 through the first support 2-205 and the second support 2-206 respectively, the first cross beam 2-204 is connected with the first vertical column 2-101 and the second vertical column 2-102, the first cross beam 2-204 can constrain the first vertical column 2-101 and the second vertical column 2-102, so that the first vertical column 2-101 and the second vertical column 2-102 become a whole. Similarly, the second cross beam 2-304 can also constrain the first vertical column 2-101 and the second vertical column 2-102, so that the first vertical column 2-101 and the second vertical column 2-102 become a whole. The first support 2-205, the second support 2-206 and the first cross beam 2-204 are rotationally connected through the first rotation shaft 2-220, the first cross beam 2-204 is fixed between the first vertical column 2-101 and the second vertical column 2-102, so that the first roller 2-202 can rotate relative to the first vertical column 2-101, and the second roller 2-203 can rotate relative to the second vertical column 2-102, so that in the process of turning, the first roller 2-202 and the second roller 2-203 can rotate through a certain angle to adapt to the change of the track; the third support 2-305, the fourth support 2-306 and the second cross beam 2-304 are rotationally connected through the third rotation shaft 2-309, the second cross beam 2-304 is fixed between the first vertical column 2-101 and the second vertical column 2-102, so that the third roller 2-302 can rotate relative to the first vertical column 2-101, and the fourth roller 2-303 can rotate relative to the second vertical column 2-102, so that in the process of turning, the third roller 2-302 and the fourth roller 2-303 can also rotate through a certain angle to adapt to the change of the track, so that the carrying device 2-10 can smoothly pass through the curve.

[0147] Optionally, as shown in FIG. 23, the first support 2-205 includes a first connecting plate 2-2051 and a second connecting plate 2-2052 arranged perpendicular to each other, the first connecting plate 2-2051 is parallel to the bearing surface of the first track 2-211, the second connecting plate 2-2052 is perpendicular to the bearing surface of the first track 2-211, the first driving member 2-2401 is installed on the outer side of the second connecting plate 2-2052, and the first telescopic member 2-2402 extends and retracts through the second connecting plate 2-2052 in a direction parallel to the bearing surface of the first track 2-211. One end of the first rotation shaft 2-220 is fixedly connected with the first connecting plate 2-2051, and the other end is rotationally connected with the first cross beam 2-204. The second connecting plate 2-2052 includes a through hole, the output shaft of the first driving motor 2-201 is connected with the first roller 2-202 through the through hole, and the output shaft of the first driving motor 2-201 is the second rotation shaft 2-230.

[0148] Similarly, the second support 2-206 includes a third connecting plate 2-2061 and a fourth connecting plate 2-2062 arranged perpendicularly to each other, the third connecting plate 2-2061 is parallel to the bearing surface of the first track 2-211, and the fourth connecting plate 2-2062 is perpendicular to the bearing surface of the first track 2-211. The second support 2-206 is different from the first support 2-205 in that the first driving motor 2-201 can be arranged on the second support 2-206 or not. One end of the first rotating shaft 2-220 is fixedly connected with the first connecting plate 2-2051, and the other end is rotatably connected with the first cross beam 2-204.

[0149] As shown in FIG. 24, the third support 2-305 includes a fifth connecting plate 2-3051 and a sixth connecting plate 2-3052 arranged perpendicularly to each other, and the structure of the third support 2-305 is the same as that of the first support 2-205, which will not be described here. The fourth support 2-306 includes a seventh connecting plate 2-3061 and an eighth connecting plate 2-3062 arranged perpendicularly to each other, and the structure of the fourth support 2-306 is the same as that of the second support 2-206, which will not be described here.

[0150] In some embodiments, as shown in FIGS. 23 and 24, the first driving mechanism 2-200 includes a first guide and / or a second guide, and the second driving mechanism 2-300 includes a third guide and / or a fourth guide. The first guide and / or the second guide are in contact with the inner surface of the first outer side wall 2-211a of the first track 2-211 to exert a centrifugal force on the first connecting track 2-2113 when the carrying device 2-10 runs to the first connecting track 2-2113, and the first outer side wall 2-211a is the side wall of the first track 2-211 away from the center of the first connecting track 2-2113. The third guide and / or the fourth guide are in contact with the inner surface of the second outer side wall 2-212a of the second track 2-212 to exert a centrifugal force on the second connecting track 2-2123 when the carrying device 2-10 runs to the second connecting track 2-2123, and the second outer side wall 2-212a is the side wall of the second track 2-212 away from the center of the second connecting track 2-2123.

[0151] In the embodiment, the guide member not only restricts the travel direction of the roller to be always parallel to the side wall of the track, thereby avoiding direct collision with the track during the lane change, but also applies a centrifugal force to the first connecting rail 2-2113 and the second connecting rail 2-2123. That is, when the carrying device changes lanes from the first direction X' to the second direction Y', the first guide member and / or the second guide member can be in contact with the inner surface of the first outer side wall 2-211a of the first track 2-211, thereby applying a centrifugal force to the first outer side wall 2-211a, causing the first connecting rail 2-2113 to rotate and move towards the first conversion rail 2-2112, thereby achieving automatic closure. And the third guide member and / or the fourth guide member can be in contact with the inner surface of the second outer side wall 2-212a of the second track 2-212, thereby applying a centrifugal force to the second outer side wall 2-212a, causing the second connecting rail 2-2123 to rotate and move towards the second conversion rail 2-2122, thereby achieving automatic closure.

[0152] In the embodiment, the guide member not only reduces direct collision between the carrying device 2-10 and the first track 2-211 and the second track 2-212, but also facilitates turning of the carrying device 2-10, and drives the first connecting rail 2-2113 and the first conversion rail 2-2112 to automatically close, and the second connecting rail 2-2123 and the second conversion rail 2-2122 to automatically close when the carrying device 2-10 changes lanes from the first direction X' to the second direction Y'. And through the cooperation of the guide member and the side wall of the track, the first connecting rail 2-2113 and the first conversion rail 2-2112, and the second connecting rail 2-2123 and the second conversion rail 2-2122 are automatically closed. The lane change process relies on the cooperation between pure mechanical components for control, without the need for electric control, which can simplify the probability of errors.

[0153] And the above structure fully considers the inevitability of lane change. Because the first direction X' is the extension direction of the lane 2-22, and the second direction Y' is the direction perpendicular to the extension direction of the lane 2-22, after driving along the first direction X' to the end, unless returning to the original lane, it is necessary to change lanes to enter the next lane 2-22, so there is no need to judge whether to go straight or change lanes.

[0154] When the carrying device 2-10 travels straight along the first track 2-211 and the second track 2-212, as shown in FIG. 27 and FIG. 28, at this time, the travel route of the first roller 2-202 and the second roller 2-203 of the first driving mechanism 2-200 is parallel to the first cross beam 2-204, and the travel route of the third roller 2-302 and the fourth roller 2-303 of the second driving mechanism 2-300 is parallel to the second cross beam 2-304. When the carrying device 2-10 enters a curve along the first track 2-211 and the second track 2-212, as shown in FIG. 27 and FIG. 29, at this time, the first roller 2-202 and the second roller 2-203 of the first driving mechanism 2-200 rotate with the first support 2-205 and the second support 2-206 under the guidance of the first guide and / or the second guide, so as to rotate relative to the first cross beam 2-204, and the travel route changes from being parallel to the first cross beam 2-204 to being at a certain angle with the first cross beam 2-204, so that the first roller 2-202 and the second roller 2-203 adapt to the change of the track direction and complete the direction transformation along the first track 2-211. At the same time, the third roller 2-302 and the fourth roller 2-303 of the second driving mechanism 2-300 rotate with the third support 2-305 and the fourth support 2-306 under the guidance of the third guide and / or the fourth guide, so as to rotate relative to the second cross beam 2-304, and the travel route changes from being parallel to the second cross beam 2-304 to being at a certain angle with the second cross beam 2-304, so that the third roller 2-302 and the fourth roller 2-303 adapt to the change of the track direction and complete the direction transformation along the second track 2-212.

[0155] Optionally, the first driving mechanism 2-200 can separately include the first guide or separately include the second guide, or the first driving mechanism 2-200 simultaneously includes the first guide and the second guide. The second driving mechanism 2-300 can also separately include the third guide or the fourth guide, or the second driving mechanism 2-300 simultaneously includes the third guide and the fourth guide.

[0156] In some embodiments, as shown in FIG. 21 and FIG. 22, the first guide is a first guide wheel 2-207 arranged on both sides of the first roller 2-202, the outer peripheral wall of the first guide wheel 2-207 is in contact with the inner wall on both sides of the first track 2-211, the first guide wheel 2-207 is connected with the first support 2-205 through a first rotating shaft 2-207a parallel to the height direction H' of the shelf 2-20, and the first guide wheel 2-207 is rotationally connected with the first rotating shaft 2-207a. The second guide is a second guide wheel 2-208 arranged on both sides of the second roller 2-203, the outer peripheral wall of the second guide wheel 2-208 is in contact with the inner wall on both sides of the first track 2-211, the second guide wheel 2-208 is connected with the second support 2-206 through a second rotating shaft 2-208a parallel to the height direction H' of the shelf 2-20, and the second guide wheel 2-208 is rotationally connected with the second rotating shaft 2-208a. The third guide is a third guide wheel 2-307 arranged on both sides of the third roller 2-302, the outer peripheral wall of the third guide wheel 2-307 is in contact with the inner wall on both sides of the second track 2-212, the third guide wheel 2-307 is connected with the third support 2-305 through a third rotating shaft 2-307a parallel to the height direction H' of the shelf 2-20, and the third guide wheel 2-307 is rotationally connected with the third rotating shaft 2-307a. The fourth guide is a fourth guide wheel 2-308 arranged on both sides of the fourth roller 2-303, the outer peripheral wall of the fourth guide wheel 2-308 is in contact with the inner wall on both sides of the second track 2-212, the fourth guide wheel 2-308 is connected with the fourth support 2-306 through a fourth rotating shaft 2-308a parallel to the height direction H' of the shelf 2-20, and the fourth guide wheel 2-308 is rotationally connected with the fourth rotating shaft 2-308a.

[0157] In one aspect, when the carrying device 2-10 runs along the first track 2-211 and the second track 2-212, the first driving motor 2-201 drives the first roller 2-202 and the second roller 2-203 to run along the first track 2-211, the second driving motor 2-301 drives the third roller 2-302 and the fourth roller 2-303 to run along the second track 2-212, the first guide wheel 2-207 and the second guide wheel 2-208 abut against the two side walls of the first track 2-211, which can guide the carrying device 2-10 and avoid the first roller 2-202 and the second roller 2-203 from colliding with the first track 2-211 directly during turning. The third guide wheel 2-307 and the fourth guide wheel 2-308 abut against the two side walls of the second track 2-212, which can guide the carrying device 2-10 and avoid the third roller 2-302 and the fourth roller 2-303 from colliding with the second track 2-212 directly during turning. At the same time, the rotation of the first guide wheel 2-207 and the second guide wheel 2-208 can avoid direct friction between the two side walls of the first track 2-211, and the rotation of the third guide wheel 2-307 and the fourth guide wheel 2-308 can avoid direct friction between the two side walls of the second track 2-212, which protects the first track 2-211 and the second track 2-212 and reduces the running resistance of the carrying device 2-10.

[0158] On the other hand, the first guide wheel 2-207 and the second guide wheel 2-208 contact the two side walls of the first track 2-211, and when the carrying device 2-10 passes through the first connecting track 2-2113 and the second connecting track 2-2123 from the first direction X' to the second direction Y', the first connecting track 2-2113 and the second connecting track 2-2123 can be subjected to centrifugal force, so that the first connecting track 2-2113 moves towards the first conversion track 2-2112 to realize automatic closing, and the second connecting track 2-2123 moves towards the second conversion track 2-2122 to realize automatic closing.

[0159] Optionally, the first guide and / or the second guide can be guide rods parallel to the rotation shafts of the first roller 2-202 and the second roller 2-203 and contacting the inner walls of the two sides of the first track 2-211, the guide rod arranged on one side of the first roller 2-202 is arranged in the first support 2-205, and the guide rod arranged on one side of the second roller 2-203 is arranged in the second support 2-206, and the guide rod arranged in the first support 2-205 or the second support 2-206 can rotate synchronously with the support during turning. The portions of the two ends of the guide rod contacting the inner walls of the two sides of the first track 2-211 can be spherical to reduce the contact area with the inner walls.

