CN218369817U - Warehousing system - Google Patents

Abstract

The present disclosure provides a warehousing system having a sorting track with a first guide assembly extending in a first direction and a second guide assembly extending in a second direction, and having at least one delivery opening; the container is positioned below the sorting track and is arranged corresponding to the delivery port; the delivery cargo device is configured to accept the target cargo and travel over the first guidance assembly and over the second guidance assembly to the target delivery port and deliver into the target container based on the delivery instructions; the container transporting equipment transports the target container to the lower part of the delivery port based on the transporting instruction and transports the processed target container away from the delivery port; the control server is communicatively connected to both the delivery cargo device and the tote device and is configured for generating and transmitting delivery instructions and tote instructions to the delivery cargo device and the tote device, respectively. The system can lead the delivery goods equipment to advance to the target delivery port under the guidance of the sorting track, and the advancing control principle of the delivery goods equipment is simple and the delivery is accurate.

Description

Warehousing system

Technical Field

The disclosure relates to the technical field of warehousing systems, in particular to a sorting and separating system.

Background

At present, sorting and sowing equipment has the forms of conveying line sorting, sowing walls and the like, and the services of sorting and the like by using a robot also have the advantages. The efficiency of robot operation and delivery is related to the arrangement of delivery containers and aisles, and designing the location of the containers may cause path congestion, reducing efficiency.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a warehousing system for solving the technical problems of the existing warehousing system.

The warehousing system of this disclosure includes:

a sorting track having a first guide assembly extending in a first direction and a second guide assembly extending in a second direction and having at least one delivery opening;

at least one container which is positioned right below the sorting track and is arranged corresponding to the delivery port;

a delivery cargo device configured to accept a target cargo and, based on delivery instructions, travel in a first direction at the first guidance assembly and in a second direction at the second guidance assembly to reach a target delivery opening and deliver the target cargo through the target delivery opening into a target container;

a transport container device configured to transport a target container to be processed to below the delivery port based on a transport instruction and to transport a processed target container away from the delivery port;

a control server communicatively connected to both the delivery cargo device and the transfer receptacle device and configured to generate delivery instructions and transfer instructions and send to the delivery cargo device and the transfer receptacle device, respectively.

In one embodiment of the warehousing system of the present disclosure, the first guide assembly includes at least two first rails disposed in parallel and spaced apart, the first rails extending in a first direction;

the second guide assembly comprises at least two second guide rails which are arranged in parallel and at intervals, and the second guide rails extend along a second direction;

two adjacent first guide rails and two adjacent second guide rails are connected in a cross mode to form the delivery port;

the delivery cargo devices are configured to travel along two adjacent first rails or two adjacent second rails.

In one embodiment of the warehousing system of the present disclosure, the sorting track further comprises a sorting platform extending in a second direction and interfacing with an end of the first guide rail;

the delivery cargo device is further configured to travel on the sorting platform and from the sorting platform to the first guide rail or from the first guide rail to the sorting platform.

In an embodiment of the warehousing system of the present disclosure, the first guide rail and the second guide rail are each provided with two guide grooves arranged in parallel, and wheels of the delivery goods equipment travel along the guide grooves.

In one embodiment of the warehousing system of the present disclosure, the warehousing system includes a support frame configured to support the sorting track to form a height gap between the sorting track and a ground to accommodate containers, the support frame including at least one support rod;

the adjacent two first guide rails and the adjacent two second guide rails surround to form mounting holes, and the supporting rod is fixedly connected with the first guide rails and the second guide rails through the mounting holes.

In an embodiment of the warehousing system of the present disclosure, the first guiding assembly includes a plurality of third rails arranged in parallel and at intervals, the third rails extend along the first direction, and a gap between two adjacent third rails forms the delivery opening;

the second guide assembly comprises a sorting platform extending along the second direction and abutting an end of each of the third guide rails;

the delivery goods device is configured to travel at the sorting platform to the entrances of two adjacent third rails where a target container is located, and to travel along the two third rails to the target container.

In one embodiment of the warehousing system of the present disclosure, the warehousing system further includes a support rack configured to place the containers and to form a height gap between the containers and the ground for the tote apparatus to travel with the containers, the tote apparatus further configured to remove the containers from the support rack or place the containers onto the support rack.

In an embodiment of the warehousing system of the present disclosure, the warehousing system is sequentially provided with a container conveying platform and another sorting track from bottom to top above the sorting track, the container conveying platform and the another sorting track are connected by the support frame, the containers are placed on the support frame, and the container carrying equipment is further configured to advance on the container conveying platform.

In one embodiment of the warehousing system of the present disclosure, the warehousing system includes at least two levels of containers.

In one embodiment of the warehousing system of the present disclosure, the tote device is further configured to reverse the at least two tiers of containers.

In an embodiment of the storage system of the present disclosure, the storage system further includes at least two supporting plates, the at least two supporting plates are parallel and fixedly disposed on the supporting frame at intervals, and the interval between the at least two supporting plates is greater than the width of the container and less than the length of the container;

the container handling device is configured to lift the container to pass through the space between the at least two support plates to reach above the at least two support plates and to rotate the container to place the container on the at least two support plates; or,

the handling container device is configured to lift and rotate a container placed on the at least two support plates to a position where the container can pass through a gap between the at least two support plates and to lower the container below the at least two support plates.

In one embodiment of the warehousing system of the present disclosure, the tote apparatus includes:

a vehicle body;

the traveling mechanism is arranged on the vehicle body and is configured to drive the vehicle body to travel;

the carrying tray is movably arranged on the vehicle body, can rotate relative to the vehicle body and is configured to ascend relative to the vehicle body to drive the container to pass through a gap between the at least two supporting plates and be positioned above the supporting plates, and then continuously rotates reversely until the container is placed on the at least two supporting plates;

or the bearing plate is configured to be lifted relative to the vehicle body to lift the container placed on the at least two support plates, and drive the container to rotate and descend until the container passes through the gap between the at least two support plates and reaches the lower part of the at least two support plates.

In one embodiment of the warehousing system of the present disclosure, the tote apparatus includes:

the bottom end of the telescopic piece is rotatably arranged on the vehicle body through a rotating bearing, and the top end of the telescopic piece is provided with the bearing disc and is configured to drive the bearing disc to lift relative to the vehicle body;

and the driving motor drives the telescopic piece to drive the bearing plate to rotate relative to the vehicle body.

In one embodiment of the disclosed storage system, the storage system comprises at least two support plates, the at least two support plates are rotatably arranged on the support frame, and the at least two support plates are configured to be positioned at a bearing position under the action of a stop plate or a return spring so as to jointly bear the container;

the container carrying device is configured to push the at least two support plates to rotate to jack up the container jointly carried by the at least two support plates and to carry the container down below the support position;

the container handling apparatus is further configured to raise a container to a position where the container pushes the at least two support plates to rotate to pass the container between the at least two support plates and to carry the container down onto the at least two support plates to be returned to the loading position.

In one embodiment of the warehousing system of the present disclosure, the tote apparatus includes:

a vehicle body;

the traveling mechanism is arranged on the vehicle body and is configured to drive the vehicle body to travel;

a carrier tray provided on the vehicle body, configured to rotate between a first position and a second position in a horizontal direction with respect to the vehicle body, and to lift in a vertical direction;

when the container is positioned at the first position, the bearing disc ascends to push the at least two support plates positioned at the bearing position to rotate to jack up the container jointly borne by the at least two support plates and carries the container to descend below the supporting position;

when the container is located at the second position, the bearing plate carries the container to ascend to the container, pushes the at least two support plates located at the bearing position to rotate to reach the positions above the at least two support plates, and descends to place the container on the at least two support plates and reach the positions below the at least two support plates located at the bearing position.

In one embodiment of the warehousing system of the present disclosure, the warehousing system further includes a handling and pick-and-place container device configured to travel on the sorting track with the target container and place the target container below the target delivery opening or take out the target container below the target delivery opening.

In one embodiment of the warehousing system of the present disclosure, the warehousing system includes at least two tiers of containers, and the handling and pick-and-place container equipment is further configured to rearrange the at least two tiers of containers.

In one embodiment of the warehousing system of the present disclosure, the handling and pick-and-place container equipment includes:

a vehicle body;

the driving assembly is arranged on the vehicle body and is configured to drive the vehicle body to move to the target delivery port on the sorting track based on the delivery instruction;

the taking and placing container assembly is arranged on the vehicle body and is configured to take out a container below the target delivery opening through the target delivery opening or place the container below the target delivery opening through the target delivery opening.

In one embodiment of the warehousing system of the present disclosure, at least one layer of sorting track is further disposed above the sorting track.

In one embodiment of the warehousing system of the present disclosure, one container corresponds to at least two of the delivery openings.

In one embodiment of the warehousing system of the present disclosure, the tote apparatus includes:

a tray configured for placement of a container;

and the self-navigation trolley is configured to enter the bottom of the tray with the containers and lift the tray to be separated from the ground, then carry the tray to a target position, and lower the tray with the containers to be in contact with the ground, and then move the tray out of the bottom of the tray.

In one embodiment of the warehousing system of the present disclosure, the delivery goods device comprises:

a vehicle body;

the moving assembly is arranged on the vehicle body and is configured to drive the vehicle body to travel along the sorting track to the target delivery port based on a control instruction;

a delivery assembly disposed on the vehicle body and configured to accept goods and deliver the goods through the target delivery opening into the receptacles of the receptacle layer.

