CN116986184A - Pre-warehouse conveying system with high conveying efficiency and automatic stereoscopic warehouse with same - Google Patents

Abstract

The invention provides a pre-warehouse conveying system with high conveying efficiency and an automatic three-dimensional warehouse with the same, relates to the technical field of three-dimensional warehouse, and mainly aims at solving the problem that the conveying efficiency of the traditional pre-warehouse conveying system is low. The pre-warehouse conveying system with high conveying efficiency comprises a walking track and a four-way shuttle vehicle, wherein the walking track is positioned between a warehouse end platform and a conveying line, the walking track is connected with the warehouse end platform and the conveying line, and the four-way shuttle vehicle can convey articles between the warehouse end platform and the conveying line through the walking track. Compared with the traditional conveying equipment, the four-way shuttle can avoid the problem of possible path conflict among different four-way shuttles by switching the conveying direction and the path, and the conveying efficiency of cargoes is effectively improved.

Description

Pre-warehouse conveying system with high conveying efficiency and automatic stereoscopic warehouse with same

Technical Field

The invention relates to the technical field of stereoscopic warehouse, in particular to a high-conveying-efficiency pre-warehouse conveying system and an automatic stereoscopic warehouse with the same.

Background

In general, a complete set of automated stereoscopic warehouse systems is composed of a shelf system, storage equipment, a pre-warehouse conveyor system, a control management system, and the like. Among them, the pre-warehouse conveyor system occupies a large specific gravity in the autostereoscopic warehouse, and its design tends to be a difficult part of the autostereoscopic warehouse. Many automated stereoscopic warehouse systems, because of the design issues of the pre-warehouse conveyor system, affect the performance of the overall logistics center.

The prior pre-warehouse conveying system adopts equipment such as a conveyor, a linear shuttle, an annular shuttle, an AGV and the like to carry out pre-warehouse conveying of materials, and the conveying equipment has advantages and disadvantages: the conveyor has the advantages of strong collecting and discharging capability, safety and reliability, but has the defects of high rigidity, difficult expansion, multiple detection photoelectric layout, high failure rate and the like; the linear shuttle can realize cargo transportation in a reciprocating transportation mode, so that the transportation is flexible and the cost performance is high, but the transportation efficiency of the linear shuttle can be rapidly reduced along with the increase of the transportation distance, and the efficiency of increasing the number of vehicles is not obviously improved, so that the linear shuttle is not suitable for a large warehouse; the annular shuttle is better suitable for large warehouses, has flexibility compared with the linear shuttle, but has a more serious idle running phenomenon in a unidirectional running conveying mode, and is extremely easy to cause blocking when the number of the shuttles is large; the AGV trolley runs in a trackless manner, has extremely high flexibility and high flexibility, is suitable for long-distance or inter-vehicle conveying, but has higher requirements on the flatness of the ground, and is relatively expensive and higher in overall cost. Thus, there is currently no pre-warehouse delivery system that is low cost and has high flexibility and adaptability.

In order to solve the above problems and improve the conveying efficiency of the pre-warehouse conveying system, it is necessary to develop a novel pre-warehouse conveying system and a three-dimensional warehouse having the same.

Disclosure of Invention

The invention aims to provide a pre-warehouse conveying system with high conveying efficiency and an automatic three-dimensional warehouse with the same, so as to solve the technical problem of low conveying efficiency of the pre-warehouse conveying system in the prior art. The preferred technical solutions of the technical solutions provided by the present invention can produce a plurality of technical effects described below.

In order to achieve the above purpose, the present invention provides the following technical solutions:

the invention provides a high-conveying-efficiency pre-warehouse conveying system which comprises a walking rail and a four-way shuttle vehicle, wherein the walking rail is positioned between a warehouse end platform and a conveying line, the walking rail is connected with the warehouse end platform and the conveying line, and the four-way shuttle vehicle can convey articles between the warehouse end platform and the conveying line through the walking rail.