[0160] In some embodiments, as shown in FIGS. 17, 18, 19 and 20, the warehouse system further comprises a third linkage mechanism 2-50 rotatably connected with the first conversion rail 2-2112 and a fourth linkage mechanism 2-60 rotatably connected with the second conversion rail 2-2122, the third linkage mechanism 2-50 is located between the first sub linkage and the second sub linkage 2-32, and the fourth linkage mechanism 2-60 is located between the third sub linkage 2-41 and the fourth sub linkage 2-42. The third linkage mechanism 2-50 comprises a fifth sub linkage 2-51, a sixth sub linkage 2-52 and a seventh sub linkage 2-53 rotatably connected respectively, the fifth sub linkage 2-51 is rotatably connected with the second side wall 2-2112c, the seventh sub linkage 2-53 is rotatably connected with the second side wall 2-2112c, the connecting point of the fifth sub linkage 2-51 is arranged close to the connecting point of the first sub linkage 2-31, the fifth sub linkage 2-51 is provided with a first recess, the first connecting rail 2-2113 is provided with a first protrusion matched with the first recess, the first conversion rail 2-2112 is provided with a first avoiding part, and the first protrusion is matched or matched with the first recess through the first avoiding part to connect or disconnect the first connecting rail 2-2113 with the first conversion rail 2-2112. The fourth linkage mechanism 2-60 comprises an eighth sub linkage 2-61, a ninth sub linkage 2-62 and a tenth sub linkage 2-63 rotatably connected respectively, the connecting point of the eighth sub linkage 2-61 is arranged close to the connecting point of the third sub linkage 2-41, the eighth sub linkage 2-61 is rotatably connected with the fourth side wall 2-2122c, the tenth sub linkage 2-63 is rotatably connected with the fourth side wall 2-2122c, the eighth sub linkage 2-61 is provided with a second recess 2-61a, the second connecting rail 2-2123 is provided with a second protrusion 2-2123a matched with the second recess 2-61a, the second conversion rail 2-2122 is provided with a second avoiding part 2-2122c1, and the second protrusion 2-2123a is matched or matched with the second recess 2-61a through the second avoiding part 2-2122c1 to connect or disconnect the second connecting rail 2-2123 with the second conversion rail 2-2122.

[0161] In this embodiment, when the conveying device 2-10 needs to change lanes, the first connecting rail 2-2113 is connected with the first conversion rail 2-2112, and the connection between the first connecting rail 2-2113 and the first conversion rail 2-2112 is locked by the cooperation of the first protruding part and the first recessed part, thereby enhancing the connection stability between the first connecting rail 2-2113 and the first shelf rail 2-2111. At the same time, the second connecting rail 2-2123 is connected with the second conversion rail 2-2122, and the connection between the second connecting rail 2-2123 and the second conversion rail 2-2122 is locked by the cooperation of the second protruding part 2-2123a and the second recessed part 2-61a, thereby enhancing the connection stability between the second connecting rail 2-2123 and the second conversion rail 2-2122. The cooperation and disengagement of the first protruding part and the first recessed part can be achieved by the movement of the third linkage mechanism 2-50, and the cooperation and disengagement of the second protruding part 2-2123a and the second recessed part 2-61a can be achieved by the movement of the fourth linkage mechanism 2-60.

[0162] The third linkage mechanism 2-50 and the fourth linkage mechanism 2-60 are both ternary linkages, which can adapt to more complex movements compared to binary linkages.

[0163] The movement of the third linkage mechanism 2-50 can be controlled by a motor or by the cooperation between mechanical structures.

[0164] In some embodiments, the third linkage mechanism 2-50 further includes a first adapter 2-54, one end of the first adapter 2-54 being rotatably connected with the second side wall 2-2112c, and the other end of the first adapter 2-54 being rotatably connected with the fifth sub-linkage 2-51. The fourth linkage mechanism 2-60 further includes a second adapter 2-64, one end of the second adapter 2-64 being rotatably connected with the fourth side wall 2-2122c, and the other end of the second adapter 2-64 being rotatably connected with the eighth sub-linkage 2-61.

[0165] In this embodiment, by providing the first adapter 2-54 and the second adapter 2-64, the width of the fifth sub-linkage 2-51 and the eighth sub-linkage 2-61 can be increased, thereby facilitating the setting of the third inclined surface and the fourth inclined surface, and appropriately increasing the length of the third inclined surface and the fourth inclined surface, and increasing the rotation angle of the fifth sub-linkage 2-51 and the eighth sub-linkage 2-61, thereby smoothly unlocking the cooperation between the first protruding part and the first recessed part, and the cooperation between the second protruding part 2-2123a and the second recessed part 2-61a.

[0166] In some embodiments, as shown in FIG. 19 and FIG. 20, the side of the second side wall 2-2112c away from the first side wall 2-2112b is provided with a first mounting portion, the middle of the fifth sub-connecting rod 2-51 is rotationally connected with one end of the sixth sub-connecting rod 2-52, and the end of the fifth sub-connecting rod 2-51 provided with the first recess portion is rotationally connected with the first mounting portion; the side of the fourth side wall 2-2122c away from the third side wall 2-2122b is provided with a second mounting portion 2-2122c2, the middle of the eighth sub-connecting rod 2-61 is rotationally connected with one end of the ninth sub-connecting rod 2-62, and the end of the eighth sub-connecting rod 2-61 provided with the second recess portion 2-61a is rotationally connected with the second mounting portion 2-2122c2.

[0167] In this embodiment, the end of the fifth sub-connecting rod 2-51 provided with the first recess portion is rotationally connected with the first mounting portion, so that the end of the fifth sub-connecting rod 2-51 provided with the first recess portion cannot be displaced, ensuring the fixity of the position where the first recess portion is located, facilitating the smooth cooperation of the first protruding portion and the first recess portion, and the cooperation is not prone to be unlocked after cooperation, improving the locking effect. Similarly, the end of the eighth sub-connecting rod 2-61 provided with the second recess portion 2-61a is rotationally connected with the second mounting portion 2-2122c2, so that the end of the eighth sub-connecting rod 2-61 provided with the second recess portion 2-61a cannot be displaced, ensuring the fixity of the position where the second recess portion 2-61a is located, facilitating the smooth cooperation of the second protruding portion 2-2123a and the second recess portion 2-61a, and the cooperation is not prone to be unlocked after cooperation, improving the locking effect.

[0168] Further, as shown in FIG. 29, the side of the first recess portion away from the first adapter 2-54 is provided with a first guide surface, and the side close to the first adapter 2-54 is provided with a second guide surface, the first protruding portion is cooperated with the first recess portion through the first guide surface, which can reduce the cooperation difficulty, and the first protruding portion is disengaged from the first recess portion through the second guide surface, which can reduce the disengagement difficulty. Similarly, the side of the second recess portion 2-61a away from the second adapter 2-64 is provided with a third guide surface 2-61d, and the side close to the second adapter 2-64 is provided with a fourth guide surface 2-61e, the second protruding portion 2-2123a is cooperated with the second recess portion 2-61a through the third guide surface 2-61d, which can reduce the cooperation difficulty, and the second protruding portion 2-2123a is disengaged from the second recess portion 2-61a through the fourth guide surface 2-61e, which can reduce the disengagement difficulty.

[0169] In some embodiments, as shown in FIG. 29, the fifth sub-connecting rod 2-51 is sequentially provided with a third inclined surface (not shown in the figure) and a fourth inclined surface (not shown in the figure) connected to each other away from the connecting point position of the fifth sub-connecting rod 2-51, which can be referred to the sixth inclined surface 2-61b and the seventh inclined surface 2-61c of the eighth sub-connecting rod 2-61, after the first connecting rail 2-2113 is connected with the first conversion rail 2-2112, the fourth inclined surface abuts against the free end of the first connecting rail 2-2113, the seventh connecting rod is provided with a fifth inclined surface, the fifth inclined surface is arranged close to the connecting point of the seventh sub-connecting rod 2-53 and the second side wall 2-2112c, the eighth sub-connecting rod 2-61 is sequentially provided with the sixth inclined surface 2-61b and the seventh inclined surface 2-61c connected to each other away from the connecting point position of the eighth sub-connecting rod 2-61, after the second connecting rail 2-2123 is connected with the second conversion rail 2-2122, the seventh inclined surface 2-61c abuts against the free end of the second connecting rail 2-2123, the tenth sub-connecting rod 2-63 is provided with an eighth inclined surface 2-63a, and the eighth inclined surface 2-63a is arranged close to the connecting point of the tenth sub-connecting rod 2-63 and the fourth side wall 2-2122c.

[0170] As shown in FIG. 25 and FIG. 26, the carrying device 2-10 is in the first transition rail 2-2112 and the first connecting rail 2-2113, the second transition rail 2-2122 and the second connecting rail 2-2123, under the action of the first linkage mechanism 2-30 and the second linkage mechanism 2-40, the first connecting rail 2-2113 is connected with the first transition rail 2-2112, and the first protruding part is matched with the first recessed part, the second connecting rail 2-2123 is connected with the second transition rail 2-2122, and the second protruding part 2-2123a is matched with the second recessed part 2-61a, the carrying device 2-10 is straight along the first transition rail 2-2112 and the second transition rail 2-2122, and moves along the positive direction Y'1 of the second direction Y', referring to FIG. 28, the positive direction Y'1 of the second direction Y' is from left to right, the control component controls the first telescopic part 2-2402 at the front end in the advancing direction to extend and match with the third inclined surface, so that the fifth sub-linkage 2-51 rotates counterclockwise, thereby the first protruding part is matched with the first recessed part, and the second telescopic part 2-3112 at the front end in the advancing direction is controlled to extend and match with the sixth inclined surface 2-61b, so that the eighth sub-linkage 2-61 rotates counterclockwise, thereby the second protruding part 2-2123a is matched with the second recessed part 2-61a, the carrying device 2-10 is straight along the first transition rail 2-2112 and the second transition rail 2-2122, and moves along the negative direction Y'2 of the second direction Y', as shown in FIG. 28, the control component controls the first telescopic part 2-2402 at the front end in the advancing direction to extend and match with the fifth inclined surface, so that the seventh sub-linkage 2-53 rotates counterclockwise, thereby the first recessed part is matched with the first protruding part, the control component controls the second telescopic part 2-3112 at the front end in the advancing direction to extend and match with the eighth inclined surface 2-63a, so that the tenth sub-linkage 2-63 rotates counterclockwise, thereby the second protruding part 2-2123a is matched with the second recessed part 2-61a.

[0171] As shown in FIG. 25 and FIG. 26, when the carrying device 2-10 enters the first connecting rail 2-2113 from the first conversion rail 2-2112 and the second connecting rail 2-2123 from the second conversion rail 2-2122, the control component controls the first telescopic part 2-2402 and the second telescopic part 2-3112 at the front end in the advancing direction to extend, and through the first telescopic part 2-2402 acting on the first inclined surface 2-31a of the first linkage mechanism 2-30, drives the first linkage mechanism 2-30 to rotate, so that the first connecting rail 2-2113 and the first conversion rail 2-2112 are connected in a closed manner, and through the second telescopic part 2-3112 acting on the second inclined surface 2-41a of the second linkage mechanism 2-40, drives the second linkage mechanism 2-40 to rotate, so that the second connecting rail 2-2123 and the second conversion rail 2-2122 are connected in a closed manner, and at the same time, the first protruding part cooperates with the first recessed part, and the second protruding part 2-2123a cooperates with the second recessed part 2-61a, so as to maintain the closed state of the rails. Then the carrying device 2-10 smoothly passes through the rail changing area and enters the first shelf rail 2-2111 and the second shelf rail 2-2121 area. The rail changing area refers to the intersection area of the first connecting rail 2-2113 and the first conversion rail 2-2112 and the second connecting rail 2-2123 and the second conversion rail 2-2122. After the carrying device 2-10 successfully changes lanes, the rails remain in a closed state, and when the next carrying device 2-10 needs to straightly pass through the rail changing area along the first conversion rail 2-2112 and the second conversion rail 2-2122, since the rails are still closed at this time, the control component needs to control the first telescopic part 2-2402 and the second telescopic part 2-3112 at the front end in the advancing direction to extend again, and through the first telescopic part 2-2402 acting on the third linkage mechanism 2-50 and the second telescopic part 2-3112 acting on the fourth linkage mechanism 2-60, the cooperation between the first protruding part and the first recessed part and the cooperation between the second protruding part 2-2123a and the second recessed part 2-61a are released. Specifically, it can be divided into two cases: the carrying device 2-10 travels in the positive direction Y'1 of the first conversion rail 2-2112 and the second conversion rail 2-2122 or the carrying device 2-10 travels in the negative direction Y'2 of the first conversion rail 2-2112 and the second conversion rail 2-2122.

[0172] When moving in the positive direction Y'1 of the second direction Y', the control component controls the first telescopic piece 2-2402 located at the front end in the moving direction to extend and cooperate with the third inclined surface, and under the action of the first telescopic piece 2-2402, the fifth sub-connecting rod 2-51 rotates counterclockwise, and the sixth sub-connecting rod 2-52 and the seventh sub-connecting rod 2-53 are driven to rotate, so that the first recess moves away from the first protrusion, thereby releasing the cooperation between the two, and similarly, the second telescopic piece 2-3112 acts on the sixth inclined surface 2-61b to release the cooperation between the second protrusion 2-2123a and the second recess 2-61a. After releasing the cooperation, the first connecting rail 2-2113 is automatically reset to the initial state under the action of the third reset piece 2-33 of the first connecting rod mechanism 2-30, and the second connecting rail 2-2123 is automatically reset to the initial state under the action of the fourth reset piece 2-43 of the second connecting rod mechanism 2-40. The initial state refers to a state in which the first connecting rail 2-2113 is not connected with the first conversion rail 2-2112 and maintains a certain distance from the first conversion rail 2-2112, and a state in which the second connecting rail 2-2123 is not connected with the second conversion rail 2-2122 and maintains a certain distance from the second conversion rail 2-2122, and the distance between the first connecting rail 2-2113 and the first conversion rail 2-2112 and the distance between the second connecting rail 2-2123 and the second conversion rail 2-2122 are preferably not to hinder the normal operation of the carrying device 2-10.