In one embodiment of the warehousing system of the present disclosure, the delivery assembly comprises:

the turning plate is rotatably arranged on the vehicle body and is configured to rotate between a bearing position and a delivery position under the action of a driving motor;

when in the loading position, the flap is configured to receive cargo;

when the container is located at the delivery position, the turning plate is inclined at a preset angle relative to the vehicle body, so that goods on the turning plate fall into the container under the self weight.

In one embodiment of the warehousing system of the present disclosure, the delivery assembly includes two of the flaps;

when the two turning plates are positioned at the bearing position, the two turning plates are spliced to bear the goods together;

when the goods container is located at a delivery position, the two turning plates are inclined downwards relative to the vehicle body until the goods fall into the container from a gap formed by the two turning plates under the self weight.

In one embodiment of the warehousing system of the present disclosure, the delivery assembly comprises:

a flap rotatably disposed on the vehicle body and configured to be rotated between a loading position and a first delivery position or between a loading position and a second delivery position by a drive element;

when in the loading position, the flap is configured to receive cargo;

when the container is located at the first delivery position, the turning plate is inclined at a preset angle relative to the vehicle body, so that goods on the turning plate fall into the container under the self weight.

In one embodiment of the warehousing system of the present disclosure, the delivery assembly includes a power transmission line disposed on the vehicle body and having a shutdown state and a delivery state;

when in the shutdown state, the power transmission line is configured to carry goods;

when the power transmission line is in a transmission state, the power transmission line is configured to transmit the goods to the delivery opening, so that the goods fall into the container through the delivery opening under the self weight.

In one embodiment of the warehousing system of the present disclosure, the motion assembly comprises:

the first-direction wheel assembly is arranged on the vehicle body and is configured to drive the vehicle body to run on the sorting track along a first direction;

and the second direction wheel assembly is arranged on the vehicle body and is configured to drive the vehicle body to run along a second direction on the sorting track.

In one embodiment of the warehousing system of the present disclosure, the first direction and the second direction are perpendicular to each other.

In one embodiment of the warehousing system of the present disclosure, the motion assembly further comprises:

and the lifting driving mechanism is arranged on the vehicle body and is configured to lift the first-direction wheel assembly to be separated from the sorting track and lower the second-direction wheel assembly to be contacted with the sorting track, or is configured to lower the first-direction wheel assembly to be contacted with the sorting track and lift the first-direction wheel assembly to be separated from the sorting track.

The storage system comprises sorting tracks, containers, goods delivering equipment, container carrying equipment and a control server. Wherein the sorting track has a first guide assembly extending in a first direction and a second guide assembly extending in a second direction, and has at least one delivery opening; the container is positioned below the sorting track and is arranged corresponding to the delivery port; the delivery cargo device is configured to accept the target cargo and travel over the first guidance kit and over the second guidance kit to the target delivery opening based on the delivery instructions, and deliver the target cargo through the target delivery opening into the target container; the transport container device is configured to transport a target container to be processed to below the delivery port based on the transport instruction and to transport a target container completed with processing away from the delivery port; the control server is in communication with both the delivery cargo device and the transfer container device and is configured for generating and transmitting delivery instructions and transfer instructions to the delivery cargo device and the transfer container device, respectively.

The storage system starts to work, the container carrying equipment carries the container to the lower part of the delivery port based on a carrying instruction, a worker or automatic equipment places target goods to be delivered on the delivery goods equipment, meanwhile, the control server sends the position of the target delivery port corresponding to the target goods to the delivery goods equipment, the delivery goods equipment carries the target goods to the target delivery port and delivers the target goods into the target container corresponding to the target delivery port through the target delivery port, and after a goods delivery task aiming at the target container is finished, the container carrying equipment carries the target container away from the delivery port and carries the target container to a downstream process or a container storage area.

Therefore, compared with the existing manual goods delivery mode, the storage system disclosed by the invention basically and automatically completes goods delivery work, is suitable for completing sorting and sowing tasks of storage logistics, and saves labor cost. In addition, the sorting track and the container are arranged in a layered mode, so that the height space of the storage area is fully utilized, and the utilization rate of the unit area of the storage area is improved. In addition, the sorting track is composed of a first guide assembly and a second guide assembly which extend along two different directions, the delivery goods equipment can be guided by the sorting track to travel to a designated target delivery port, and the travel control principle of the delivery goods equipment is simple and the delivery is accurate.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic diagram of a first embodiment of a warehousing system according to the present disclosure;

fig. 2 is a schematic structural view of an embodiment of a first guide rail of a sorting track of the present disclosure;

fig. 3 is a partial structural schematic view of an embodiment of a sorting track of the present disclosure;

fig. 4 to 8 are schematic structural views of a first embodiment, a second embodiment, a third embodiment, a fourth embodiment and a fifth embodiment of the delivery cargo device of the present disclosure, respectively;

fig. 9 to 12 are schematic structural views of a second embodiment, a third embodiment, a fourth embodiment and a fifth embodiment of the warehousing system of the present disclosure;

FIGS. 13-15 are schematic partial structural views of the warehousing system of FIG. 12, respectively;

FIG. 16 is a schematic structural view of an embodiment of a container handling apparatus of the present disclosure;

FIGS. 17-19 illustrate first, second and third variations of a container placement process of the container handling apparatus of the present disclosure;

fig. 20 to 22 are a first diagram, a second diagram and a third diagram of the container handling apparatus of the present disclosure in a variation of the container removing process;

fig. 23 to 30 are schematic structural diagrams of a warehousing system according to a sixth embodiment, a seventh embodiment, an eighth embodiment, a ninth embodiment, a tenth embodiment, an eleventh embodiment, a twelfth embodiment and a thirteenth embodiment of the disclosure.

The one-to-one correspondence between component names and reference numerals in fig. 1 to 23 is as follows:

1 sorting track, 1a mounting hole, 11 first guide rail, 110 guide groove, 12 second guide rail, 13 third guide rail, 2 container, 3 delivery goods equipment, 31 vehicle body, 32 turning plate, 33 wheel, 34 upright post, 35 power transmission line, 4 container handling equipment, 41 pallet, 42 self-navigation trolley, 43 vehicle body, 44 walking mechanism, 45 bearing plate, 5 support rod, 6 sorting platform, 61 flat plate, 62 landing leg, 7 support plate, 8 container conveying platform, 9 container handling and taking and placing equipment.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Additionally, the use of the ordinal numbers "first", "second", etc., to distinguish between components or regions of a same name does not limit the importance or existing sequence of such components or regions.

At present, the sorting and seeding tasks of the warehousing system are all completed by workers or corresponding robots, generally the carriers for storing the containers are arranged in the carrier parking areas, and the workers or corresponding robots operate correspondingly around the carrier parking areas to complete the corresponding tasks. The processing mode needs to provide independent areas for workers, robots and carriers, needs to provide a large-area working area, and has the problem of low utilization rate of storage areas in unit area.

To this end, the present disclosure provides a warehousing system comprising sorting tracks, containers, delivery equipment, handling equipment and a control server. Wherein the sorting track has a first guide assembly extending in a first direction and a second guide assembly extending in a second direction, and has at least one delivery opening; the container is positioned below the sorting track and is arranged corresponding to the delivery port; the delivery cargo device is configured to accept the target cargo and travel over the first guidance kit and over the second guidance kit to the target delivery opening based on the delivery instructions, and deliver the target cargo through the target delivery opening into the target container; the transport container device is configured to transport a target container to be processed to below the delivery port based on the transport instruction, and to transport a target container completed in processing away from the delivery port; a control server is communicatively connected to both the delivery cargo device and the transfer receptacle device and is configured for generating and transmitting delivery instructions and transfer instructions to the delivery cargo device and the transfer receptacle device, respectively.

The warehousing system starts to work, the container carrying equipment carries the container to the position below the delivery port based on a carrying instruction, a worker or automatic equipment places target goods to be delivered on the delivery goods equipment, meanwhile, the control server sends the position of the target delivery port corresponding to the target goods to the delivery goods equipment, the delivery goods equipment carries the target goods to the target delivery port and delivers the target goods into the target container corresponding to the target delivery port through the target delivery port, and after a goods delivery task aiming at the target container is finished, the container carrying equipment carries the target container away from the delivery port and carries the target container to a downstream process or a container storage area.

Therefore, compared with the existing manual goods delivery mode, the storage system disclosed by the invention basically and automatically completes goods delivery work, is suitable for completing sorting and sowing tasks of storage logistics, and saves labor cost. In addition, the sorting track and the containers are arranged in a layered mode, so that the height space of the storage area is fully utilized, and the utilization rate of the unit area of the storage area is improved. In addition, the sorting track is composed of a first guide assembly and a second guide assembly which extend along two different directions, the delivery goods equipment can be guided by the sorting track to travel to a designated target delivery port, and the travel control principle of the delivery goods equipment is simple and the delivery is accurate.

For ease of understanding, the specific structure of the warehousing system of the present disclosure and its principles of operation are described in detail below with reference to fig. 1-30 in conjunction with several embodiments.

Example one

Referring to fig. 1, in the present embodiment, the warehousing system of the present disclosure includes a sorting track 1, acontainer 2, adelivery goods device 3, a carryingcontainer device 4 and a control server (not shown in the figure).