Compared with the traditional conveying equipment, the four-way shuttle can flexibly move between the warehouse end platform and the conveying line through the matched travelling rail, meanwhile, the problem of path conflict possibly occurring between different four-way shuttle is avoided, and the conveying efficiency of cargoes is effectively improved; meanwhile, as the four-way shuttle needs to move on a fixed track, the requirement on the ground flatness of a relevant area is reduced.

On the basis of the technical scheme, the invention can be improved as follows.

As a further improvement of the present invention, the walking rail includes a main rail and a reversing rail, the number of the reversing rails being plural; the main track and the reversing track are mutually perpendicular, and the reversing tracks are distributed along the length direction of the main track.

As a further improvement of the invention, the number of the main tracks is at least two, all the main tracks are arranged in parallel along the same direction, and any one of the reversing tracks can be communicated with at least two main tracks.

The four-way shuttle can walk along two different directions in the transverse direction or the longitudinal direction according to the setting, and reasonably plan a working path or realize mutual avoidance by means of the rail in a reversing walking mode, so that the transportation efficiency of cargoes is improved.

As a further improvement of the present invention, the terminal station includes a warehouse-in station and a warehouse-out station;

and/or, the conveying line comprises a warehouse-in conveying line and a warehouse-out conveying line.

As a further improvement of the present invention, the outbound station includes an outbound pick station and an outbound temporary station.

As a further improvement of the invention, the warehouse end platform and/or the conveying line is provided with a sub-track for the four-way shuttle to walk, and the four-way shuttle can be connected with the warehouse end platform and/or the conveying line through the sub-track.

As a further development of the invention, the structure of the sub-tracks at the different end-of-depot stations and/or at the conveyor line is not completely identical.

As a further improvement of the invention, the automatic identification device further comprises an identification component, wherein the identification component comprises a marker and an identification piece, the marker is fixedly arranged on the warehouse end platform, the conveying line and the walking track, and the identification piece is fixedly arranged on the four-way shuttle.

As a further improvement of the invention, the device also comprises an auxiliary conveying component matched with the walking rail;

the auxiliary conveying assembly comprises a linear conveying assembly and/or an annular conveying assembly.

The invention also provides an automatic stereoscopic warehouse, which comprises the pre-warehouse conveying system with high conveying efficiency and a stereoscopic goods shelf.

Compared with the prior art, the technical scheme provided by the preferred embodiment of the invention has the following beneficial effects:

compared with the traditional pre-warehouse conveying system, the scheme solves the problems of unidirectional conveying of the traditional conveying equipment and low conveying efficiency caused by path conflict avoidance by utilizing the characteristic that the four-way shuttle can reverse in the transverse direction and the longitudinal direction, and the four-way shuttle can realize multi-path selection in a reversing mode, so that the problem of path conflict among different four-way shuttles is effectively avoided, and the problem of low conveying efficiency caused by longer operation waiting time is reduced; in addition, the conveying system can flexibly increase and decrease the four-way shuttle or adjust the track layout according to the frequency of goods entering and exiting the warehouse, so that the whole conveying system before the warehouse has higher degree of freedom and expandability, and the idle running phenomenon is reduced.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the overall construction of a high delivery efficiency pre-warehouse delivery system of the present invention;

FIG. 2 is a schematic diagram of the cooperation of a travel track with a head station and conveyor line in a high conveying efficiency pre-warehouse conveying system of the present invention;

FIG. 3 is a schematic diagram of the cooperation of a travel rail and a four-way shuttle in the pre-warehouse delivery system with high delivery efficiency of the present invention;

FIG. 4 is a schematic illustration of the connection of travel tracks and sub-tracks in the high conveying efficiency pre-warehouse conveying system of the present invention;

FIG. 5 is a schematic view of the structure of a seed track of FIG. 4;

fig. 6 is a schematic diagram of the engagement of the four-way shuttle with another sub-track of fig. 4.