[0173] When moving in the negative direction Y'2 of the second direction Y', as shown in FIG. 14, the control component controls the first telescopic piece 2-2402 located at the front end in the moving direction to extend and cooperate with the fifth inclined surface, and under the action of the first telescopic piece 2-2402, the seventh sub-connecting rod 2-53 rotates counterclockwise, thereby driving the fifth sub-connecting rod 2-51 to move away from the first protrusion, thereby releasing the cooperation between the first recess and the first protrusion, and similarly, the control component controls the second telescopic piece 2-3112 to extend and cooperate with the eighth inclined surface 2-63a, and under the action of the second telescopic piece 2-3112, the tenth sub-connecting rod 2-63 rotates counterclockwise, thereby driving the eighth sub-connecting rod 2-61 to move away from the second protrusion 2-2123a, thereby releasing the cooperation between the second protrusion 2-2123a and the second recess 2-61a. After releasing the cooperation, the first connecting rail 2-2113 is automatically reset to the initial state under the action of the third reset piece 2-33 of the first connecting rod mechanism 2-30, and the second connecting rail 2-2123 is automatically reset to the initial state under the action of the fourth reset piece 2-43 of the second connecting rod mechanism 2-40.

[0174] The carrying device 2-10 is connected to the first conversion rail 2-2112 through the first connecting rail 2-2113 and connected to the second conversion rail 2-2122 through the second connecting rail 2-2123, as shown in FIGS. 18 and 19. Under the action of the first guide and / or the second guide, the first connecting rail 2-2113 is connected to the first conversion rail 2-2112, and the first protruding part is matched with the first recessed part. Under the action of the third guide and / or the fourth guide, the second connecting rail 2-2123 is connected to the second conversion rail 2-2122, and the second protruding part 2-2123a is matched with the second recessed part 2-61a. The control component controls the first telescopic part 2-2402 at the rear end in the advancing direction to extend and match with the fourth inclined surface, and controls the fifth sub-connecting rod 2-51 to rotate counterclockwise, so that the first protruding part is disengaged from the first recessed part. The control component controls the second telescopic part 2-3112 at the rear end in the advancing direction to extend and match with the seventh inclined surface 2-61c, and controls the eighth sub-connecting rod 2-61 to rotate counterclockwise, so that the second protruding part 2-2123a is disengaged from the second recessed part 2-61a.

[0175] In the embodiment, when the carrying device 2-10 runs to the first connecting rail 2-2113 and the second connecting rail 2-2123, the first connecting rail 2-2113 is automatically close to the first conversion rail 2-2112, and the second connecting rail 2-2123 is automatically close to the second conversion rail 2-2122 by the centrifugal force of the first guide and / or the second guide to the first outer side wall 2-211a of the first rail 2-211 and the centrifugal force of the third guide and / or the fourth guide to the second outer side wall 2-212a of the second rail 2-212, and the closed connection of the two is realized. During the connection of the two, the first protruding part is matched with the first recessed part through the first guide surface, and the second protruding part 2-2123a is matched with the second recessed part 2-61a through the third guide surface 2-61d, so as to lock and connect the first connecting rail 2-2113 and the first conversion rail 2-2112 and the second connecting rail 2-2123 and the second conversion rail 2-2122. When the carrying device 2-10 runs to the end of the first connecting rail 2-2113 and the second connecting rail 2-2123, the free end of the first connecting rail 2-2113 is abutted by the fourth inclined surface, and the free end of the second connecting rail 2-2123 is abutted by the seventh inclined surface 2-61c. At this time, the first protruding part is successfully unlocked by controlling the first telescopic part 2-2402 at the rear end in the advancing direction to extend and act on the fourth inclined surface. After unlocking, the first connecting rail 2-2113 is reset to the initial state under the action of the third reset part 2-33, and the second connecting rail 2-2123 is reset to the initial state under the action of the fourth reset part 2-43.

[0176] In the embodiment, the unlocking of the first protruding part and the first recessed part, and the second protruding part 2-2123a and the second recessed part 2-61a is realized through the cooperation of the first telescopic part 2-2402 and the third linkage mechanism 2-50, and the cooperation of the second telescopic part 2-3112 and the fourth linkage mechanism 2-60, without the need to set a special motor to drive the third linkage mechanism 2-50 and the fourth linkage mechanism 2-60. Moreover, the first telescopic part 2-2402 can be used in cooperation with the first linkage mechanism 2-30 and the third linkage mechanism 2-50 at the same time, and the second telescopic part 2-3112 can be used in cooperation with the second linkage mechanism 2-40 and the fourth linkage mechanism 2-60 at the same time, which can further simplify the structure of the carrying device 2-10.

[0177] In some embodiments, as shown in FIG. 17, FIG. 26 and FIG. 28, the height of the first swing part is lower than the height of the first protruding part, and the height of the second swing part 2-2122b2 is lower than the height of the second protruding part 2-2123a. In this way, the first swing part and the second swing part 2-2122b2 can avoid interfering with the first protruding part and the second protruding part 2-2123a in the height direction H’, so that the first swing part and the second swing part 2-2122b2 or the first protruding part and the second protruding part 2-2123a do not need to be made into a special-shaped structure for avoiding interference, which is conducive to simplifying the structure of the first swing part and the second swing part 2-2122b2, and the first protruding part and the second protruding part 2-2123a.

[0178] In some embodiments, as shown in FIG. 23, FIG. 24, FIG. 30a and FIG. 31a, the first driving mechanism 2-200 further comprises a first floating piece 2-209 and a second floating piece 2-210, one end of the first floating piece 2-209 is movably connected with the first cross beam 2-204 in the height direction H', such as sliding connection or rolling connection, the other end of the first floating piece 2-209 is rotatably connected with the first support 2-205, the first floating piece 2-209 has a first accommodating groove 2-2091 arranged in the height direction H', the top end of the first accommodating groove 2-2091 is closed, the bottom end of the first accommodating groove 2-2091 is provided with a first opening, the first accommodating groove 2-2091 is provided with a first elastic piece 2-2092, the free end of the first side wall 2-2112b is provided with a first limiting table 2-2041b, the bottom end of the first elastic piece 2-2092 is connected with the first limiting table 2-2041b through the first opening, so that the first elastic piece 2-2092 applies a elastic force to the first floating piece 2-209 to press the first track 2-211. One end of the second floating piece 2-210 is movably connected with the first cross beam 2-204 in the height direction H', such as sliding connection or rolling connection, the other end of the second floating piece 2-210 is rotatably connected with the second support 2-206, the second floating piece 2-210 has a second accommodating groove 22-101 arranged in the height direction H', the top end of the second accommodating groove 22-101 is closed, the bottom end of the second accommodating groove 22-101 is provided with a second opening 2-2122b1, the second accommodating groove 22-101 is provided with a second elastic piece 22-102, the free end of the second side wall 2-2112c is provided with a second limiting table 2-2042b, the bottom end of the second elastic piece 22-102 is connected with the second limiting table 2-2042b through the second opening 2-2122b1, so that the first elastic piece 2-2092 applies a elastic force to the second floating piece 2-210 to press the first track 2-211.

[0179] As shown in FIG. 23, the first support 2-205 is connected with the first cross beam 2-204 through the first floating part 2-209, and the second support 2-206 is connected with the first cross beam 2-204 through the second floating part 2-210, so that the first support 2-205 and the second support 2-206 can be adjusted along the height direction H' relative to the first cross beam 2-204, so that the first roller 2-202 and the second roller 2-203 connected with the first support 2-205 and the second support 2-206 are adjusted along the height direction H' to adapt to the height change of the first track 2-211 and the second track 2-212. And under the elastic force of the first elastic part 2-2092 and the second elastic part 22-102, the first floating part 2-209 and the second floating part 2-210 can press the first support 2-205 and the second support 2-206 upward, so that the first roller 2-202 and the second roller 2-203 always contact the track surface of the first track 2-211, that is, the surface on which the first roller 2-202 and the second roller 2-203 walk. And by adjusting the compression amount of the first elastic part 2-2092 and the second elastic part 22-102, sufficient positive pressure can be obtained to avoid slipping of the first roller 2-202 and the second roller 2-203 during driving.

[0180] Among them, the first elastic part 2-2092 and the first limiting table 2-2041b can be fixedly connected or simply abutted. The second elastic part 22-102 and the second limiting table 2-2042b can be fixedly connected or simply abutted.

[0181] In some embodiments, as shown in FIG. 23 and FIG. 24, the first cross beam 2-204 comprises a first horizontal part 2-2043 perpendicular to the height direction H' and a first side part 2-2041 and a second side part 2-2042 connected to the two ends of the first horizontal part 2-2043 at a preset angle perpendicular to the height direction H', one of the first side part 2-2041 and the first floating part 2-209 is provided with a first sliding rail 2-2041a, and the other is provided with a first sliding groove 2-2093 matched with the first sliding rail 2-2041a, the extension direction of the first sliding rail 2-2041a is parallel to the height direction H', one of the second side part 2-2042 and the second floating part 2-210 is provided with a second sliding rail 2-2042a, and the other is provided with a second sliding groove 22-103 matched with the second sliding rail 2-2042a, the extension direction of the second sliding rail 2-2042a is parallel to the height direction H', the first limiting table 2-2041b is used for limiting the first floating part 2-209, and the second limiting table 2-2042b is used for limiting the second floating part 2-210. The second cross beam 2-304 comprises a second horizontal part 2-3043 perpendicular to the height direction H' and a third side part 2-3041 and a fourth side part 2-3042 connected to the two ends of the second horizontal part 2-3043 at a preset angle perpendicular to the height direction H', the end of the third side part 2-3041 is connected with a first section 2-3041a, the end of the fourth side part 2-3042 is connected with a second section 2-3042a, the first section 2-3041a and the second section 2-3042a are parallel to the second horizontal part 2-3043 and respectively located on the extension line of the side of the second horizontal part 2-3043, the third support 2-305 is rotationally connected with the first section 2-3041a, and the fourth support 2-306 is rotationally connected with the second section 2-3042a.

[0182] In this embodiment, the first floating part 2-209 is provided with the first sliding groove 2-2093, the first side part 2-2041 is provided with the first sliding rail 2-2041a, the second floating part 2-210 is provided with the second sliding groove 22-103, and the second side part 2-2042 is provided with the second sliding rail 2-2042a. The first cross beam 2-204 is approximately U-shaped, which facilitates the sliding connection of the first floating part 2-209 and the second floating part 2-210 with the first side part 2-2041 and the second side part 2-2042, and does not interfere with the first cross beam 2-204 during sliding. The first limiting table 2-2041b at the free end of the first side part 2-2041 is used for limiting the first floating part 2-209, and the second limiting table 2-2042b at the free end of the second side part 2-2042 is used for limiting the second floating part 2-210, so as to prevent the first floating part 2-209 and the second floating part 2-210 from being separated from the first side part 2-2041 and the second side part 2-2042.

[0183] Optionally, the first floating part 2-209 is perpendicular to the first side part 2-2041, and the second floating part 2-210 is perpendicular to the second side part 2-2042, facilitating the rotational connection of the first support 2-205 with the first floating part 2-209 and the rotational connection of the second support 2-206 with the second floating part 2-210.

[0184] The second transverse part 2-3043 of the second transverse beam 2-304 is also substantially U-shaped between the third side part 2-3041 and the fourth side part 2-3042, and the first section 2-3041a at the end of the third side part 2-3041 is perpendicular to the third side part 2-3041, and the second section 2-3042a at the end of the fourth side part 2-3042 is perpendicular to the fourth side part 2-3042, facilitating the connection of the third support 2-305 with the first section 2-3041a and the connection of the fourth support 2-306 with the second section 2-3042a.