Wherein, the sorting track 1 is provided with adelivery opening 13.

With continued reference to fig. 1, in the present embodiment, the sorting track comprises at least twofirst guides 11 and at least twosecond guides 12; wherein, at least twofirst guide rails 11 are arranged in parallel and at intervals and are in cross connection with at least twosecond guide rails 12 to form at least onedelivery opening 13. And thedelivery cargo devices 3 travel along the adjacent twofirst guide rails 11 or along the adjacent two second guide rails 12.

In detail, referring to fig. 1, in the present embodiment, the sorting track comprises 9first guide rails 11 and 9second guide rails 12, and thesefirst guide rails 11 andsecond guide rails 12 are cross-connected to form 64 delivery openings. It can be understood that, a person skilled in the art selects an appropriate number of thefirst guide rails 11 and thesecond guide rails 12 to construct an optimal sorting track based on actual application scenarios, and any different-structure return platform constructed by using two different numbers of guide rails falls within the scope of the present disclosure.

Therefore, the sorting track in the embodiment is formed by crossing two guide rails extending along different directions, and thedelivery opening 13 is also naturally formed by utilizing the crossing characteristic of the two guide rails, so that the structure is simple and the processing is convenient. In addition, the delivery goods equipment travels to the target delivery port along the two guide rails based on the received information of the target goods, and the travel track of the delivery goods equipment is convenient to control.

With continued reference to fig. 1, in this embodiment, thefirst rail 11 and thesecond rail 12 are perpendicularly cross-coupled. That is, thefirst rail 11 and thesecond rail 12 form an angle of 90 degrees therebetween.

So,letter delivery port 13 that thefirst guide rail 11 and thesecond guide rail 12 surround and form on letter sorting track 1 is square, matches with the container mouth of current square container, can design the size ofletter delivery port 13 according to the container mouth size of container to guarantee that no matter deliver goods from that angledelivery goods equipment 3, the goods also can be complete fall intotarget container 2 just, can prevent to deliver the emergence of failure problem.

In addition, thedelivery goods device 3 runs along afirst guide rail 11 and asecond guide rail 12 which are perpendicular to each other on the sorting track 1, and the running route is convenient to control.

Referring to fig. 2, fig. 2 is a partial schematic structural view of the first guide rail of the present disclosure, in this embodiment, twoguide grooves 110 are provided on thefirst guide rail 11 and thesecond guide rail 12, and thewheels 33 of thedelivery cargo device 3 travel on the sorting track along theguide grooves 110.

It should be noted that fig. 2 only shows a partial structure of thefirst guide rail 11, and the guide groove on thesecond guide rail 12 is arranged in the same manner as thefirst guide rail 11, which can be completely implemented by those skilled in the art based on the foregoing description, and in order to keep the text concise, the description is not repeated herein.

Thus, the travel track of thedelivery cargo device 3 travels according to a predetermined route, which is convenient to control.

With continued reference to fig. 1, in the present embodiment, the warehousing system of the present disclosure further includes a support frame configured to support the sorting track 1 such that it forms a height space with the ground for at least the receivingcontainer 2.

In more detail, in this embodiment, the support frame includes asupport bar 5 disposed at least one cross-connection of thefirst rail 11 and thesecond rail 12.

It should be noted that the number of thesupport rods 5 depends on the volume of the sorting track 1 and the supporting capability of the single support rod 15, and if only 1support rod 5 is provided at a suitable position of the sorting track 1, it is sufficient to have a height clearance from the ground to at least accommodate thecontainer 2, and the supporting strength is sufficient to enable thedelivery goods device 3 to carry and deliver goods on the sorting track 1.

Of course, in order to improve the stability of the sorting track 1, the support frame of the present disclosure may also include a plurality ofsupport rods 5, for example, in the present embodiment, 1support rod 5 is provided at each intersection of thefirst guide rail 11 and thesecond guide rail 12, even though the sorting track can be more stable.

In addition, four openings facing different directions formed by twoadjacent support rods 5 are formed below each delivery opening of the sorting track 1, and the conveyingcontainer device 4 can move to four directions through the four openings, so that flexible movement space is provided for the conveyingcontainer device 4.

The supportingrod 5 is fixedly connected with the cross connection part of thefirst guide rail 11 and thesecond guide rail 12, and how to simply and quickly complete the assembly task of the supportingrod 5 with thefirst guide rail 11 and thesecond guide rail 12 on the premise of ensuring the supporting capability is a difficult problem troubling technicians in the field.

For this, according to an embodiment of the present disclosure, referring to fig. 3, two adjacentfirst guide rails 11 and two adjacentsecond guide rails 12 of the present disclosure surround to form a mounting hole 1a, and a portion of thesupport rod 5 is inserted into the mounting hole 1a and fixedly connected to thefirst guide rails 11 and thesecond guide rails 12 by welding or the like.

According to another embodiment of the present disclosure, a nut may be installed in the installation hole 1a, an external thread is processed on at least a part of the outer peripheral wall of thesupport rod 5, and thesupport rod 5 and the nut are connected by a thread.

With continued reference to fig. 1, in the present embodiment, the warehousing system includes at least onecontainer 2, thecontainers 2 are located directly below the sorting track 1, and eachcontainer 2 corresponds to at least onedelivery opening 13.

In detail, the container of the present disclosure is configured to hold goods. The containers include square containers, cylindrical containers and shaped containers divided by shape. The containers are divided into wooden boxes, paper boxes, plastic boxes and the like. Those skilled in the art can select an appropriate container based on the application scenario of the container.

Thedelivery cargo device 3 is configured to receive the target cargo and to re-sort the track 1 to reach thetarget delivery opening 13 based on the delivery instructions and to deliver the target cargo into thetarget container 2 through thetarget delivery opening 13.

It should be noted that each target cargo has a corresponding target container, and the target container is placed below the target delivery opening. The delivery instruction includes position coordinates on the sorting track with the target delivery port of the received target cargo, and thedelivery cargo device 3 travels from the current position to the target delivery port based on the position coordinates and then delivers the target cargo from the target delivery port into thetarget container 2 located directly below.

In detail, the delivery cargo device includes avehicle body 31, a driving assembly and a delivery assembly. Wherein, the moving component is arranged on thevehicle body 31 and is configured to drive thevehicle body 31 to travel to the target delivery opening on the sorting track 1 based on the delivery instruction; the delivery assembly is disposed on thevehicle body 31 and is configured to accept target cargo and deliver the target cargo into thetarget container 2 through thetarget delivery opening 31.

According to one embodiment of the present disclosure, referring to fig. 4, in the present embodiment, thevehicle body 31 of the present disclosure is specifically a square vehicle body. Thevehicle body 31 has a function of mounting the driving unit and the delivery unit.

The drive assembly includes a first direction wheel assembly and a second direction wheel assembly. The first-direction wheel assembly is arranged on thevehicle body 31 and is configured to drive thevehicle body 31 to run on the sorting track 1 along the first direction; the second direction wheel assembly is disposed on thevehicle body 31 and configured to drive thevehicle body 31 to travel on the sorting track 1 in the second direction.

In detail, the first-direction wheel assembly includes at least 4wheels 33, the fourwheels 33 are respectively disposed on two opposite sides of thevehicle body 31, and the fourwheels 33 are controlled by the power device to drive thevehicle body 31 to travel on the sorting track 1 along the first direction. It should be noted that the power plant is basically similar to the existing vehicle, and can be fully realized by those skilled in the art based on the prior art, and the details are not repeated herein.

The specific structure and the operating principle of the second direction wheel assembly are the same as those of the first direction wheel assembly, and the difference is that at least 4wheels 33 of the second direction wheel assembly are respectively arranged on the other two opposite sides of thevehicle body 31 to drive thevehicle body 31 to move on the sorting track 1 along the second direction, and the first direction and the second direction are two directions extending along different directions.

So, thedelivery goods equipment 3 of this disclosure has realized simply thatdelivery goods equipment 3 marchs the turning to problem of in-process through driving two kinds of wheel components thatautomobile body 31 marched along the equidirectional not, simple structure and be convenient for realize.

Based on the foregoing two kinds of guide rails that are connected in a crossing manner in this embodiment, the first direction wheel assembly drives thevehicle body 31 to move along the two adjacentfirst guide rails 11, the second direction wheel assembly drives thevehicle body 31 to move along the two adjacentsecond guide rails 11, and the preset angles of the first direction wheel assembly and the second direction wheel assembly are matched with the included angle formed by the crossing of thefirst guide rails 11 and the second guide rails 12.

That is, the first direction in which the first direction wheel assembly drives thevehicle body 31 to travel and the second direction in which the second direction wheel assembly drives thevehicle body 31 to travel form an angle of 90 degrees. Of course, those skilled in the art may design the traveling directions of the first-direction wheel assembly and the second-direction wheel assembly based on the included angle formed by the intersection of thefirst guide rail 11 and thesecond guide rail 12.

When the first direction wheel assemblies travel along two adjacentfirst guide rails 11, the second direction wheel assemblies may interfere with thesecond guide rails 12, or when the second direction wheel assemblies travel along two adjacentsecond guide rails 12, the first direction wheel assemblies may interfere with thefirst guide rails 11, thereby affecting the normal operation of the delivery cargo device.