In the figure: 1. a base station; 11. warehousing the platform; 12. a warehouse-out selection platform; 13. a temporary storage platform is taken out of the warehouse; 2. a conveying line; 21. warehousing and conveying lines; 22. a delivery line for delivery; 3. a walking rail; 31. a main track; 32. a reversing rail; 33. a charging position; 4. a four-way shuttle; 5. a sub-track; 6. an identification member.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.

The technical scheme of the invention is specifically described below with reference to the accompanying drawings.

The invention provides a high-conveying-efficiency pre-warehouse conveying system, which is shown in fig. 1, and comprises a walking rail 3 and a four-way shuttle 4, wherein the walking rail 3 and the four-way shuttle are positioned between a warehouse-end platform 1 and a conveying line 2, the walking rail 3 is connected with the warehouse-end platform 1 and the conveying line 2, and the four-way shuttle 4 can convey articles between the warehouse-end platform 1 and the conveying line 2 through the walking rail 3.

Compared with the traditional conveying equipment, the four-way shuttle 4 can flexibly move between the warehouse end platform 1 and the conveying line 2 through the walking track 3 matched with the four-way shuttle 4, meanwhile, the problem of path conflict possibly occurring between different four-way shuttles 4 is avoided, and the conveying efficiency of cargoes is effectively improved; meanwhile, as the four-way shuttle 4 needs to move on a fixed track, the requirement on the ground flatness of a relevant area is reduced.

The pre-warehouse conveyor system may be used to transport stacked pallets or the like in addition to goods.

As an alternative embodiment, the terminal station 1 includes a warehouse-in station 11 and a warehouse-out station. The position of the warehouse-in platform 11 can be provided with a size detection device and a bearing detection device, and after goods are conveyed to the position of the warehouse-in platform 11 through the four-way shuttle car 4, the goods can be warehouse-in through a manual forklift, AGV equipment or other related goods conveying equipment positioned at the rear of the warehouse-in platform. The delivery platform comprises a delivery selection platform 12, the delivery selection platform 12 is of a shelf type structure, the shelf is suitable for four-way shuttle 4, a plurality of picking positions are arranged on the shelf, and goods to be delivered are transported to the positions through relevant conveying equipment and can be used for realizing the subsequent picking or whole delivery function.

In some cases, the delivery station further includes a delivery temporary storage station 13, where the delivery temporary storage station 13 is used to implement a night or idle whole-tray pre-delivery temporary storage function, and the structure of the delivery temporary storage station is substantially identical to that of the delivery selection station 12, but the number of the used shelves is large and the shelves are arranged in multiple rows or multiple columns.

As an alternative embodiment, the conveyor line 2 comprises a warehouse entry conveyor line 21 and a warehouse exit conveyor line 22, wherein the warehouse entry conveyor line 21 may be used to interface with a pallet structure transported by a four-way shuttle 4 or other conveyor device; the delivery line 22 can cooperate with the four-way shuttle 4 to realize the functions of delivering trays and the like.

When the pre-warehouse conveying system is used, at least two four-way shuttles 4 are generally arranged on the travelling rail 3 in order to improve conveying efficiency, and as shown in fig. 1, four-way shuttles 4 are arranged in fig. 1. When a plurality of four-way shuttles 4 walk on the walking track 3, path collision may occur, thereby affecting normal cargo transportation. In order to avoid the above-mentioned problem and avoid the problem of collision of multiple vehicle operation paths, in the present embodiment, the walking track 3 is provided to include a main track 31 and a reversing track 32, and the number of reversing tracks 32 is plural; the main rail 31 and the reversing rail 32 are perpendicular to each other and a plurality of reversing rails 32 are arranged along the length direction of the main rail 31.

The reversing rail 32 can realize reversing travel of the four-way shuttle 4. When the four-way shuttle 4 walks along the walking track 3, once two four-way shuttles 4 are located on the same main track 31 and move relatively, the path conflict can be solved by adjusting the way that one four-way shuttle 4 commutates and moves to the commutating track 32.

As an alternative embodiment, the number of the main tracks 31 is at least two and all the main tracks 31 are arranged in parallel along the same direction, and any one reversing track 32 can be communicated with at least two main tracks 31.