[0185] In some embodiments, as shown in FIG. 30a and FIG. 31a, the conveying device 2-10 further comprises a lifting mechanism 2-400 and a goods taking mechanism 2-500 arranged on the column assembly 2-100, the lifting mechanism 2-400 is connected with the goods taking mechanism 2-500 and drives the goods taking mechanism 2-500 to move up and down along the column assembly 2-100, and the goods taking mechanism 2-500 is used to convey goods at different heights of the goods shelf 2-20. The lifting mechanism 2-400 comprises at least one third driving motor 2-401 and a speed reducer 2-402, the third driving motor 2-401 is fixed to the top end of the first column 2-101 and the second column 2-102, and the third driving motor 2-401 and the speed reducer 2-402 are connected. The top end of the first column 2-101 is provided with a first driven wheel 2-403, and the bottom end of the first column 2-101 is provided with a second driven wheel 2-404, the first driven wheel 2-403 and the second driven wheel 2-404 are synchronous wheels or sprockets, a first synchronous belt 2-405 or a first chain is sleeved on the first driven wheel 2-403 and the second driven wheel 2-404, and the goods taking mechanism 2-500 is fixedly connected with the first synchronous belt 2-405 or the first chain; the top end of the second column 2-102 is provided with a third driven wheel 2-406, and the bottom end of the second column 2-102 is provided with a fourth driven wheel 2-407, the third driven wheel 2-406 and the fourth driven wheel 2-407 are synchronous wheels or sprockets, a second synchronous belt 2-408 or a second chain is sleeved on the third driven wheel 2-406 and the fourth driven wheel 2-407, and the goods taking mechanism 2-500 is fixedly connected with the second synchronous belt 2-408 or the second chain; the first driven wheel 2-403 and the third driven wheel 2-406 are respectively connected with the output shaft of one speed reducer 2-402, or the first driven wheel 2-403 is connected with the output shaft of the speed reducer 2-402, and the third driven wheel 2-406 is connected with the first driven wheel 2-403 through a shaft coupling 2-409.

[0186] By fixing the taking mechanism 2-500 with a synchronous belt or chain, when the third driving motor 2-401 and the reduction motor 2-402 drive the first driven wheel 2-403 and the third driven wheel 2-406 to rotate, the synchronous belt or chain can be driven to move up and down, thereby driving the taking mechanism 2-500 to move up and down to reach different heights of the shelves 2-20 to take and place goods. The first driven wheel 2-403 and the third driven wheel 2-406 can share a set of third driving motor 2-401 and reduction motor 2-402, or can use a set of third driving motor 2-401 and reduction motor 2-402 respectively.

[0187] In this embodiment, the carrying device can run across the aisle 2-22, so that the goods on each shelf 2-20 can be taken and placed at any time, and under the action of the lifting mechanism 2-400, the goods at any height of each shelf 2-20 can also be taken and placed at any time. When the business volume is small, the number of carrying devices 2-10 can be further saved to realize flexible scheduling of the carrying devices 2-10.

[0188] Of course, the form of the lifting mechanism 2-400 is not limited to the driven wheel and the synchronous belt, the sprocket and the chain, but also can be a gear rack, etc.

[0189] Optionally, the taking mechanism 2-500 includes a hooking and pulling assembly 2-501 and a transmission assembly (not shown in the figure), the hooking and pulling assembly 2-501 includes a hooking and pulling plate, which can reciprocate under the control of a driving part to realize the function. Among them, the hooking and pulling assembly 2-501 can also be replaced by other forms such as lifting, clamping, suction cup, etc. to realize similar functions. For example, a hooking and pulling form is shown in FIG. 30a. As shown in FIGS. 30a, 30b and 30c, the taking mechanism 2-500 includes a hooking and pulling assembly 2-501, a transmission assembly and a supporting plate 2-502. As shown in FIG. 30b, the taking device 10 is also provided with a visual sensor or a distance sensor for sensing the distance between the goods and the taking mechanism 2-500. The visual sensor or the distance sensor can be installed on the column assembly 2-100 or on the taking mechanism 2-500, wherein the visual sensor can be a camera 2-503.

[0190] Optionally, as shown in FIGS. 30c and 31b, the first column 2-101 and / or the second column 2-102 are provided with a third sliding rail 2-103, and the taking mechanism 2-500 is provided with a sliding block 2-504 matched with the third sliding rail 2-103, so that the taking mechanism moves along a straight line.

[0191] The third slide rail 2-103 and the slider 2-504 between the goods taking mechanism 2-500 and the column assembly 2-100 cooperate, which can constrain the movement direction of the goods taking mechanism 2-500, so that the goods taking mechanism 2-500 moves linearly. In combination with FIGS. 30a, 30c and 31b, the goods taking mechanism 2-500 includes a supporting plate 2-502 and a connecting side plate 2-505 located on both sides of the supporting plate 2-502, which is used to be fixedly connected with the first synchronous belt 2-405 and the second synchronous belt 2-408, for example, by screws 2-506, and is also used to be fixedly connected with the slider 2-504, for example, by screws 2-506. Of course, the fixed connection can also be welding, riveting, etc.

[0192] In some embodiments, as shown in FIGS. 15 and 16, the goods shelves 2-20 are each provided with a plurality of storage positions 2-213 in the height direction H' and the extension direction of the aisles 2-22, which is the first direction X' in FIGS. 15 and 16. The depth of the goods shelves 2-20 is a single storage position 2-213 or two storage positions 2-213. A plurality of buffer positions 2-214 are arranged below the bottommost storage position 2-213, which are used to temporarily store goods.

[0193] The buffer positions 2-214 enable the goods taking mechanism 2-500 to temporarily store goods after completing a sorting and / or storage and retrieval action, and then transfer, sort and deliver the goods to the target storage position or sorting position or even the completed transport position through the transfer of the goods delivery robot.

[0194] Preferably, the depth of the goods shelves 2-20 is two storage positions 2-213. Since the conveying device 2-10 runs across the aisles 2-22, it can convey two rows of goods of the same goods shelf 2-20, and the adjacent goods shelves 2-20 can share an aisle 2-22, thereby reducing the number of aisles 2-22, increasing the discharge density of the goods shelves 2-20, and further improving the space utilization of the warehouse system.

[0195] In some embodiments, as shown in FIGS. 15-20, the first rail 2-211 is located at the top of the shelf 2-20 and is lower than the height of the highest storage position 2-213, the second rail 2-212 is located at the bottom of the shelf 2-20 and is higher than the height of the buffer position 2-214, and the third slide rail 2-103 extends above the plane of the highest storage position 2-213 and extends below the plane of the buffer position 2-214; the second sub-link 2-32 comprises a first vertical segment 2-32a extending upward, a first horizontal segment 2-32b connected to the first vertical segment 2-32a, and a second vertical segment 2-32c connected to the first horizontal segment 2-32b and extending downward, and the distance between the first vertical segment 2-32a and the second vertical segment 2-32c is greater than the distance between the first upright column 2-101 and the second upright column 2-102; the fourth sub-link 2-42 comprises a third vertical segment 2-42a extending downward, a second horizontal segment 2-42b connected to the third vertical segment 2-42a, and a fourth vertical segment 2-42c connected to the second horizontal segment 2-42b and extending upward, and the distance between the third vertical segment 2-42a and the fourth vertical segment 2-42c is greater than the distance between the first upright column 2-101 and the second upright column 2-102.

[0196] In this embodiment, the third slide rail 2-103 extends above the highest storage position 2-213 and extends below the buffer position 2-214, so that the goods taking mechanism 2-500 can take goods located on the highest storage position 2-213 and the lowest storage position 2-213, and can also take goods located on the buffer position 2-214. The second sub-link 2-32 and the fourth sub-link 2-42 are arranged in the above-mentioned special-shaped structure to avoid the third slide rail 2-103 of the carrying device 2-10 and the upright column assembly 2-100 provided with the third slide rail 2-103, so that the carrying device 2-10 does not interfere with the first link mechanism 2-30 and the second link mechanism 2-40 during passing. In addition, the special-shaped structure of the second sub-link 2-32 also provides sufficient space at the top end of the upright column assembly 2-100 for installing the third driving motor 2-401.

[0197] It can be understood that the first link mechanism 2-30 and the second link mechanism 2-40 can have different structures or the same structure.

[0198] In some embodiments, as shown in FIGS. 15 and 16, the first rail 2-211 and the second rail 2-212 are arranged opposite to each other, the first link mechanism 2-30 and the second link mechanism 2-40 are mirror symmetrical about the middle line of the connecting line between the first rail 2-211 and the second rail 2-212, and the third link mechanism 2-50 and the fourth link mechanism 2-60 are mirror symmetrical about the middle line of the connecting line between the first rail 2-211 and the second rail 2-212.

[0199] The first track 2-211 and the second track 2-212 are arranged oppositely, capable of restricting the handling device 2-10 in the height direction H', reducing the risk of up and down movement of the handling device 2-10 during operation.

[0200] The first connecting rod mechanism 2-30 and the second connecting rod mechanism 2-40 are of the same structure, and the third connecting rod mechanism 2-50 and the fourth connecting rod mechanism 2-60 are of the same structure, capable of simplifying the manufacturing process, and not needing to distinguish the first connecting rod mechanism 2-30 and the second connecting rod mechanism 2-40 during installation, thereby improving the installation efficiency.

[0201] In some embodiments, as shown in FIG. 32 and FIG. 33, FIG. 32 schematically shows the state that the first connecting track 2-2113 is separated from the first conversion track 2-2112, and FIG. 33 schematically shows the state that the first connecting track 2-2113 is connected with the first conversion track 2-2112. As shown in FIG. 35, the shelf 2-20 comprises a plurality of third upright columns 2-20a arranged at intervals along the first direction X' and the second direction Y', and the third upright columns 2-20a are connected through third cross beams 2-20b. The first shelf track 2-2111 and the second shelf track 2-2121 can be fixed to the upper side of the third cross beam 2-20b on the same side of the two adjacent shelves 2-20, for example, fixed to the outer side of the third cross beam 2-20b, and the first shelf track 2-2111 and the third cross beam 2-20b and the second shelf track 2-2121 and the third cross beam 2-20b can be fixed and connected through screws. The first shelf track 2-2111 and the second shelf track 2-2121 are used for the handling device 2-10 to run and take and place the goods on the shelves 2-20 on both sides of the aisle 2-22, and the handling device 2-10 is arranged on the inner side of the first shelf track 2-2111 and the first conversion track 2-2112, and the second shelf track 2-2121 and the second conversion track 2-2122.

[0202] In the embodiment, the first shelf rail 2-2111 and the second shelf rail 2-2121 are arranged on the adjacent shelves 2-20 and on the same side of the third cross beam 2-20b of the adjacent shelves 2-20, for example, can be arranged on the outer side of the third cross beam 2-20b, wherein the same side refers to the left side or the right side in the second direction Y'. The adjacent shelves 2-20 use the same first shelf rail 2-2111 and the first conversion rail 2-2112, the second shelf rail 2-2121 and the second conversion rail 2-2122, which reduces the number of track settings, so that the spacing between the adjacent shelves 2-20 can be smaller, thereby improving the space utilization. Through the connection and disconnection of the first connecting rail 2-2113 and the first conversion rail 2-2112, and the connection and disconnection of the second connecting rail 2-2123 and the second conversion rail 2-2122, the carrying device 2-10 can enter any aisle 2-22, and the scheduling is more flexible, and the shelves 2-20 on both sides of the aisle 2-22 are used for goods taking and placing. When the business volume is small, the number of carrying devices 2-10 can be saved; when the business volume is large, more robots can be deployed in adjacent aisles 2-22 to improve efficiency and flexibility.

[0203] In the embodiment, the first conversion rail 2-2112 and the second conversion rail 2-2122 have no connection relationship with the shelves 2-20, so in order to ensure the support strength of the first conversion rail 2-2112 and the second conversion rail 2-2122, the support frame 2-23 can be used for support, that is, the support frame 2-23 is mainly used for supporting the first conversion rail 2-2112 and the second conversion rail 2-2122.

[0204] In other embodiments, unlike the embodiments of FIGS. 32 and 33, the first shelf rail 2-2111 and the second shelf rail 2-2121 are fixed to the third cross beam 2-20b of the same shelf 2-20, for use by the carrying device 2-10 to run and take and place goods on the shelves 2-20 on both sides of the aisle 2-22, and the carrying device 2-10 is arranged on the outer side of the first shelf rail 2-2111 and the first conversion rail 2-2112, the second shelf rail 2-2121 and the second conversion rail 2-2122.

[0205] The setting positions of the first shelf rail 2-2111 and the second shelf rail 2-2121 in this embodiment are slightly different from those in the previous embodiment, and are not fixed to the outer periphery of the third cross beam 2-20b on the same side of the adjacent shelf 2-20, but are arranged on the same shelf 2-20. Moreover, due to the different setting positions of the shelf rails, the setting position of the carrying device 2-10 is also different from that in the previous embodiment. In the previous embodiment, the carrying device 2-10 is arranged on the outer side of the first shelf rail 2-2111 and the first conversion rail 2-2112, the second shelf rail 2-2121 and the second conversion rail 2-2122, while in this embodiment, the carrying device 2-10 is arranged on the inner side of the first shelf rail 2-2111 and the first conversion rail 2-2112, the second shelf rail 2-2121 and the second conversion rail 2-2122. Both of the two ways can reasonably utilize the space of the aisle 2-22.

[0206] In other embodiments, as shown in FIG. 34, the first conversion rail 2-2112 and the second conversion rail 2-2122 are arranged on one side of the shelf 2-20 only, while in FIGS. 32 and 33, the first conversion rail 2-2112 and the second conversion rail 2-2122 are arranged on both sides of the shelf 2-20.