To this end, according to one embodiment of the present disclosure, the delivery cargo device of the present disclosure further includes a lifting mechanism disposed on thevehicle body 31 and configured to lift the second directional wheel assembly above the sorting track 1 when the first directional wheel assembly drives thevehicle body 31 to travel on the sorting track 1; alternatively, the lifting mechanism is configured to lift the first-direction wheel assembly above the sorting track 1 when the second-direction wheel assembly brings thevehicle body 31 to travel on the sorting track 1.

In detail, thewheels 33 of the first-direction wheel assembly and the second-direction wheel assembly are rotatably disposed on four side plates of the vehicle body, two opposite side plates of the four side plates are fixedly connected with the bottom plate, and the other two opposite side plates are movably disposed on the bottom plate, and a rotating shaft is fixedly disposed on the other two opposite side plates, and a cam is disposed on the rotating shaft and configured to rotate with the rotating shaft to push the bottom plate to move relative to the other two opposite side plates.

When the cam is rotated to a position where its distal fulcrum is in contact with the bottom plate, one of the first-direction wheel assembly and the second-direction wheel assembly is in contact with the sorting rail 1, and the other is lifted from the sorting rail 1.

As such, when thedelivery cargo device 3 travels in the first direction on the sorting track 1, only the first direction wheel assembly is in contact with the sorting track 1, while the second direction wheel assembly is in a stowed state, i.e., it is above the sorting track 1. On the contrary, when thedelivery goods equipment 3 travels along the second direction on the sorting track 1, only the wheel assembly in the second direction is in contact with the sorting track 1, and the wheel assembly in the first direction is in a retracted state, namely, the wheel assembly is positioned above the sorting track 1, so that the problem of interference between the wheel assembly of thedelivery goods equipment 3 and the sorting track 1 after the delivery goods equipment is turned is solved ingeniously, and the normal travel of the delivery goods equipment is ensured.

After thedelivery goods device 3 travels to thetarget delivery port 13 under the driving of the driving component, the delivery component delivers the target goods thereon into the target container 1 to complete the delivery task.

According to one embodiment of the present embodiment, referring to fig. 4, in the present embodiment the delivery assembly of the present disclosure comprises aflap 32 and a drive element (not shown in the figures). Wherein theflap 32 is rotatably disposed on thevehicle body 31 and configured to rotate between a loading position and a delivery position under the driving force of the driving motor; when in the loading position,flap 32 is configured for loading the target cargo; in the delivery position, theflap 32 is disposed obliquely with respect to thevehicle body 31 so that the target cargo falls into the target container through thetarget delivery port 13 under its own weight.

It should be noted that in the loading position, the upper panel surface offlap 32 is approximately horizontal and the target cargo is placed on the upper panel surface offlap 32. When the container is located at the delivery position, the angle of inclination of the turningplate 32 relative to thevehicle body 31 can enable target goods on the turning plate to be located in a target container below thedelivery opening 13 under the self weight, and the specific value of the angle of inclination is designed by a person skilled in the art based on the application scenario.

In more detail, the turningplate 32 is rotatably disposed on thevehicle body 31 through a rotating shaft, i.e., the rotating shaft is mounted in a bearing hole of thevehicle body 31 through a rotating bearing, the turningplate 31 is fixedly connected with the rotating shaft, and the driving motor is in transmission connection with the rotating shaft to drive the rotating shaft to rotate forward or backward, so that the rotating shaft drives the turningplate 32 to rotate between the bearing position and the delivery position.

Thedelivery goods equipment 3 is located at a bearing position in an initial state, when a worker or automatic equipment places target goods on the upper plate surface of the turningplate 32, thedelivery goods equipment 3 advances to thetarget delivery port 13 on the sorting track 1, the driving motor drives the rotating shaft to rotate positively to enable the turning plate to rotate along with the rotating shaft to enable the turningplate 32 to incline relative to thevehicle body 31, and the target goods on the turning plate fall into a target container from thetarget delivery port 13 under the self weight until the delivery is completed. Theflap 32 then rotates with it from the delivery position to the return loading position as the drive element is rotated electrically back and finally thedelivery cargo device 3 returns to the home position ready for the next delivery task.

When thedelivery cargo device 3 delivers the target cargo to the target container and the target container is full or the task of the target container has been completed, the transfer container device is configured to move the target container, which has been processed, away from the delivery port based on the transfer instructions. At this time, there is no container below the delivery port, and the container transfer apparatus transfers an empty container from the container storage area to a position directly below the delivery port based on the control command.

According to another embodiment of the present disclosure, referring to fig. 5, the delivery assembly of the present disclosure comprises aflap 32, theflap 32 being rotatably arranged on thevehicle body 31 and configured to be rotated by a driving element between the loading position and the first delivery position or between the loading position and the second delivery position.

In the loading position,flap 32 is configured for loading cargo;

in the first delivery position, theflap 32 is inclined at a predetermined angle with respect to thevehicle body 31 so that the goods on theflap 32 fall into the container under their own weight.

It should be noted that in contrast to the embodiment shown in fig. 4,flap 32 of fig. 5 has two delivery positions that can deliver goods from opposite sides ofbody 31. Theflap 32 is rotatably connected to thevehicle body 31 at its middle position, while the end of theflap 32 is rotatably connected to one side edge of the vehicle body in fig. 4.

According to another embodiment of the present disclosure, referring to fig. 6, the delivery assembly of the present disclosure comprises twoflaps 32; when the two turningplates 32 are positioned at the bearing position, the two turning plates are spliced to bear the goods together; in the delivery position, the twoflaps 32 are inclined downwardly relative to thebody 31 until the goods fall under their own weight into the container from the gap formed between them.

Thedelivery cargo device 3 of fig. 6 may deliver the cargo to the target container directly below the delivery opening in which itsbody 31 is located.

According to another embodiment of the present disclosure, referring to fig. 7, the delivery assembly of the present disclosure comprises at least two layers offlaps 32; wherein, the turningplate 32 of the lower layer is rotatably arranged on thevehicle body 31 and rotates between a bearing position and a delivery position, the turning plate of the lower layer can have two delivery positions, and can also be respectively provided with one delivery position; the upper layer of theflap 32 is arranged on the vehicle body through acolumn 34, a height gap for accommodating goods is formed between the upper layer of theflap 32 and the lower layer of theflap 32, the upper layer of theflap 32 is rotatably arranged on thecolumn 34, and the upper layer of the flap can also have two delivery positions or only one delivery position. The active manner of the twoside flaps 32 between the loading position and the delivery position is described in the embodiments of fig. 4 and 5, and will not be described herein again.

According to another embodiment of the present disclosure, referring to fig. 8, the delivery assembly of the present disclosure comprises apower transmission line 35; thepower transmission line 35 is provided on thevehicle body 31 and has a stopped state and a transmission state; in the shutdown state, thepower transmission line 35 is configured to carry cargo; in the delivery position, thepower transmission line 35 is configured to deliver the goods to thedelivery opening 13 such that the goods fall under their own weight through thedelivery opening 13 into the container.

In detail, thepower transmission line 35 is embodied as a belt conveyor. The belt conveyer consists of two end rollers and closed conveyer belt. The roller driving the conveyer belt to rotate is called a driving roller (transmission roller); the other is referred to as a direction-changing drum, which simply changes the direction of movement of the conveyor belt. The driving roller is driven by the motor through the speed reducer, and the conveying belt is dragged by the friction force between the driving roller and the conveying belt.

With continued reference to fig. 1, in this embodiment, thetote apparatus 4 includes apallet 41 and a self-steering cart. Wherein thetray 41 is configured to hold thecontainer 2, the self-propelled trolley is configured to enter the bottom of the tray, lift the tray to a position away from the ground, transport the tray to a target position, and bring the tray down to contact the ground and move the tray out of the bottom of the tray after reaching the target position.

It should be noted that the "target location" used herein to describe the structure and operation of thecontainer handling apparatus 4 includes a location directly below a target delivery opening, a downstream station or a container storage area, etc.

In detail, thetray 41 comprises a flat plate and four legs supporting the flat plate at a preset height from the ground, wherein the height of the flat plate from the ground is enough to enable the self-navigation trolley to freely come in and go out.

The self-navigation vehicle is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having various transfer functions as a safety guard. The industrial application does not need a driver's truck, and a rechargeable battery is used as a power source of the truck. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path can be set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the ground, and the unmanned transport vehicle moves by using a message brought by the electromagnetic track or uses a ground two-dimensional code or SLAM navigation.

Among them, SLAM (simultaneous Localization and Mapping), also called CML (current Localization and Localization), performs instant positioning and Mapping, or performs Mapping and positioning concurrently. The problem can be described as: if a robot is placed at an unknown position in an unknown environment and there is a way to draw a complete map of the environment while the robot is moving, the complete map (a continuous map) refers to every corner where a room can enter without being obstructed.

The self-navigation trolley is provided with a telescopic mechanism which is configured to drive theupper tray 41 thereof to be separated from the ground when the telescopic mechanism is located at the extending position, and to drive theupper tray 41 thereof to move to be in contact with the ground when the telescopic mechanism is located at the retracting position.

The control server is connected with thedelivery goods device 3 and the carryingcontainer device 4 in a wired or wireless communication mode, a worker operates the control server through an operation console to work, the control server is a software system which runs on the server and has data storage and information processing capabilities and can be connected with a software system of an execution device through wireless and the like, the control server can comprise one or more servers and can be a centralized control framework or a distributed computing framework, the control server is provided with a processor and a memory, a database can be arranged in the memory, and the database stores the corresponding relation among target goods, a target delivery port and a target container.

The control server is configured to generate delivery instructions and handling instructions and send them to thedelivery cargo device 3 and the handlingcontainer device 4, respectively. Wherein the delivery instruction includes position coordinates of the target delivery port corresponding to the target cargo to be delivered, and the transfer instruction includes position coordinates of transferring the target container from the current position to the target position.

Example two

Compared with the first embodiment, the main difference of the present embodiment is that the number of thedelivery openings 13 corresponding to thecontainers 2 is different, that is, onecontainer 2 is arranged corresponding to at least twodelivery openings 13. Only the difference between the two will be described in detail with reference to fig. 9, and those skilled in the art can fully realize the same point between the two based on the description of the first embodiment, and details are not repeated herein. In addition, the same components as those of the first embodiment are denoted by the same reference numerals in the first embodiment.

In detail, referring to fig. 9, in the present embodiment, onecontainer 2 is provided corresponding to fourdelivery ports 13.

Thus, in the best case, the fourdelivery cargo devices 3 can respectively deliver the cargo to onecontainer 2 by using the fourdelivery ports 13, so that the cargo delivery task for onecontainer 2 can be completed quickly and efficiently.

It should be noted that, in this embodiment, only the scheme that onecontainer 2 is disposed corresponding to at least twodelivery ports 13 is exemplarily described with reference to fig. 9. The number of thedelivery openings 13 corresponding to onecontainer 2 can be designed by those skilled in the art according to practical application scenarios, and can be an integer greater than 1, and is not limited herein.

EXAMPLE III

Compared with the first embodiment, the main difference of the first embodiment is that at least one layer of sorting track 1 is arranged right above the sorting track 1. Only the difference between the two will be described in detail with reference to fig. 10, and those skilled in the art can fully realize the same point between the two based on the description of the first embodiment, and will not be described herein again. In addition, for the same components, the reference numerals in the first embodiment are used in the present embodiment.

In detail, referring to fig. 10, in the present embodiment, at least one layer of sorting track 1 is further disposed above the sorting track 1 of the present disclosure. The structure of the sorting track is completely the same as the structure of the sorting track described in the first embodiment, and those skilled in the art can completely implement the sorting track based on the first embodiment, and details are not described herein again.

Therefore, the upper and lower sorting tracks 1 are all advanced by delivery goods equipment, and can deliver goods into thesame container 2 throughrespective delivery ports 13 simultaneously or successively, and compared with the first embodiment, the delivery efficiency in unit time is improved.

It should be noted that the upper and lower sorting tracks 1 are also connected by a support frame so as to form a height space between the two sorting tracks 1 for theequipment 3 for delivering goods to travel. The specific structure of the supporting frame is completely the same as that of the first embodiment, and those skilled in the art can completely implement the supporting frame based on the description of the first embodiment, so that the detailed description is omitted here.

It should be noted that onecontainer 2 in this embodiment may be provided corresponding to at least twodelivery ports 13, that is, may be used in combination with the second embodiment.

Example four

Compared with the first embodiment, the main difference of the first embodiment is that the sorting track is additionally provided with the sorting platform, and the sorting platform is in butt joint with the first guide assembly or the second guide assembly.

Only the difference between the two will be described in detail with reference to fig. 11, and those skilled in the art can fully realize the same point between the two based on the description of the first embodiment, and will not be described herein again. In addition, the same components as those of the first embodiment are denoted by the same reference numerals in the first embodiment.

Referring to fig. 11, in the present embodiment, the warehousing system of the present disclosure further includes asorting platform 6, thesorting platform 6 extending in the first direction and interfacing with an end of thesecond rail 12, and thedelivery goods device 3 is further configured to travel on thesorting platform 6 and from thesecond rail 12 to thesorting platform 6 or from thesorting platform 6 to thesecond rail 12.

Therefore, after thesorting platform 6 finishes the sorting task, the worker places the sorted target goods in thedelivery goods equipment 3, thedelivery goods equipment 3 advances to thesecond guide rail 12 from thesorting platform 6, then turns to thefirst guide rail 11 from thesecond guide rail 12, finally advances to the target delivery port, delivers the target goods into thetarget container 2 below the target goods, and finally returns to thesorting platform 6 for the next delivery task.

With continued reference to fig. 11, in this embodiment, thesorting platform 6 includes a plate 61 and a plurality oflegs 62 supporting the platform, the plate 61 abutting one end of thesecond rail 12 to enable thedelivery goods device 3 to travel back and forth between the plate 61 and thesecond rail 12.

Twoadjacent legs 62 are spaced apart to allow thetote apparatus 4 to travel with thecontainer 2 between the twolegs 62.

In this way, thetote device 4 can travel from below the plate 61, ensuring that thetote device 4 can travel from below thedelivery port 13 in four different directions as in embodiment one.

EXAMPLE five

Compared with the first embodiment, the main difference of the first embodiment is that the container of the warehousing system is placed on the support frame with a gap from the ground, so that the container handling equipment can move to handle the container from the lower part of the container. Only the difference between the two will be described in detail with reference to fig. 12, and those skilled in the art can fully realize the same point between the two based on the description of the first embodiment, and the description thereof is omitted here. In addition, the same components as those of the first embodiment are denoted by the same reference numerals in the first embodiment.

In detail, referring to fig. 16, in the present embodiment, the warehousing system further comprises a support frame configured to place thecontainers 2 and to form a height gap between the bottoms of thecontainers 2 and the ground for thecontainer handling equipment 4 to travel with the containers, and thecontainer handling equipment 4 is further configured to remove the containers from the support frame or place the containers on the support frame.

Thus, thecontainer transporting equipment 4 can freely walk in the space below thecontainer 2, and can take out any one container from the support frame and place the container below any one delivery opening. For example, when a delivery task has been completed in acontainer 2 below adelivery opening 13 in the middle area of the sorting track 1, thetransport container facility 4, which is not restricted by thecontainers 2 at its edge, travels directly in the space below these containers to below the target delivery opening to remove the containers and transport them to a downstream station or container deposit area.Other tote devices 4 may also carry empty containers and walk freely under other containers to the location where the container was just taken, placingempty containers 2 on the support rack.

Compared with the first embodiment, in the present embodiment, the freedom of movement of thecontainer carrying device 4 is greatly improved, and the warehousing system can flexibly complete the delivery task at any delivery port position.

In detail, referring to fig. 13, 14 and 15, the warehousing system comprises at least two supportingplates 7, the two supportingplates 7 are fixedly arranged on the supporting frame in parallel at intervals, and the interval between the two supportingplates 7 is larger than the width of the container and smaller than the length of the container.

The handlingcontainer device 3 is configured to bring thecontainer 2 up to above the at least twosupport plates 7 through the space between the at least twosupport plates 7 of thecontainer 2 and to bring thecontainer 2 into rotation to place thecontainer 2 on the at least twosupport plates 2; alternatively, the handlingcontainer device 3 is configured to lift and rotate thecontainers 2 placed on the at least twosupport plates 7 until thecontainers 2 can pass through the gap between the at least twosupport plates 7 and bring thecontainers 2 down below the at least twosupport plates 7.

Referring to fig. 16, thecarrier apparatus 4 includes avehicle body 43, a travelingmechanism 44, and acarrier tray 45. The travelingmechanism 44 is disposed on thevehicle body 43 and configured to drive thevehicle body 43 to travel, the carryingtray 45 is movably disposed on thevehicle body 43 and configured to rotate relative to thevehicle body 43 until the size of thecontainer 2 is smaller than the gap between the two supportingplates 7, see fig. 8, and then ascend above the supportingplates 7, and then continue to rotate in the opposite direction until thecontainer 2 is placed on the two supportingplates 7, see fig. 9. Alternatively, thecarrier tray 45 is configured to be lifted relative to thevehicle body 43 to lift thecontainer 2 placed on the twosupport plates 7, and to rotate thecontainer 2 until the size of thecontainer 2 is smaller than the gap between the twosupport plates 7, and then to lower thecontainer 2 below the twosupport plates 7 through the gap between the twosupport plates 7.

In detail, thecarrier apparatus 4 includes a telescopic member and a driving motor. Wherein, the bottom of extensible member passes through rolling bearing and rotationally sets up onautomobile body 43, and its top is provided with bears dish 45, and driving motor drive extensible member drives bearsdish 45 and rotates forautomobile body 43, and the extensible member drives bearsdish 45 and goes up and down forautomobile body 43.

Wherein, the telescopic part can be a hydraulic cylinder or an air cylinder.

According to another embodiment of the present disclosure, referring to fig. 17 to 22, the warehouse system of the present disclosure secures at least twosupport plates 7, the at least twosupport plates 7 being rotatably disposed on the support frame, the at least twosupport plates 7 being configured to be located in a loading position under the action of the stopper plate or the return spring to collectively carry the container.

Thecarry container apparatus 4 is configured to push the at least twosupport plates 7 to rotate to jack up thecontainer 2 commonly carried by the at least twosupport plates 7 and to lower the carryingcontainer 2 below the support position;

the handlingcontainer device 4 is further configured to lift the container to thecontainer 2 pushing the at least twosupport plates 7 to rotate to pass thecontainer 2 between the at least twosupport plates 7 and to lower the carryingcontainer 3 to fall on the at least twosupport plates 7 reset to the carrying position.