[0207] In order to strengthen the support strength of the shelf 2-20, a support beam 2-20c is further arranged between adjacent third vertical columns 2-20a, as shown in FIG. 22. The support beam 2-20c can be arranged in multiple along the height direction H' of the shelf 2-20.

[0208] In some embodiments, as shown in FIGS. 36 and 37, the carrying device 2-10 further comprises a power supply mechanism 2-600 and a battery. The power supply mechanism 2-600 comprises a slide wire 2-601, a brush plate 2-602 and a brush block. The brush plate 2-602 is connected with the brush block. The slide wire 2-601 is arranged below the first shelf rail 2-2111 and / or the first conversion rail 2-2112. The brush plate 2-602 is in sliding connection with the slide wire 2-601. The brush block is in electrical connection with the battery. The brush block is in electrical connection with the battery of the carrying device 2-10. When the carrying device 2-10 runs on the first shelf rail 2-2111 and / or the first conversion rail 2-2112, the brush plate 2-602 is in contact with the slide wire 2-601, which is used to charge the battery of the carrying device 2-10.

[0209] In another embodiment, as shown in FIG. 38, the carrying device 2-10 further comprises a third driving member (not shown in the figure) and a fourth driving member 2-24. The third driving member is connected with the rotating shaft of the first connecting rail 2-2113, and is used to drive the rotating shaft of the first connecting rail 2-2113 to rotate. The fourth driving member 2-24 is connected with the rotating shaft of the second connecting rail 2-2123, and is used to drive the rotating shaft of the second connecting rail 2-2123 to rotate.

[0210] The third driving member drives the rotation shaft of the first connecting rail 2-2113 to rotate, so that the first connecting rail 2-2113 is separated from or closed with the first conversion rail 2-2112. The fourth driving member 2-24 drives the rotation shaft of the second connecting rail 2-2123 to rotate, so that the second connecting rail 2-2123 is separated from or closed with the second conversion rail 2-2122. Under the premise that the first connecting rail 2-2113 and the second connecting rail 2-2123 are driven by the driving members, the warehouse system does not need to be provided with the first connecting rod mechanism 2-30, the second connecting rod mechanism 2-40, the third connecting rod mechanism 2-50 and the fourth connecting rod mechanism 2-60, and the structure of the first rail 2-211 and the second rail 2-212 can be simplified.

[0211] The fourth aspect of the present application provides a carrying device 2-10, as shown in FIG. 30a and FIG. 31a, which can change the track running mode. The carrying device 2-10 comprises a control component, a column assembly 2-100, at least one set of lifting mechanism 2-400, at least one set of driving mechanism and at least one set of goods taking mechanism 2-500 arranged on the column assembly 2-100. The lifting mechanism 2-400 is connected with the goods taking mechanism 2-500 and drives the goods taking mechanism 2-500 to move up and down along the column assembly 2-100, and the goods taking mechanism 2-500 is used to carry goods at different heights on the goods shelf 2-20. The column assembly 2-100 comprises a first column 2-101 and a second column 2-102 extending along the height direction H' of the goods shelf 2-20 and arranged at intervals along the vertical direction of the height direction H'; the driving mechanism comprises a first roller 2-202 rotationally connected with the first column 2-101 and a second roller 2-203 rotationally connected with the second column 2-102, and a telescopic assembly electrically connected with the control component; the first roller 2-202 and the second roller 2-203 are used to run between tracks, and at least one of the first roller 2-202 and the second roller 2-203 is connected with a first driving motor 2-201 to drive the first roller 2-202 and the second roller 2-203 to roll and drive the column assembly 2-100 to move straight or turn; wherein the telescopic assembly is used to change the connection state of the track.

[0212] The carrying device 2-10 in the embodiment can adapt to run on the track because the first roller 2-202 and the second roller 2-203 are rotationally connected with the column assembly 2-100, and the telescopic member on the carrying device 2-10 can be used to change the connection state of the track, so the use range of the carrying device 2-10 can be further expanded, which can not only be applied to the ring track or U-shaped track, but also be applied to the track with switchable state, so as to realize the shuttle running between the various aisles 2-22.

[0213] The above merely provides the preferred embodiment of the present application, and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A warehousing system characterized by, The application relates to a warehouse system comprising: a plurality of shelves (1-20) arranged at intervals along a first direction, adjacent shelves (1-20) forming a lane (1-22), the first direction being perpendicular to the height direction of the shelves (1-20); a track assembly (1-21) comprising at least a first track (1-211) and a second track (1-212), the first track (1-211) and the second track (1-212) being arranged at intervals along the height direction of the shelves (1-20) and being arranged around the outer periphery of the shelves (1-20); the first track (1-211) comprises a first longitudinal track (1-2112) arranged between adjacent shelves (1-20) and a first transverse track (1-2111) arranged on the outer side of the shelves (1-20) perpendicular to the first direction, the second track (1-212) comprises a second longitudinal track (1-2122) arranged between adjacent shelves (1-20) and a second transverse track (1-2121) arranged on the outer side of the shelves (1-20) perpendicular to the first direction, the first transverse track (1-2111) and the second transverse track (1-2121) being used for switching lanes (1-22); a carrying device (1-10) comprising a column assembly (1-100) and a lifting mechanism (1-400), a first driving mechanism (1-200), a second driving mechanism (1-300) and a goods taking mechanism (1-500) arranged on the column assembly (1-100), the lifting mechanism (1-400) being connected with the goods taking mechanism (1-500) and driving the goods taking mechanism (1-500) to move up and down along the column assembly (1-100), the goods taking mechanism (1-500) being used for carrying goods at different heights on the shelves (1-20); wherein the first driving mechanism (1-200) and the second driving mechanism (1-300) are used for driving the carrying device (1-10) to travel along the track assembly (1-21) and pass between adjacent two lanes (1-22) to take and place goods on adjacent shelves (1-20).

2. The warehousing system according to claim 1, characterized in that, The column assembly (1-100) comprises a first column (1-101) and a second column (1-102) extending along the height direction of the shelves (1-20) and arranged at intervals perpendicular to the height direction; the first longitudinal track (1-2112) and the second longitudinal track (1-2122) are straight tracks, and the first transverse track (1-2111) and the second transverse track (1-2121) are curved tracks. The first driving mechanism (1-200) comprises a first roller (1-202) rotatably connected with the first upright column (1-101) and a second roller (1-203) rotatably connected with the second upright column (1-102), the first roller (1-202) and the second roller (1-203) run on the first track (1-211), at least one of the first roller (1-202) and the second roller (1-203) is connected with the first driving motor (1-201) to drive the first roller (1-202) and the second roller (1-203) to roll along the first track (1-211) and drive the upright column assembly (1-100) to move straight or turn; The second driving mechanism (1-300) comprises a third roller (1-302) rotatably connected with the first upright column (1-101) and a fourth roller (1-303) rotatably connected with the second upright column (1-102), the third roller (1-302) and the fourth roller (1-303) run on the second track (1-212), at least one of the third roller (1-302) and the fourth roller (1-303) is connected with the second driving motor (1-301) to drive the third roller (1-302) and the fourth roller (1-303) to roll along the second track (1-212) and drive the upright column assembly (1-100) to move straight or turn.

3. The warehousing system according to claim 2, characterized in that, The first driving mechanism (1-200) comprises a first cross beam (1-204) and a first support (1-205) and a second support (1-206) rotatably connected at both ends of the first cross beam (1-204), the first cross beam (1-204) is arranged perpendicularly to the first upright column (1-101) and the second upright column (1-102), both ends of the first cross beam (1-204) are fixedly connected with the first upright column (1-101) and the second upright column (1-102) respectively, the first rotation axis (1-220) of the first support (1-205) and the second support (1-206) is parallel to the height direction of the shelf (1-20), the first roller (1-202) is rotatably connected with the first support (1-205), the second roller (1-203) is rotatably connected with the second support (1-206), the second rotation axis (1-230) of the first roller (1-202) and the second roller (1-203) is perpendicular to the first rotation axis (1-220) to rotatably connect the first roller (1-202) with the first upright column (1-101) and rotatably connect the second roller (1-203) with the second upright column (1-102); The second driving mechanism (1-300) comprises a second cross beam (1-304) and a third support (1-305) and a fourth support (1-306) rotatably connected to two ends of the second cross beam (1-304), the second cross beam (1-304) is arranged perpendicularly to the first column (1-101) and the second column (1-102), two ends of the second cross beam (1-304) are fixedly connected to the first column (1-101) and the second column (1-102) respectively, a third rotation axis (1-309) of the first support (1-205) and the second support (1-206) is parallel to a height direction of the shelf (1-20), the third roller (1-302) is rotatably connected to the third support (1-305), the fourth roller (1-303) is rotatably connected to the fourth support (1-306), and a fourth rotation axis (1-310) of the third roller (1-302) and the fourth roller (1-303) is perpendicular to the third rotation axis (1-309), so that the third roller (1-302) is rotatably connected to the first column (1-101) and the fourth roller (1-303) is rotatably connected to the second column (1-102).

4. The warehousing system according to claim 3, characterized in that, The first driving mechanism (1-200) further comprises a first guide arranged on at least one side of the first roller (1-202) and / or a second guide arranged on at least one side of the second roller, the first guide and / or the second guide are used to constrain the running direction of the first roller (1-202) and the second roller (1-203) to be parallel to the side wall of the first track (1-211); the second driving mechanism (1-300) further comprises a third guide arranged on at least one side of the third roller (1-302) and / or a fourth guide arranged on at least one side of the fourth roller (1-303), the third guide and / or the fourth guide are used to constrain the running direction of the third roller (1-302) and the fourth roller (1-303) to be parallel to the side wall of the second track (1-212).

5. The warehousing system according to claim 4, characterized in that, The first guide is a first guide wheel (1-207) arranged on at least one side of the first roller (1-202) along the running direction of the conveying device, an outer peripheral wall of the first guide wheel (1-207) is fitted with the inner wall on both sides of the first track (1-211), the first guide wheel (1-207) is connected to the first support (1-205) through a first rotation shaft (1-207a) parallel to the height direction of the shelf (1-20), and the first guide wheel (1-207) is rotatably connected to the first rotation shaft (1-207a); The second guide is a second guide wheel (1-208) arranged on at least one side of the second roller (1-203) along the running direction, an outer peripheral wall of the second guide wheel (1-208) abuts against two side walls of the first track (1-211), the second guide wheel (1-208) is connected with the second support (1-206) through a second rotating shaft (1-208a) parallel to the height direction of the shelf (1-20), and the second guide wheel (1-208) is rotationally connected with the second rotating shaft (1-208a); The third guide is a third guide wheel (1-307) arranged on at least one side of the third roller (1-302) along the running direction, an outer peripheral wall of the third guide wheel (1-307) abuts against two side walls of the second track (1-212), the third guide wheel (1-307) is connected with the third support (1-305) through a third rotating shaft (1-307a) parallel to the height direction of the shelf (1-20), and the third guide wheel (1-307) is rotationally connected with the third rotating shaft (1-307a); The fourth guide is a fourth guide wheel (1-308) arranged on at least one side of the fourth roller (1-303) along the running direction, an outer peripheral wall of the fourth guide wheel (1-308) abuts against two side walls of the second track (1-212), the fourth guide wheel (1-308) is connected with the fourth support (1-306) through a fourth rotating shaft (1-308a) parallel to the height direction of the shelf (1-20), and the fourth guide wheel (1-308) is rotationally connected with the fourth rotating shaft (1-308a).

6. The warehousing system according to claim 1, characterized in that, The first track (1-211) is located at an upper portion of the shelf (1-20), the second track (1-212) is located at a lower portion of the shelf (1-20), and the first track (1-211) and the second track (1-212) are oppositely arranged.

7. The warehousing system according to claim 6, characterized in that, The first driving mechanism (1-200) further comprises a first floating piece (1-209) and a second floating piece (1-210), one end of the first floating piece (1-209) is movably connected with the first cross beam (1-204) along the height direction, the other end of the first floating piece (1-209) is rotatably connected with the first support (1-205), the first floating piece (1-209) has a first containing groove (1-2091) arranged along the height direction, the top end of the first containing groove (1-2091) is blocked, the bottom end of the first containing groove (1-2091) is provided with a first opening, the first containing groove (1-2091) is provided with a first elastic piece (1-2092), the free end of the first side wall (1-2041) is provided with a first limiting table (1-2041b), the bottom end of the first elastic piece (1-2092) is connected with the first limiting table (1-2041b) fixed to the first vertical column (1-101) through the first opening, so that the first elastic piece (1-2092) applies a spring force to the first floating piece (1-209) to press the first track (1-211); One end of the second floating piece (1-210) is movably connected with the first cross beam (1-204) along the height direction, the other end of the second floating piece (1-210) is rotatably connected with the second support (1-206), the second floating piece (1-210) has a second containing groove (1-2101) arranged along the height direction, the top end of the second containing groove (1-2101) is blocked, the bottom end of the second containing groove (1-2101) is provided with a second opening, the second containing groove (1-2101) is provided with a second elastic piece (1-2102), the free end of the second side wall is provided with a second limiting table (1-2042b), the bottom end of the second elastic piece (1-2102) is connected with the second limiting table (1-2042b) through the second opening, so that the first elastic piece (1-2092) applies a spring force to the second floating piece (1-210) to press the first track (1-211).