It should be noted that the return spring is disposed between the supporting frame and the supportingplate 7, and the supportingplate 7 is configured to be located at the loading position under the elastic force of the return spring, so that the upper plate surface thereof is located substantially in the horizontal plane to load thecontainer 2.

According to another embodiment of the present disclosure, the storage system of the present disclosure further includes a stopper plate (not shown) fixedly disposed on the support frame and configured to prevent thesupport plate 7 from rotating downward from the loading position under its own weight.

Theconveyance container device 4 includes avehicle body 43, a traveling mechanism (not shown), acarrier tray 45, and anexpansion member 46. Wherein, the running mechanism is arranged on thevehicle body 43 and is configured to drive thevehicle body 43 to run; thecarrier tray 45 is provided on thevehicle body 43, and is configured to rotate between a first position and a second position in a horizontal direction with respect to thevehicle body 43, and to be lifted and lowered in a vertical direction.

When thecontainer 2 is located at the first position, the carryingtray 45 is lifted to push the at least two supportingplates 7 located at the carrying position to rotate to jack up thecontainer 2 jointly carried by the at least two supportingplates 7, and the carryingcontainer 2 is lowered to the position below the supporting position.

In the second position, thecarrier tray 45 carries thecontainer 2 up to the position where thecontainer 2 pushes the at least twosupport plates 7 in the carrying position to rotate up to the at least twosupport plates 7 and down to the position where thecontainer 2 is placed on the at least twosupport plates 7 and down to the position where the at least twosupport plates 7 in the carrying position are below.

It should be noted that, in the first position, the length of thecarrier tray 45 is smaller than the gap between the twocarrier trays 7 located in the carrying position; in the second position, the length of thecarrier plate 45 is greater than the gap between twocarrier plates 7 in the carrier position and greater than the length of thecontainer 2.

In more detail, the supporting frame comprises at least four supportingrods 5, one supportingplate 7 of the two supporting plates is fixedly connected to two adjacent supportingrods 5, the other supportingplate 7 of the two supporting plates is fixedly connected to the other two adjacent supportingrods 5, and an interval is formed between any two adjacent supportingrods 5 so that the container carried by thecontainer carrying device 4 can enter and exit.

The warehousing system of the embodiment enables the delivery goods equipment to run above the container by building the sorting track 1 and the delivery goods equipment, so that a running path is increased; the container bearing plane and the container carrying plane are added in the height, so that the dense arrangement of the containers is realized; and the independent separation of the containers is realized, so that the operation efficiency in sorting and sowing scenes is effectively improved.

EXAMPLE six

Compared with the fifth embodiment, the main difference of the present embodiment is that the number of thedelivery openings 13 corresponding to thecontainers 2 is different, that is, onecontainer 2 is arranged corresponding to at least twodelivery openings 13. Only the difference between the two will be described in detail with reference to fig. 23, and those skilled in the art can fully realize the same point between the two based on the descriptions of the first embodiment and the fifth embodiment, which will not be described herein again. In addition, the same components as those in the fifth embodiment are denoted by the same reference numerals in the present embodiment.

In detail, referring to fig. 23, in the present embodiment, onecontainer 2 is provided corresponding to fourdelivery ports 13.

Thus, under the best condition, the four delivery goods devices can respectively utilize the four delivery ports to deliver goods to thesame container 2, and therefore the goods delivery task for thecontainer 2 can be completed quickly and efficiently.

It should be noted that, in this embodiment, only the scheme that onecontainer 2 is disposed corresponding to at least twodelivery ports 13 is exemplarily described with reference to fig. 23. The number of thedelivery openings 13 corresponding to onecontainer 2 can be designed by those skilled in the art according to practical application scenarios, and can be an integer greater than 1, and is not limited herein.

EXAMPLE seven

Compared with the fifth embodiment, the main difference of the present embodiment is that at least one layer of sorting track is further arranged right above the sorting track 1. Only the difference between the two will be described in detail with reference to fig. 24, and those skilled in the art can fully realize the same point between the two based on the descriptions of the first embodiment and the fifth embodiment, which will not be described herein again. In addition, the same components are denoted by the same reference numerals as in the first and fifth embodiments.

In detail, referring to fig. 24, in the present embodiment, at least one layer of sortingtrack 4 is further disposed above the sorting track 1 of the present disclosure. The structure of the sorting track is completely the same as the structure of the sorting track described in the first embodiment, and those skilled in the art can completely implement the sorting track based on the first embodiment, and details are not described herein again.

Therefore, the upper and lower sorting tracks are all advanced by the delivery goods equipment, and the goods can be delivered into thesame container 2 through respective delivery ports simultaneously or successively.

It should be noted that the upper and lower sorting tracks 1 are also connected by a support frame so as to form a height space between the two sorting tracks 1 for theequipment 3 for delivering goods to travel. The specific structure of the supporting frame is completely the same as that of the first embodiment, and those skilled in the art can completely implement the supporting frame based on the description of the fifth embodiment, so that the detailed description is omitted here.

It should be noted that onecontainer 2 in this embodiment may be provided corresponding to at least twodelivery ports 13, that is, may be used in combination with the sixth embodiment.

Example eight

Compared to the fifth embodiment, the main difference of the present embodiment is that the warehousing system includes at least two levels ofcontainers 2, and thetote device 4 is configured to reverse the containers in the upper and lower levels. Only the difference between the two will be described in detail with reference to fig. 25, and those skilled in the art can fully realize the same point between the two based on the descriptions of the first embodiment and the fifth embodiment, which will not be described herein again. In addition, the reference numerals in embodiment one and embodiment five are used for the same components in this embodiment.

Referring to fig. 25, in the present embodiment, the warehousing system includes at least two levels ofcontainers 2, and thetote device 4 is configured to reverse the containers of the upper and lower levels.

In detail, in the present embodiment, thetransport container facility 4 is configured to take out thelower container 2 from the rack, take out theupper container 2 from the rack, place the taken-outlower container 2 on the upper position of the rack, and finally place or remove the taken-outupper container 2 on the lower position of the rack.

In this manner, when theupper level container 2 is full, thetote apparatus 4 can interchange it with thelower level container 2 to continue to perform delivery tasks. In addition, the arrangement can realize layered and dense storage of the containers, and fully utilize the utilization rate of the warehouse area.

It should be noted that, please refer to example five for the placement of at least two layers ofcontainers 2 on the supporting rack and the method for exchanging the upper andlower containers 2 by thecontainer transporting device 4, which are not described herein again.

Example nine

Compared with the fifth embodiment, the main difference of the fifth embodiment is that the warehousing system is provided with the container conveying platform, the containers and the sorting track in sequence along the direction from bottom to top on the sorting track, that is, a multi-layer goods delivery system is formed in the height direction. Only the difference between the two will be described in detail with reference to fig. 26, and those skilled in the art can fully realize the same point between the two based on the descriptions of the first embodiment and the fifth embodiment, which will not be described herein again. In addition, the same components are denoted by the same reference numerals as in the first and fifth embodiments.

Referring to fig. 26, in the present embodiment, the warehousing system of the present disclosure sequentially arranges the container conveying platform 8 and another sorting track 1 above the sorting track 1 from bottom to top, the container conveying platform 8 and the another sorting track 1 are connected by a support frame, acontainer 2 is placed on the support frame, and thecontainer transporting equipment 4 is further configured to travel on the container conveying platform 8.

Therefore, the warehousing system disclosed by the invention forms a structure for delivering goods in multiple layers in the height direction, can realize delivery tasks of a plurality of goods simultaneously, and fully utilizes the space in the warehouse area in the height direction.

It should be noted that, in the present embodiment, the structure of the container conveying platform 8 is the same as that of the sorting track 1, and the placement manner and the operation principle of the containers on the loading frame are the same as those in the first embodiment and the fifth embodiment, which can be completely implemented by those skilled in the art based on the description of the first embodiment and the fifth embodiment, and the description thereof is omitted here.

In addition, in this embodiment, the difference between the container transporting device traveling on the container transporting platform 8 and the container transporting devices of the first and fifth embodiments is that the power assembly for driving the vehicle body to travel is the same as the power assembly of thedelivery goods device 3 described in the first embodiment, and the remaining components are the same as the related contents described in the fifth embodiment.

Example ten

Compared with the first embodiment, the main difference of this embodiment is that the warehousing system further comprises a handling and pick-and-place container device capable of traveling on the sorting track. Only the difference between the two will be described in detail with reference to fig. 27, and those skilled in the art can fully realize the same point between the two based on the description of the first embodiment, and will not be described herein again. In addition, for the same components, the reference numerals in the first embodiment are used in the present embodiment.

Referring to fig. 27, in the embodiment, the warehousing system further includes a carrying and picking and placingcontainer device 9, and the carrying and picking and placingcontainer device 9 is configured to carry the target container to travel on the sorting track 1 and place the target container below thetarget delivery opening 13 through thedelivery opening 13 or take out thetarget container 2 located below thetarget delivery opening 13 through thetarget delivery opening 13, so as to achieve the purpose of carrying thecontainer 2 on the sorting track 1, improve the utilization rate of the sorting track 1, and enable the area outside the container storage area on the ground to be in a completely free state, which can be used at will according to actual needs.

With continued reference to fig. 27, in detail, the handling and pick-and-place container apparatus 9 includes a vehicle body, a drive assembly, and a pick-and-place container assembly. The driving assembly is arranged on the vehicle body and is configured to drive the vehicle body to move to a target delivery port on the sorting track 1 based on the delivery instruction; the picking and placing container assembly is arranged on the vehicle body and is configured to pick out a container below the target delivery opening through the target delivery opening or place the container below the target delivery opening through the target delivery opening.

With continued reference to fig. 27, in the present embodiment, the vehicle body of the present disclosure is specifically a square vehicle body. The vehicle body has the functions of installing the driving assembly and taking and placing the container assembly.

The drive assembly includes a first direction wheel assembly and a second direction wheel assembly. The first-direction wheel assembly is arranged on the vehicle body and is configured to drive the vehicle body to run along a first direction on the sorting track 1; the second-direction wheel assembly is arranged on the vehicle body and is configured to drive the vehicle body to run along a second direction on the sorting track 1; wherein, the first direction and the second direction form a preset angle.

So, this disclosed transport and get and putcontainer equipment 9 through two kinds of wheel subassemblies that drive the automobile body and advance along the equidirectional not, has realized simply that transport and get and putcontainer equipment 9 and advance the turn to the problem of in-process, simple structure and be convenient for realize.

Based on two kinds of guide rails that letter sorting track 1 package crossing arrangement in the preceding text embodiment, first direction wheel subassembly drives the automobile body and moves along two adjacentfirst guide rails 11, and second direction wheel subassembly drives the automobile body and moves along two adjacentsecond guide rails 11, and the angle phase-match that becomes is crossed withfirst guide rail 11 andsecond guide rail 12 to the preset angle of first direction wheel subassembly and second direction wheel subassembly.

That is to say, the first direction that the wheel subassembly of first direction drove the automobile body and marchd and the second direction that the wheel subassembly of second direction drove the automobile body and marchd become 90 degrees contained angles. Of course, those skilled in the art may design the traveling directions of the first-direction wheel assembly and the second-direction wheel assembly based on the included angle formed by the intersection of thefirst guide rail 11 and thesecond guide rail 12.

When the first direction wheel assemblies travel along two adjacentfirst guide rails 11, the second direction wheel assemblies may interfere with thesecond guide rails 12, or when the second direction wheel assemblies travel along two adjacentsecond guide rails 12, the first direction wheel assemblies may interfere with thefirst guide rails 11, thereby affecting the normal operation of the delivery cargo device.

To this end, according to one embodiment of the present disclosure, the carrying and pick-and-place container apparatus 9 of the present disclosure further includes a lifting mechanism disposed on the vehicle body and configured to lift the second direction wheel assembly above the sorting track 1 when the first direction wheel assembly drives thevehicle body 31 to travel on the sorting track 1; alternatively, the lifting mechanism is configured to lift the first-direction wheel assembly above the sorting track 1 when the second-direction wheel assembly takes thevehicle body 31 to travel on the sorting track 1.

In this way, when the handling and pick-and-place container apparatus 9 travels in the first direction on the sorting track 1, only the first direction wheel assembly is in contact with the sorting track 1, while the second direction wheel assembly is in a stowed state, i.e. it is above the sorting track 1. On the contrary, when thedelivery goods device 3 advances along the second direction on the sorting track 1, only the wheel assembly in the second direction is in contact with the sorting track 1, and the wheel assembly in the first direction is in a retracted state, namely, the wheel assembly is positioned above the sorting track 1, so that the problem of interference between the wheel assembly of thedelivery goods device 3 and the sorting track 1 after the delivery goods device is turned is solved ingeniously, and the normal advance of the delivery goods device is ensured.

The taking and placing container assembly can be a mechanical arm arranged on a vehicle body.

EXAMPLE eleven

Compared with the tenth embodiment, the main difference of the present embodiment is that at least one layer of sorting track is also arranged right above the sorting track 1. Only the difference between the two will be described in detail with reference to fig. 28, and those skilled in the art can fully realize the same point between the two based on the description of the first embodiment, and will not be described herein again. In addition, for the same components, the reference numerals in the first embodiment are used in the present embodiment.

In detail, referring to fig. 28, in the present embodiment, at least one layer of sorting track 1 is further disposed above the sorting track 1 of the present disclosure. The structure of the sorting track is completely the same as the structure of the sorting track described in the first embodiment, and those skilled in the art can completely implement the first embodiment, and details are not described herein.

Therefore, the upper and lower layers of sorting tracks are all advanced by the delivery goods equipment, and the goods can be delivered into thesame container 2 through respective delivery openings simultaneously or successively.

The warehousing system can be provided with a plurality of layers of sorting tracks 1, so that the running channels of thedelivery goods equipment 3 are enriched to a greater extent; thedelivery goods device 3 may deliver goods from a higher sorting track 1.

It should be noted that the upper and lower sorting tracks are also connected by the supporting frame, so that a height space for thegoods delivering device 3 and the container carrying and taking and placingdevice 9 to advance is formed between the two sorting tracks 1. The specific structure of the supporting frame is completely the same as that of the first embodiment, and those skilled in the art can completely implement the supporting frame based on the description of the first embodiment, so that the detailed description is omitted here.

Example twelve

Compared with the tenth embodiment, the main difference of the present embodiment is that the warehousing system includes at least two levels ofcontainers 2, and the transporting and pick-and-place container device 9 is configured to reverse the upper and lower levels of containers. Only the difference between the two will be described in detail with reference to fig. 29, and those skilled in the art can fully realize the same between the two based on the description of the embodiment ten, and the description thereof is omitted here. In addition, for the same components, the reference numerals in embodiment ten are used in this embodiment.

Referring to fig. 29, in the present embodiment, the warehousing system includes two levels ofcontainers 2, and the handling and pick-and-place container equipment 9 is configured to reverse the upper and lower levels of containers.

In detail, in this embodiment, the handling and taking-and-placingdevice 9 is configured to take thecontainers 2 on the lower layer out of the support frame, and then take thecontainers 2 on the upper layer out of the support frame; then, the taken-outlower container 2 is placed on the upper position of the support frame, and finally, the taken-outupper container 2 is placed on the lower position of the support frame.

In this way, when theupper container 2 is full, the handling and pick-and-place container device 9 can interchange it with thelower container 2 in order to continue the delivery task. In addition, the arrangement can realize layered and dense storage of the containers, and fully utilize the utilization rate of the warehouse area.

Thecontainers 2 in the warehousing system of the present disclosure may be arranged in multiple layers as desired. The number of containers can be doubled to form container buffering. The containers on the uppermost layer can be directly delivered to the containers on the lower layer after being taken away, so that the influence of the carrying time on the efficiency is further reduced.

The warehousing system can also switch the hit containers to the upper layer through the scheduling, carrying and taking and placingcontainer equipment 9 and box reversing actions before thedelivery goods equipment 3 is in place, so that all the multi-layer containers are regarded as target containers, and the target containers are doubled.

EXAMPLE thirteen

The difference between the fourth embodiment and the fourth embodiment is the specific structure of the sorting track, on the basis of which the operating principle of the delivery goods equipment is different.

In detail, referring to fig. 30, in the present embodiment, the first guide assembly includes a plurality ofthird guide rails 13 disposed in parallel at equal intervals in sequence, and thethird guide rails 13 extend in the first direction and support the support frames of the plurality of third guide rails 13. A delivery opening is formed between two adjacentthird guide rails 13, and the supporting frame comprises a plurality of supportinglegs 5, so that a height gap is formed between the sorting track and the ground, and thecontainers 2 can be placed conveniently.

The second guide assembly comprises asorting platform 6, the extension direction of thesorting platform 6 is perpendicular to the extension direction of eachthird guide rail 13, and the ends of thesorting platform 6 and thethird guide rails 13 are butted.

The delivery goods device is further configured to travel 13 along two third rails to the target container at the entrance of two adjacentthird rails 13 where thesorting platform 6 travels to the target container.

In detail, the warehousing system controls thedelivery goods equipment 3 to move to thesorting platform 6 to receive target goods based on order information, thedelivery goods equipment 3 firstly moves to inlets of two adjacentthird guide rails 13 corresponding to the target container along the first position coordinate direction according to the plane position coordinate information of the target container corresponding to the target goods, then moves to the target container along the second position coordinate direction, finally delivers the target goods to the target container through a delivery port formed between the twothird guide rails 13, and then returns to a goods receiving position to complete the next delivery task.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the market, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims (29)

1. A warehousing system, comprising:

a sorting track having a first guide assembly extending in a first direction and a second guide assembly extending in a second direction and having at least one delivery opening;

at least one container which is positioned right below the sorting track and is arranged corresponding to the delivery port;

a delivery cargo device configured to accept a target cargo and travel in a first direction at the first guidance assembly and in a second direction at the second guidance assembly to reach a target delivery opening based on delivery instructions, and deliver the target cargo into a target container through the target delivery opening;

a transport container device configured to transport a target container to be processed to below the delivery port based on a transport instruction and to transport a processed target container away from the delivery port;

a control server communicatively connected to both the delivery cargo device and the transfer container device and configured to generate delivery instructions and transfer instructions and send them to the delivery cargo device and the transfer container device, respectively.