8. The warehousing system according to claim 7, characterized in that, The first cross beam (1-204) comprises a first bottom wall (1-2043) perpendicular to the height direction and a first side wall (1-2041) and a second side wall (1-2042) connected at both ends of the first bottom wall (1-2043) at a preset included angle perpendicular to the height direction, one of the first side wall (1-2041) and the first floating member (1-209) is provided with a first sliding rail (1-2041a), and the other is provided with a first sliding groove (1-2093) matched with the first sliding rail (1-2041a), the extension direction of the first sliding rail (1-2041a) is parallel to the height direction, the second side wall (1-2042) is provided with a second sliding rail (1-2042a) on one of the second floating member (1-210), and the other is provided with a second sliding groove (1-2103) matched with the second sliding rail (1-2042a), the extension direction of the second sliding rail (1-2042a) is parallel to the height direction, the first limiting table (1-2041b) is used for limiting the first floating member (1-209), and the second limiting table (1-2042b) is used for limiting the second floating member (1-210); The second cross beam (1-304) comprises a second bottom wall (1-3043) perpendicular to the height direction and a third side wall (1-3041) and a fourth side wall (1-3042) connected at both ends of the second bottom wall (1-3043) at a preset included angle perpendicular to the height direction, the end of the third side wall (1-3041) is connected with a first section (1-3041a), and the end of the fourth side wall (1-3042) is connected with a second section (1-3042a), the first section (1-3041a) and the second section (1-3042a) are parallel to the second bottom wall (1-3043) and are located on the extension line of the side of the second bottom wall (1-3043) respectively, the third support (1-305) is rotationally connected with the first section (1-3041a), and the fourth support (1-306) is rotationally connected with the second section (1-3042a).

9. The warehousing system according to any one of claims 1-8, characterized in that, The shelf (1-20) comprises a plurality of third upright columns (1-20a) arranged at intervals along the first direction and the second direction, and the third upright columns (1-20a) are connected by third cross beams (1-20b). The first longitudinal track (1-2112) and the second longitudinal track (1-2122) are fixed on the third cross beams (1-20b) of the same shelf (1-20) for the running of the carrying device (1-10) and the taking and placing of goods on the shelves (1-20) on both sides of the aisle (1-22). The carrying device (1-10) is arranged outside the first track (1-211) and the second track (1-212), and the second direction is perpendicular to the first direction and the height direction.

10. The warehousing system according to any one of claims 1-8, characterized in that, The shelf (1-20) comprises a plurality of third upright columns (1-20a) arranged at intervals along the first direction and the second direction, and the third upright columns (1-20a) are connected by third cross beams (1-20b). The first longitudinal track (1-2112) and the second longitudinal track (1-2122) are fixed on the third cross beams (1-20b) of the two shelves (1-20) on the side close to each other for the running of the carrying device (1-10) and the taking and placing of goods on the shelves (1-20) on both sides of the aisle (1-22). The carrying device (1-10) is arranged inside the first track (1-211) and the second track (1-212), and the second direction is perpendicular to the first direction and the height direction.

11. The warehousing system according to any one of claims 1-8, characterized in that, The first track (1-211) and the second track (1-212) are ring tracks or U-shaped tracks, and the opening direction of the U-shaped track is parallel to the extension direction of the aisle (1-22).

12. The warehousing system according to any one of claims 1-8, characterized in that, The lifting mechanism (1-400) comprises at least one third driving motor and a reduction motor (1-402). The third driving motor is fixed on the top end of the first upright column (1-101) and the second upright column (1-102). The third driving motor is connected with the reduction motor (1-402). The top end of the first upright column (1-101) is provided with a first driven wheel (1-403), and the bottom end of the first upright column (1-101) is provided with a second driven wheel (1-404). The first driven wheel (1-403) and the second driven wheel (1-404) are synchronous wheels or chain wheels. A first synchronous belt (1-405) or a first chain is sleeved on the first driven wheel (1-403) and the second driven wheel (1-404). The goods taking mechanism (1-500) is fixedly connected with the first synchronous belt (1-405) or the first chain. The top end of the second upright column (1-102) is provided with a third driven wheel (1-406), and the bottom end of the second upright column (1-102) is provided with a fourth driven wheel (1-407). The third driven wheel (1-406) and the fourth driven wheel (1-407) are synchronous wheels or sprockets. A second synchronous belt (1-408) or a second chain is sleeved on the third driven wheel (1-406) and the fourth driven wheel (1-407). The goods taking mechanism (1-500) is fixedly connected with the second synchronous belt (1-408) or the second chain. The first driven wheel (1-403) and the third driven wheel (1-406) are respectively connected with the output shaft of one of the speed reducer motors (1-402). Alternatively, the first driven wheel (1-403) is connected with the output shaft of the speed reducer motor (1-402), and the third driven wheel (1-406) is connected with the first driven wheel (1-403) through a shaft coupling (1-409).

13. The warehousing system according to claim 12, characterized in that, The first upright column (1-101) and / or the second upright column (1-102) is provided with a third sliding rail (1-103), and the goods taking mechanism (1-500) is provided with a sliding block (1-504) matched with the third sliding rail (1-103), so that the goods taking mechanism (1-500) moves linearly.

14. The warehousing system according to any one of claims 1-8, characterized in that, The goods shelf (1-20) is provided with a plurality of storage positions (1-213) in the height direction and the extension direction of the aisle (1-22). The depth of the goods shelf (1-20) is a single storage position (1-213) or double storage positions (1-213). A plurality of buffer positions (1-214) are arranged below the bottommost storage position (1-213), and the buffer positions (1-214) are used for temporarily storing goods.

15. The warehousing system according to any one of claims 2-8, characterized in that, The conveying device (1-10) further comprises a power supply mechanism (1-600) and a battery. The power supply mechanism (1-600) comprises a slide wire (1-601), a brush plate (1-602) and a brush block. The brush plate (1-602) is connected with the brush block. The first transverse rail (1-2111) comprises a first body segment (1-2111a) and a first transition segment (1-2111b), and the second transverse rail (1-2121) comprises a second body segment (1-2121a) and a second transition segment (1-2121b). The first body segment (1-2111a) and the second body segment (1-2121a) are straight segments, and the first transition segment (1-2111b) and the second transition segment (1-2121b) are curved segments. The slide wire (1-601) is arranged below the straight segments of the first rail (1-211) and / or the second rail (1-212). The brush plate (1-602) is slidingly connected with the slide wire (1-601), and the brush block is electrically connected with the battery.

16. A transport device for travelling on a curved track, characterized in that The carrying device (1-10) comprises a column assembly (1-100) and at least one set of lifting mechanisms (1-400), at least one set of driving mechanisms and at least one set of goods taking mechanisms (1-500) arranged on the column assembly (1-100), the lifting mechanisms (1-400) are connected with the goods taking mechanisms (1-500) and drive the goods taking mechanisms (1-500) to move up and down along the column assembly (1-100), and the goods taking mechanisms (1-500) are used for carrying goods at different heights on the goods shelf (1-20); The column assembly (1-100) comprises a first column (1-101) and a second column (1-102) which extend along the height direction of the goods shelf (1-20) and are arranged at intervals along a direction perpendicular to the height direction; The driving mechanisms comprise a first roller (1-202) rotatably connected with the first column (1-101) and a second roller (1-203) rotatably connected with the second column (1-102), the first roller (1-202) and the second roller (1-203) are used for running on a curve track, and at least one of the first roller (1-202) and the second roller (1-203) is connected with the first driving motor (1-201) to drive the first roller (1-202) and the second roller (1-203) to roll along the curve track and drive the column assembly (1-100) to move straight or turn.

17. A warehousing system characterized by Comprise: A plurality of spaced-apart goods shelves (2-20), and a lane (2-22) formed between adjacent goods shelves (2-20); A first track (2-211) and a second track (2-212), the first track (2-211) and the second track (2-212) are arranged at intervals along the height direction of the goods shelf (2-20) and are arranged around the outer periphery of the goods shelf (2-20); The first track (2-211) comprises a plurality of first shelf tracks (2-2111) arranged along a first direction and located on at least one side of the same goods shelf (2-20), a first conversion track (2-2112) arranged along a second direction and located on at least one side of the goods shelf (2-20), and a first connecting track (2-2113) arranged at at least one end of each first shelf track (2-2111) or at at least one end of each first conversion track (2-2112), the first connecting track (2-2113) is movably connected with the first shelf track (2-2111) or the first conversion track (2-2112), so that the free end of the first connecting track (2-2113) can be connected with or disconnected from the first conversion track (2-2112) or the first shelf track (2-2111). The second track (2-212) comprises a plurality of second shelf tracks (2-2121) arranged along the first direction and located on at least one side of the same shelf (2-20), a second conversion track (2-2122) arranged along the second direction and located on at least one side of the shelf (2-20), and a second connecting track (2-2123) arranged at at least one end of each of the second shelf tracks (2-2121) or at at least one end of each of the second conversion tracks (2-2122), the second connecting track (2-2123) being movably connected with the second shelf track (2-2121) or the second conversion track (2-2122), so that the free end of the second connecting track (2-2123) can be connected with or disconnected from the second conversion track (2-2122) or the second shelf track (2-2121). The first direction is the extension direction of the aisle (2-22), and the second direction intersects the first direction.

18. The warehousing system according to claim 17, characterized in that, The first shelf track (2-2111), the first conversion track (2-2112), the second shelf track (2-2121), and the second conversion track (2-2122) are straight tracks, and the first connecting track (2-2113) and the second connecting track (2-2123) are curved tracks. The first conversion track (2-2112) comprises a first bearing surface (2-2112a) and first and second side walls (2-2112b and 2-2112c) arranged on both sides of the first bearing surface (2-2112a), the first side wall (2-2112b) is arranged close to the first connecting track (2-2113), the first side wall (2-2112b) has a first opening, the first shelf track (2-2111) comprises a first swing member rotatably connected with the first side wall (2-2112b), the first swing member is used to open the first opening under the rotation of the first connecting track (2-2113), and a first reset member is arranged between the first swing member and the first side wall (2-2112b) and used to automatically block the first opening. The second conversion rail (2-2122) comprises a second bearing surface (2-2122a) and a third side wall (2-2122b) and a fourth side wall (2-2122c) arranged on both sides of the second bearing surface (2-2122a), the third side wall (2-2122b) is arranged close to the first connecting rail (2-2113), the third side wall (2-2122b) has a second opening (2-2122b1), the second conversion rail (2-2122) comprises a second swing member (2-2122b2) rotationally connected with the third side wall (2-2122b), the second swing member (2-2122b2) is used to open the second opening (2-2122b1) under the rotation of the second connecting rail (2-2123), and a second reset member is arranged between the second swing member (2-2122b2) and the third side wall (2-2122b) and is used to automatically block the second opening (2-2122b1).

19. The warehousing system according to claim 18, characterized in that, The warehouse system further comprises a first connecting rod mechanism (2-30), a second connecting rod mechanism (2-40) and a carrying device (2-10); One end of the first connecting rod mechanism (2-30) is connected to the first conversion rail (2-2112), and the other end is connected to the first connecting rail (2-2113), one end of the second connecting rod mechanism (2-40) is connected to the second conversion rail (2-2122), and the other end is connected to the second connecting rail (2-2123); The carrying device (2-10) walks along the first rail (2-211) and the second rail (2-212), and the carrying device (2-10) comprises a control component, a column assembly (2-100), and a first driving mechanism (2-200) and a second driving mechanism (2-300) arranged on the column assembly (2-100), the column assembly (2-100) comprises a first column (2-101) and a second column (2-102) extending along the height direction of the shelf (2-20) and arranged in the vertical direction; The first driving mechanism (2-200) comprises a first roller (2-202) rotationally connected with the first column (2-101), a second roller (2-203) rotationally connected with the second column (2-102), and a first telescopic assembly (2-240) electrically connected with the control component, and at least one of the first roller (2-202) and the second roller (2-203) is connected with the first driving motor (2-201); The second driving mechanism (2-300) comprises a third roller (2-302) rotationally connected with the first column (2-101), a fourth roller (2-303) rotationally connected with the second column (2-102), and a second telescopic assembly (2-311) electrically connected with the control component, and at least one of the third roller (2-302) and the fourth roller (2-303) is connected with the second driving motor (2-301); Wherein, when the carrying device (2-10) changes lane from the first direction to the second direction, the carrying device (2-10) can apply centrifugal force to the first connecting rail (2-2113) and the second connecting rail (2-2123), so that the first connecting rail (2-2113) rotates relative to the first conversion rail (2-2112), and the second connecting rail (2-2123) rotates relative to the second conversion rail (2-2122), so that the first connecting rail (2-2113) is connected with the first conversion rail (2-2112), and the second connecting rail (2-2123) is connected with the second conversion rail (2-2122); when the carrying device (2-10) changes lane from the second direction to the first direction, under the driving of the control component, the first telescopic assembly (2-240) acts on the first linkage mechanism (2-30) to make the first connecting rail (2-2113) connected with the first shelf rail (2-2111), and the second telescopic assembly (2-311) acts on the second linkage mechanism (2-40) to make the second connecting rail (2-2123) connected with the first conversion rail (2-2112).