2. The warehousing system of claim 1, wherein the first guide assembly includes at least two first rails disposed in parallel and spaced apart relation, the first rails extending in a first direction;

the second guide assembly comprises at least two second guide rails which are arranged in parallel and at intervals, and the second guide rails extend along a second direction;

two adjacent first guide rails and two adjacent second guide rails are connected in a cross mode to form the delivery port;

the delivery cargo devices are configured to travel along two adjacent first rails or two adjacent second rails.

3. The warehousing system of claim 2, wherein the sorting track further comprises a sorting platform extending in a second direction and interfacing with an end of the first rail;

the delivery cargo device is further configured to travel on the sorting platform and from the sorting platform to the first guide rail or from the first guide rail to the sorting platform.

4. The warehousing system of claim 3, wherein the first and second rails each have two parallel guide slots along which wheels of the delivery device travel.

5. The warehousing system of claim 4, characterized in that the warehousing system includes a support rack configured to support the sorting track to form a height gap between the sorting track and a ground to accommodate containers, the support rack including at least one support bar;

the adjacent two first guide rails and the adjacent two second guide rails surround to form mounting holes, and the supporting rod is fixedly connected with the first guide rails and the second guide rails through the mounting holes.

6. The warehousing system of claim 1, wherein said first guide assembly includes a plurality of third rails disposed in parallel and spaced apart relation, said third rails extending along said first direction, a gap between two adjacent said third rails forming said drop-off opening;

the second guide assembly comprises a sorting platform extending along the second direction and abutting an end of each of the third guide rails;

the delivery goods device is configured to travel at the sorting platform to the entrances of two adjacent third rails where a target container is located, and to travel along the two third rails to the target container.

7. The warehousing system of any of claims 1-4 and 6 further comprising a support shelf configured to position the containers and provide a height gap between the containers and the ground for the tote apparatus to travel with the containers, the tote apparatus further configured to remove the containers from the support shelf or place the containers onto the support shelf.

8. The warehousing system of claim 7, wherein the warehousing system is provided with a container conveying platform and another sorting track in sequence from bottom to top above the sorting track, the container conveying platform and the another sorting track are connected by the support frame, the containers are placed on the support frame, and the container handling equipment is further configured to travel on the container conveying platform.

9. The bin system according to claim 7, wherein the bin system comprises at least two tiers of containers.

10. The warehousing system of claim 9, wherein the tote equipment is further configured to reverse the at least two tiers of containers.

11. The bin storage system according to claim 7, further comprising at least two support plates, wherein the at least two support plates are parallel and fixedly arranged on the support frame at intervals, and the gap between the at least two support plates is larger than the width of the container and smaller than the length of the container;

the container handling apparatus is configured to bring the container up through the gap between the at least two support plates to above the at least two support plates and to rotate the container to place the container on the at least two support plates; or,

the carry container apparatus is configured to lift and rotate a container placed on the at least two support plates to a position where the container can pass through a gap between the at least two support plates and to bring the container down below the at least two support plates.

12. The warehousing system of claim 11, wherein said container handling equipment comprises:

a vehicle body;

the traveling mechanism is arranged on the vehicle body and is configured to drive the vehicle body to travel;

the carrying tray is movably arranged on the vehicle body, can rotate relative to the vehicle body and is configured to ascend relative to the vehicle body to drive the container to pass through a gap between the at least two supporting plates and be positioned above the supporting plates, and then continuously rotates reversely until the container is placed on the at least two supporting plates;

or the bearing plate is configured to be lifted relative to the vehicle body to lift the container placed on the at least two support plates, and drive the container to rotate and descend until the container passes through the gap between the at least two support plates and reaches the lower part of the at least two support plates.

13. The warehousing system of claim 12, wherein said tote apparatus comprises:

the bottom end of the telescopic piece is rotatably arranged on the vehicle body through a rotating bearing, and the top end of the telescopic piece is provided with the bearing disc and is configured to drive the bearing disc to lift relative to the vehicle body;

and the driving motor drives the telescopic piece to drive the bearing plate to rotate relative to the vehicle body.

14. The bin system according to claim 7, wherein the bin system comprises at least two support plates, the at least two support plates being rotatably arranged on the support frame, the at least two support plates being configured to be positioned in a loading position under the action of a stopper plate or a return spring to jointly carry the container;

the container carrying device is configured to push the at least two support plates to rotate to jack up the container jointly carried by the at least two support plates and to carry the container down below the support position;

the container handling apparatus is further configured to raise a container to a position where the container pushes the at least two support plates to rotate to pass the container between the at least two support plates and to carry the container down onto the at least two support plates to be returned to the loading position.

15. The warehousing system of claim 14, wherein said tote apparatus comprises:

a vehicle body;

the walking mechanism is arranged on the vehicle body and is configured to drive the vehicle body to walk;

the bearing plate is arranged on the vehicle body, is configured to rotate between a first position and a second position in the horizontal direction relative to the vehicle body, and is lifted and lowered in the vertical direction;

when the container is positioned at the first position, the bearing disc ascends to push the at least two support plates positioned at the bearing position to rotate to jack up the container jointly borne by the at least two support plates and carries the container to descend below the supporting position;

when the container is located at the second position, the bearing plate carries the container to rise to the position where the container pushes the at least two support plates located at the bearing position to rotate to reach the position above the at least two support plates, and the container descends to be placed on the at least two support plates and reach the position below the at least two support plates located at the bearing position.

16. The warehousing system of any of claims 1-6, characterized in that the warehousing system further comprises a handling and pick-and-place container device configured to travel on the sorting track with a target container and place the target container under a target delivery opening or take out the target container under the target delivery opening.

17. The warehousing system of claim 16, wherein the warehousing system includes at least two tiers of containers, and the handling and pick-and-place container facility is further configured to rearrange the at least two tiers of containers.

18. The warehousing system of claim 16, wherein said handling and pick-and-place container equipment comprises:

a vehicle body;

the driving assembly is arranged on the vehicle body and is configured to drive the vehicle body to move to a target delivery port on the sorting track based on the delivery instruction;

the picking and placing container assembly is arranged on the vehicle body and is configured to pick out a container below the target delivery opening through the target delivery opening or put the container below the target delivery opening through the target delivery opening.

19. The warehousing system of any of claims 1-6 wherein at least one level of sorting track is also provided above the sorting tracks.

20. The warehousing system of any of claims 1-6 wherein one container corresponds to at least two of said drop ports.

21. The warehousing system of any of claims 1-6, wherein the tote apparatus comprises:

a tray configured for placement of a container;

and the self-navigation trolley is configured to enter the bottom of the tray with the containers and lift the tray to be separated from the ground, then carry the tray to a target position, and lower the tray with the containers to be in contact with the ground, and then move the tray out of the bottom of the tray.

22. The warehousing system of any of claims 1-6, wherein the delivery-goods device comprises:

a vehicle body;

the moving assembly is arranged on the vehicle body and is configured to drive the vehicle body to travel along the sorting track to the target delivery port based on a control instruction;

a delivery assembly disposed on the vehicle body and configured to receive goods and deliver the goods through the target delivery opening into the containers of the container floor.

23. The warehousing system of claim 22, wherein the delivery assembly comprises:

the turning plate is rotatably arranged on the vehicle body and is configured to rotate between a loading position and a delivery position under the action of a driving motor;

when in the loading position, the flap is configured to receive cargo;

when the container is located at the delivery position, the turning plate inclines for a preset angle relative to the vehicle body, so that goods on the turning plate fall into the container under the self-weight.

24. The warehousing system of claim 23, wherein said delivery assembly includes two of said flaps;

when the two turnover plates are positioned at the bearing position, the two turnover plates are spliced to bear goods together;

when the goods container is located at a delivery position, the two turning plates are inclined downwards relative to the vehicle body until the goods fall into the container from a gap formed by the two turning plates under the self weight.

25. The warehousing system of claim 22, wherein the delivery assembly comprises:

a flap rotatably disposed on the vehicle body and configured to be rotated between a loading position and a first delivery position or between a loading position and a second delivery position by a drive element;

when in the loading position, the flap is configured to receive cargo;

when the container is located at the first delivery position, the turning plate is inclined at a preset angle relative to the vehicle body, so that goods on the turning plate fall into the container under the self weight.

26. The warehousing system of claim 22, wherein the delivery assemblies include a power transmission line disposed on the vehicle body and having a shutdown state and a transport state;

when in the shutdown state, the power transmission line is configured to carry goods;

when the power transmission line is in a transmission state, the power transmission line is configured to transmit the goods to the delivery opening, so that the goods fall into the container through the delivery opening under the self weight.

27. The warehousing system of claim 22, wherein the motion assembly comprises:

the first-direction wheel assembly is arranged on the vehicle body and is configured to drive the vehicle body to run on the sorting track along a first direction;

and the second direction wheel assembly is arranged on the vehicle body and is configured to drive the vehicle body to run along a second direction on the sorting track.

28. The warehousing system of claim 27 wherein the first direction and the second direction are perpendicular to each other.

29. The warehousing system of claim 27, wherein the motion assembly further comprises:

and a lifting driving mechanism disposed on the vehicle body and configured to lift the first-direction wheel assemblies out of contact with the sorting track and lower the second-direction wheel assemblies into contact with the sorting track, or configured to lower the first-direction wheel assemblies into contact with the sorting track and lift the first-direction wheel assemblies out of contact with the sorting track.

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