20. The warehousing system of claim 19, wherein, The first linkage mechanism (2-30) comprises a first sub-linkage (2-31) and a second sub-linkage (2-32), the first sub-linkage (2-31) is rotationally connected with the first conversion rail (2-2112), the first sub-linkage (2-31) is rotationally connected with the second sub-linkage (2-32), the second sub-linkage (2-32) is rotationally connected with the first connecting rail (2-2113), and a third reset member (2-33) is arranged between the first sub-linkage (2-31) and the second sub-linkage (2-32) to make the first connecting rail (2-2113) automatically reset under the action of the third reset member (2-33) after the carrying device (2-10) changes lane successfully; The second linkage mechanism (2-40) comprises a third sub-linkage (2-41) and a fourth sub-linkage (2-42), the third sub-linkage (2-41) is rotationally connected with the second conversion rail (2-2122), the third sub-linkage (2-41) is rotationally connected with the fourth sub-linkage (2-42), the fourth sub-linkage (2-42) is rotationally connected with the second connecting rail (2-2123), and a fourth reset member (2-43) is arranged between the third sub-linkage (2-41) and the fourth sub-linkage (2-42) to make the second connecting rail (2-2123) automatically reset under the action of the fourth reset member (2-43) after the carrying device (2-10) changes lane successfully.

21. The warehousing system of claim 20, wherein, The first telescopic assembly (2-240) comprises a first driving member (2-2401) and a first telescopic member (2-2402) connected with the first driving member (2-2401), the telescopic direction of the first telescopic member (2-2402) is parallel to the width direction of the first track (2-211), the second telescopic assembly (2-311) comprises a second driving member (2-3111) and a second telescopic member (2-3112) connected with the second driving member (2-3111), the telescopic direction of the second telescopic member (2-3112) is parallel to the width direction of the second track (2-212); The first sub-connecting rod (2-31) has a first inclined surface (2-31a) at one end close to the first conversion track (2-2112), when the carrying device (2-10) moves along the positive direction (Y'1) of the second direction and needs to change lanes, the control component controls the first driving member (2-2401) to drive the first telescopic member (2-2402) to cooperate with the first inclined surface (2-31a), and makes the first sub-connecting rod (2-31) rotate clockwise, so that the first connecting track (2-2113) is connected with the first conversion track (2-2112); The third sub-connecting rod (2-41) has a second inclined surface (2-41a) at one end close to the second conversion track (2-2122), when the carrying device (2-10) moves along the positive direction (Y'1) of the second direction and needs to change lanes, the control component controls the second driving member (2-3111) to drive the second telescopic member (2-3112) to cooperate with the second inclined surface (2-41a), and makes the third sub-connecting rod (2-41) rotate clockwise, so that the second connecting track (2-2123) is connected with the second conversion track (2-2122).

22. The warehousing system of claim 21, wherein, The first driving mechanism (2-200) comprises a first cross beam (2-204) and first and second supports (2-205 and 2-206) rotatably connected to two ends of the first cross beam (2-204), the first telescopic assembly (2-240) is two in number and is installed on the first and second supports (2-205 and 2-206) respectively, the second telescopic assembly (2-311) is two in number and is installed on the third and fourth supports (2-305 and 2-306), the first cross beam (2-204) is arranged perpendicularly to the first and second upright columns (2-101 and 2-102), the two ends of the first cross beam (2-204) are fixedly connected to the first and second upright columns (2-101 and 2-102) respectively, the first rotation axis (2-220) of the first and second supports (2-205 and 2-206) is parallel to the height direction of the shelf (2-20), the first roller (2-202) is rotatably connected to the first support (2-205), the second roller (2-203) is rotatably connected to the second support (2-206), the second rotation axis (2-230) of the first and second rollers (2-202 and 2-203) is perpendicular to the first rotation axis (2-220), so that the first roller (2-202) is rotatably connected to the first upright column (2-101) and the second roller (2-203) is rotatably connected to the second upright column (2-102); The second driving mechanism (2-300) comprises a second cross beam (2-304) and third and fourth supports (2-305 and 2-306) rotatably connected to two ends of the second cross beam (2-304), the second cross beam (2-304) is arranged perpendicularly to the first and second upright columns (2-101 and 2-102), the two ends of the second cross beam (2-304) are fixedly connected to the first and second upright columns (2-101 and 2-102) respectively, the third rotation axis (2-309) of the first and second supports (2-205 and 2-206) is parallel to the height direction of the shelf (2-20), the third roller (2-302) is rotatably connected to the third support (2-305), the fourth roller (2-303) is rotatably connected to the fourth support (2-306), the fourth rotation axis (2-310) of the third and fourth rollers (2-302 and 2-303) is perpendicular to the third rotation axis (2-309), so that the third roller (2-302) is rotatably connected to the first upright column (2-101) and the fourth roller (2-303) is rotatably connected to the second upright column (2-102).

23. The warehouse system of claim 22, wherein the first driving mechanism (2-200) comprises a first guide and / or a second guide, and the second driving mechanism (2-300) comprises a third guide and / or a fourth guide; the first guide and / or the second guide is in contact with the inner surface of a first outer side wall (2-211a) of the first track (2-211) to apply centrifugal force to the handling device (2-10) when the handling device (2-10) runs to the first connecting track (2-2113), the first outer side wall (2-211a) being a side wall of the first track (2-211) away from the center of the corresponding rack (2-20); the third guide and / or the fourth guide is in contact with the inner surface of a second outer side wall (2-212a) of the second track (2-212) to apply centrifugal force to the handling device (2-10) when the handling device (2-10) runs to the second connecting track (2-2123), the second outer side wall (2-212a) being a side wall of the second track (2-212) away from the center of the corresponding rack (2-20).

24. The warehousing system of claim 23, wherein, the first guide is a first guide wheel (2-207) arranged on both sides of the first roller (2-202), the outer peripheral wall of the first guide wheel (2-207) is fitted to the inner wall on both sides of the first track (2-211), the first guide wheel (2-207) is connected to the first support (2-205) through a first rotating shaft (2-207a) parallel to the height direction of the rack (2-20), and the first guide wheel (2-207) is rotationally connected to the first rotating shaft (2-207a); the second guide is a second guide wheel (2-208) arranged on both sides of the second roller (2-203), the outer peripheral wall of the second guide wheel (2-208) is fitted to the inner wall on both sides of the first track (2-211), the second guide wheel (2-208) is connected to the second support (2-206) through a second rotating shaft (2-208a) parallel to the height direction of the rack (2-20), and the second guide wheel (2-208) is rotationally connected to the second rotating shaft (2-208a); the third guide is a third guide wheel (2-307) arranged on both sides of the third roller (2-302), the outer peripheral wall of the third guide wheel (2-307) is fitted to the inner wall on both sides of the second track (2-212), the third guide wheel (2-307) is connected to the third support (2-305) through a third rotating shaft (2-307a) parallel to the height direction of the rack (2-20), and the third guide wheel (2-307) is rotationally connected to the third rotating shaft (2-307a); The fourth guide is a fourth guide wheel (2-308) arranged on both sides of the fourth roller (2-303), the outer peripheral wall of the fourth guide wheel (2-308) is attached to the inner wall on both sides of the second track (2-212), the fourth guide wheel (2-308) is connected with the fourth support (2-306) through a fourth rotating shaft (2-308a) parallel to the height direction of the shelf (2-20), and the fourth guide wheel (2-308) is rotationally connected with the fourth rotating shaft (2-308a).

25. The warehousing system according to any one of claims 20-24, characterized by, The warehouse system further comprises a third linkage mechanism (2-50) rotationally connected with the first conversion track (2-2112) and a fourth linkage mechanism (2-60) rotationally connected with the second conversion track (2-2122), the third linkage mechanism (2-50) is located between the first sub-linkage and the second sub-linkage (2-32), and the fourth linkage mechanism (2-60) is located between the third sub-linkage (2-41) and the fourth sub-linkage (2-42); The third linkage mechanism (2-50) comprises a fifth sub-linkage (2-51), a sixth sub-linkage (2-52) and a seventh sub-linkage (2-53) rotationally connected respectively, the fifth sub-linkage (2-51) is rotationally connected with the second side wall (2-2112c), the seventh sub-linkage (2-53) is rotationally connected with the second side wall (2-2112c), the connecting point of the fifth sub-linkage (2-51) is arranged close to the connecting point of the first sub-linkage (2-31), the fifth sub-linkage (2-51) is provided with a first recess, the first connecting track (2-2113) is provided with a first protrusion matched with the first recess, the second side wall (2-2112c) is provided with a first avoiding part, and the first protrusion is matched or matched with the first recess through the first avoiding part to connect or disconnect the first connecting track (2-2113) with the first conversion track (2-2112). The fourth linkage mechanism (2-60) comprises an eighth sub-linkage (2-61), a ninth sub-linkage (2-62) and a tenth sub-linkage (2-63) rotatably connected respectively, the connecting point of the eighth sub-linkage (2-61) is arranged close to the connecting point of the third sub-linkage (2-41), the eighth sub-linkage (2-61) is rotatably connected with the fourth side wall (2-2122c), the tenth sub-linkage (2-63) is rotatably connected with the fourth side wall (2-2122c), the eighth sub-linkage (2-61) is provided with a second recess (2-61a), the second connecting rail (2-2123) is provided with a second protrusion (2-2123a) matched with the second recess (2-61a), the fourth side wall (2-2122c) is provided with a second avoiding part (2-2122c1), the second protrusion (2-2123a) is matched or matched with the second recess (2-61a) through the second avoiding part (2-2122c1), so that the second connecting rail (2-2123) is connected or separated from the second conversion rail (2-2122).

26. The warehousing system of claim 25, wherein, The third linkage mechanism (2-50) further comprises a first adapter, one end of the first adapter is rotatably connected with the second side wall (2-2112c), the other end of the first adapter is rotatably connected with the fifth sub-linkage (2-51), the fourth linkage mechanism (2-60) further comprises a second adapter (2-64), one end of the second adapter (2-64) is rotatably connected with the fourth side wall (2-2122c), the other end of the second adapter (2-64) is rotatably connected with the eighth sub-linkage (2-61).

27. The warehousing system of claim 26, wherein, The side of the second side wall (2-2112c) away from the first side wall (2-2112b) is provided with a first mounting part, the middle part of the fifth sub-linkage (2-51) is rotatably connected with one end of the sixth sub-linkage (2-52), one end of the fifth sub-linkage (2-51) provided with the first recess is rotatably connected with the first mounting part; the side of the fourth side wall (2-2122c) away from the third side wall (2-2122b) is provided with a second mounting part (2-2122c2), the middle part of the eighth sub-linkage (2-61) is rotatably connected with one end of the ninth sub-linkage (2-62), one end of the eighth sub-linkage (2-61) provided with the second recess (2-61a) is rotatably connected with the second mounting part (2-2122c2).

28. The warehousing system of claim 27, wherein, The fifth sub-connecting rod (2-51) is sequentially provided with a third inclined surface and a fourth inclined surface connected to each other away from the connecting point position of the fifth sub-connecting rod (2-51), the fourth inclined surface abuts against the free end of the first connecting rail (2-2113) after the first connecting rail (2-2113) is connected with the first conversion rail (2-2112), the seventh connecting rod is provided with a fifth inclined surface, the fifth inclined surface is arranged close to the connecting point of the seventh sub-connecting rod (2-53) and the second side wall (2-2112c), the eighth sub-connecting rod (2-61) is sequentially provided with a sixth inclined surface (2-61b) and a seventh inclined surface (2-61c) connected to each other away from the connecting point position of the eighth sub-connecting rod (2-61), the seventh inclined surface (2-61c) abuts against the free end of the second connecting rail (2-2123) after the second connecting rail (2-2123) is connected with the second conversion rail (2-2122), and the tenth sub-connecting rod (2-63) is provided with an eighth inclined surface (2-63a), the eighth inclined surface (2-63a) is arranged close to the connecting point of the tenth sub-connecting rod (2-63) and the fourth side wall (2-2122c). The carrying device (2-10) enters the first connecting rail (2-2113) from the first conversion rail (2-2112), enters the second connecting rail (2-2123) from the second conversion rail (2-2122), under the action of the first connecting rail (2-2113) and the first conversion rail (2-2112) connected and the first protruding part matched with the first recessed part, the second connecting rail (2-2123) and the second conversion rail (2-2122) connected and the second protruding part (2-2123a) matched with the second recessed part (2-61a), the carrying device (2-10) straight along the first conversion rail (2-2112), the second conversion rail (2-2122), and moves along the positive direction (Y'1) of the second direction, the control part controls the first telescopic part (2-2402) at the front end in the direction of travel to extend and match with the third inclined surface, so that the fifth sub connecting rod (2-51) rotates counterclockwise, so that the first protruding part and the first recessed part are matched, and the second telescopic part (2-3112) at the front end in the direction of travel is controlled to extend and match with the sixth inclined surface (2-61b), so that the eighth sub connecting rod (2-61) rotates counterclockwise, so that the second protruding part (2-2123a) and the second recessed part (2-61a) are matched, the carrying device (2-10) straight along the first conversion rail (2-2112), the second conversion rail (2-2122), and moves along the negative direction (Y'2) of the second direction, the control part controls the first telescopic part (2-2402) at the front end in the direction of travel to extend and match with the fifth inclined surface, so that the seventh sub connecting rod (2-53) rotates counterclockwise, so that the first recessed part and the first protruding part are matched, and the second telescopic part (2-3112) at the front end in the direction of travel is controlled to extend and match with the eighth inclined surface (2-63a), so that the tenth sub connecting rod (2-63) rotates counterclockwise, so that the second protruding part (2-2123a) and the second recessed part (2-61a) are matched; The carrying device (2-10) enters the first conversion rail (2-2112) from the first connecting rail (2-2113), enters the second conversion rail (2-2122) from the second connecting rail (2-2123), under the action of the first guide and / or the second guide, the third guide and / or the fourth guide, the first connecting rail (2-2113) is connected with the first conversion rail (2-2112), and the first protruding part is matched with the first recessed part, the second connecting rail (2-2123) is connected with the second conversion rail (2-2122), and the second protruding part (2-2123a) is matched with the second recessed part (2-61a), the control part controls the first telescopic part (2-2402) at the rear end in the advancing direction to extend and match with the fourth inclined surface, and makes the fifth sub-connecting rod (2-51) rotate counterclockwise, so that the first protruding part is matched with the first recessed part, and the second telescopic part (2-3112) at the rear end in the advancing direction is controlled to extend and match with the seventh inclined surface (2-61c), and the eighth sub-connecting rod (2-61) is made to rotate counterclockwise, so that the second protruding part (2-2123a) is matched with the second recessed part (2-61a).

29. The warehousing system of claim 28, wherein, The height of the first swing part is lower than the height of the first protruding part; the height of the second swing part (2-2122b2) is lower than the height of the second protruding part (2-2123a).

30. The warehousing system of any one of claims 22-24, wherein, The first driving mechanism (2-200) further comprises a first floating part (2-209) and a second floating part (2-210), one end of the first floating part (2-209) is slidably connected with the first cross beam (2-204) in the height direction, the other end of the first floating part (2-209) is rotatably connected with the first support (2-205), the first floating part (2-209) has a first containing groove (2-2091) arranged in the height direction, the top end of the first containing groove (2-2091) is blocked, the bottom end of the first containing groove (2-2091) is provided with a first opening, the first containing groove (2-2091) is provided with a first elastic part (2-2092), the free end of the first side wall (2-2112b) is provided with a first limiting table (2-2041b), and the bottom end of the first elastic part (2-2092) is connected with the first limiting table (2-2041b) fixed to the first vertical column (2-101) through the first opening, so that the first elastic part (2-2092) applies a pressing force to the first rail (2-211) to the first floating part (2-209); One end of the second floating member (2-210) is in sliding connection with the first cross beam (2-204) in the height direction, and the other end of the second floating member (2-210) is in rotary connection with the second support (2-206), the second floating member (2-210) has a second accommodating groove (22-101) arranged in the height direction, the top end of the second accommodating groove (22-101) is blocked, the bottom end of the second accommodating groove (22-101) is provided with a second opening (2-2122b1), the second accommodating groove (22-101) is provided with a second elastic member (22-102), the free end of the two side walls is provided with a second limiting table (2-2042b), and the bottom end of the second elastic member (22-102) is connected with the second limiting table (2-2042b) through the second opening (2-2122b1), so that the first elastic member (2-2092) applies a compression force to the second floating member (2-210).

31. The warehousing system of claim 30, wherein, The first cross beam (2-204) includes a first side (2-2041) and a second side (2-2042) which are perpendicular to the height direction and are connected at a preset included angle with the two ends perpendicular to the height direction, one of the first side (2-2041) and the second floating member (2-210) is provided with a first sliding rail (2-2041a), and the other is provided with a first sliding groove (2-2093) matched with the first sliding rail (2-2041a), the extension direction of the first sliding rail (2-2041a) is parallel to the height direction, one of the second side (2-2042) and the second floating member (2-210) is provided with a second sliding rail (2-2042a), and the other is provided with a second sliding groove (22-103) matched with the second sliding rail (2-2042a), the extension direction of the second sliding rail (2-2042a) is parallel to the height direction, the first limiting table (2-2041b) is used for limiting the first floating member (2-209), and the second limiting table (2-2042b) is used for limiting the second floating member (2-210); The second cross beam (2-304) comprises a second horizontal part (2-3043) perpendicular to the height direction and a third side part (2-3041) and a fourth side part (2-3042) connected at two ends of the second horizontal part (2-3043) perpendicular to the height direction at a preset included angle, the end of the third side part (2-3041) is connected with a first section (2-3041a), the end of the fourth side part (2-3042) is connected with a second section (2-3042a), the first section (2-3041a) and the second section (2-3042a) are parallel to the second horizontal part (2-3043) and are located on the extension line of the side of the second horizontal part (2-3043) respectively, the third support (2-305) is rotationally connected with the first section (2-3041a), and the fourth support (2-306) is rotationally connected with the second section (2-3042a).

32. The warehousing system of any one of claims 22-24, wherein, The carrying device (2-10) further comprises a lifting mechanism (2-400) and a goods taking mechanism (2-500) arranged on the column assembly (2-100), the lifting mechanism (2-400) is connected with the goods taking mechanism (2-500) and drives the goods taking mechanism (2-500) to move up and down along the column assembly (2-100), and the goods taking mechanism (2-500) is used for carrying goods at different heights on the goods shelf (2-20); The lifting mechanism (2-400) comprises at least one third driving motor (2-401) and a speed reducer (2-402), the third driving motor (2-401) is fixed to the top end of the first column (2-101) and the second column (2-102), and the third driving motor (2-401) is connected with the speed reducer (2-402); The top end of the first column (2-101) is provided with a first driven wheel (2-403), the bottom end of the first column (2-101) is provided with a second driven wheel (2-404), the first driven wheel (2-403) and the second driven wheel (2-404) are synchronous wheels or sprockets, a first synchronous belt (2-405) or a first chain is sleeved on the first driven wheel (2-403) and the second driven wheel (2-404), and the goods taking mechanism (2-500) is fixedly connected with the first synchronous belt (2-405) or the first chain; The top end of the second column (2-102) is provided with a third driven wheel (2-406), the bottom end of the second column (2-102) is provided with a fourth driven wheel (2-407), the third driven wheel (2-406) and the fourth driven wheel (2-407) are synchronous wheels or sprockets, a second synchronous belt (2-408) or a second chain is sleeved on the third driven wheel (2-406) and the fourth driven wheel (2-407), and the goods taking mechanism (2-500) is fixedly connected with the second synchronous belt (2-408) or the second chain; The first driven wheel (2-403) and the third driven wheel (2-406) are respectively connected to the output shaft of one of the speed reducer motors (2-402), or the first driven wheel (2-403) is connected to the output shaft of the speed reducer motor (2-402), and the third driven wheel (2-406) is connected to the first driven wheel (2-403) through a shaft coupling (2-409).

33. The warehousing system of claim 32, wherein, The first upright column (2-101) and / or the second upright column (2-102) are provided with a third sliding rail (2-103), and the goods taking mechanism (2-500) is provided with a sliding block (2-504) matched with the third sliding rail (2-103), so that the goods taking mechanism moves linearly.

34. The warehousing system of claim 33, wherein, The shelf (2-20) is provided with a plurality of storage positions (2-213) in the height direction and the extension direction of the aisle (2-22), the depth of the shelf (2-20) is a single storage position (2-213) or a plurality of storage positions (2-213), and a plurality of buffer positions (2-214) are arranged below the bottommost storage position (2-213), and the buffer positions (2-214) are used for temporarily storing goods.

35. The warehousing system of claim 34, wherein, The first track (2-211) is located at the top of the shelf (2-20) and is lower than the height of the highest storage position (2-213), the second track (2-212) is located at the bottom of the shelf (2-20) and is higher than the height of the buffer position (2-214), the third sliding rail (2-103) extends above the plane of the highest storage position (2-213) and below the plane of the buffer position (2-214); The second sub-link (2-32) comprises a first vertical segment (2-32a) extending upward, a first horizontal segment (2-32b) connected to the first vertical segment (2-32a), and a second vertical segment (2-32c) extending downward and connected to the first horizontal segment (2-32b), and the distance between the first vertical segment (2-32a) and the second vertical segment (2-32c) is greater than the distance between the first upright column (2-101) and the second upright column (2-102); The fourth sub-link (2-42) comprises a third vertical segment (2-42a) extending downward, a second horizontal segment (2-42b) connected to the third vertical segment (2-42a), and a fourth vertical segment (2-42c) extending upward and connected to the second horizontal segment (2-42b), and the distance between the third vertical segment (2-42a) and the fourth vertical segment (2-42c) is greater than the distance between the first upright column (2-101) and the second upright column (2-102).

36. The warehousing system of claim 35, wherein, The first rail (2-211) and the second rail (2-212) are oppositely arranged, the first connecting rod mechanism (2-30) and the second connecting rod mechanism (2-40) are mirror symmetrical about the middle line of the line connecting the first rail (2-211) and the second rail (2-212), and the third connecting rod mechanism (2-50) and the fourth connecting rod mechanism (2-60) are mirror symmetrical about the middle line of the line connecting the first rail (2-211) and the second rail (2-212).

37. The warehousing system according to any one of claims 17-24, characterized by, The shelf (2-20) comprises a plurality of third vertical columns (2-20a) arranged at intervals in the first direction and the second direction, and the third vertical columns (2-20a) are connected by third cross beams (2-20b); The first shelf rail (2-2111) and the second shelf rail (2-2121) are fixed on the third cross beams (2-20b) on the same side of the shelf (2-20) in the Y' direction, for the running of the carrying device (2-10) and the taking and placing of goods on the shelves (2-20) on both sides of the aisle (2-22), and the carrying device (2-10) is arranged on the outer side of the first shelf rail (2-2111) and the first conversion rail (2-2112), the second shelf rail (2-2121) and the second conversion rail (2-2122); or, The first shelf rail (2-2111) and the second shelf rail (2-2121) are fixed on the third cross beams (2-20b) on the same side of the two adjacent shelves (2-20), for the running of the carrying device (2-10) and the taking and placing of goods on the shelves (2-20) on both sides of the aisle (2-22), and the carrying device (2-10) is arranged on the inner side of the first shelf rail (2-2111) and the first conversion rail (2-2112), the second shelf rail (2-2121) and the second conversion rail (2-2122).

38. The warehousing system of any one of claims 17-24, wherein, The carrying device (2-10) further comprises a power supply mechanism (2-600) and a battery, the power supply mechanism (2-600) comprises a slide wire (2-601), a brush plate (2-602) and a brush block, the brush plate (2-602) is connected with the brush block, the slide wire (2-601) is arranged below the first shelf rail (2-2111) and / or the first conversion rail (2-2112), the brush plate (2-602) is in sliding connection with the slide wire (2-601), and the brush block is in electrical connection with the battery.

39. The warehousing system of claim 17 or 18, wherein, The carrying device (2-10) further comprises a third driving member and a fourth driving member (2-24), the third driving member is connected with the rotating shaft of the first connecting rail (2-2113) for driving the rotating shaft of the first connecting rail (2-2113) to rotate; The fourth driving member (2-24) is connected with the rotating shaft of the second connecting rail (2-2123) for driving the rotating shaft of the second connecting rail (2-2123) to rotate.

40. A handling device characterized by The carrying device (2-10) can change track driving, and the carrying device (2-10) comprises a control component, a column assembly (2-100), at least one set of lifting mechanisms (2-400) arranged on the column assembly (2-100), at least one set of driving mechanisms and at least one set of goods taking mechanisms (2-500), the lifting mechanisms (2-400) are connected with the goods taking mechanisms (2-500) and drive the goods taking mechanisms (2-500) to move up and down along the column assembly (2-100), and the goods taking mechanisms (2-500) are used for carrying goods at different heights on the goods shelf (2-20); The column assembly (2-100) comprises a first column (2-101) extending along the height direction of the goods shelf (2-20) and a second column (2-102) arranged along the vertical direction of the height direction; The driving mechanism comprises a first roller (2-202) rotationally connected with the first column (2-101), a second roller (2-203) rotationally connected with the second column (2-102) and a telescopic assembly electrically connected with the control component, the first roller (2-202) and the second roller (2-203) are used for driving between tracks, at least one of the first roller (2-202) and the second roller (2-203) is connected with the first driving motor (2-201) to drive the first roller (2-202) and the second roller (2-203) to roll and drive the column assembly (2-100) to move straight or turn; The telescopic assembly is used for changing the connection state of the track.

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