The four-way shuttle 4 can walk along two different directions in the transverse direction or the longitudinal direction according to the setting, and reasonably plan a working path or realize mutual avoidance by means of the rail in a reversing walking mode, so that the transportation efficiency of cargoes is improved.

In the case that there are at least two main tracks 31, as shown in fig. 2, the four-way shuttle 4 can flexibly plan a plurality of different conveying paths according to the transportation requirement, the arrow direction in fig. 2 is the possible moving direction of the four-way shuttle 4, and in the case that a plurality of four-way shuttles 4 have path conflicts, the path conflict problem is solved by stopping waiting until the conflicts disappear or reversing to change the path. At the moment, the pre-warehouse conveying system can realize random reversing walking at a plurality of positions through the plurality of main rails 31 and the reversing rails 32, so that the problem of path conflict during multiple operations is avoided, and meanwhile, the problem of low conveying efficiency caused by operation waiting time is effectively reduced through multi-path selection.

The above-mentioned cooperation structure between four-way shuttle 4 and walking track 3 is as shown in fig. 3, and main track 31 and switching-over track 32 in walking track 3 extend along horizontal and longitudinal direction respectively, and when four-way shuttle 4 moved to two track intersection department, can realize switching-over walking to overcome the route conflict problem that probably appears when many car operations.

In addition, the arrangement mode is matched with the warehouse end platform 1 and the conveying line 2, so that the flexibility and expansibility of the conveying system before the warehouse can be greatly improved, and the conveying system has higher adaptability. Along with the increase of warehouse-in and warehouse-out efficiency, the quantity of the four-way shuttling vehicles 4 can be flexibly adjusted, when the conveying efficiency is higher, four-way shuttling vehicles 4 can be arranged for simultaneous operation, when the conveying efficiency requirement is lower, two four-way shuttling vehicles 4 can be arranged for operation, and the other two four-way shuttling vehicles 4 are reserved (can be temporarily parked on the walking track 3 and can not prevent the normal operation of the four-way shuttling vehicles 4 in the operation state).

In order to ensure that the four-way shuttle 4 can flexibly transport goods at the warehouse-end platform 1 and/or the conveyor line 2, as an alternative embodiment, the warehouse-end platform 1 and/or the conveyor line 2 is provided with a sub-track 5 for the four-way shuttle 4 to travel, and the four-way shuttle 4 can be connected with the warehouse-end platform 1 and/or the conveyor line 2 through the sub-track 5, as shown in fig. 4, at this time, the four-way shuttle 4 travels on the travel track 3 and can move to the sub-track 5 at a proper position.

The above-described sub-tracks 5 located at different positions may be identical or different in structure.

As an alternative embodiment, the structure of the sub-tracks 5 at the different end-of-depot stations 1 and/or conveyor lines 2 may or may not be identical, designed as desired. As can be seen from fig. 4, the left side of the drawing is the warehouse-out selecting station 12 and/or the warehouse-out temporary storage station 13 in the warehouse-end station 1, the right side is the conveying line 2 (which may be the warehouse-in conveying line 21 or the warehouse-out conveying line 22), and the sub-rail 5 connected with the warehouse-in conveying line 21 and/or the warehouse-out conveying line 22 is a square-tube rail as shown in fig. 5; the structure of the sub-track 5 located opposite it and connected to the pick-out station 12 and/or the temporary storage station 13 is shown in figure 6. In the present embodiment, the sub-rail 5 connected to the warehouse-in station 11 has a square-tube rail structure as shown in fig. 5.

Of course, the above-mentioned sub-track 5 may have other structures, and the sub-track 5 only needs to be capable of realizing normal movement and reversing of the four-way shuttle 4, and meanwhile, normal use of other devices is not affected.

It should be noted that, in order to further improve the conveying efficiency of the pre-warehouse conveying system, the traveling rail 3 may be provided with a multi-layered rail structure. The traveling rail 3 is provided with an elevator structure capable of driving the four-way shuttle 4 to move up and down between the multi-layer rails. In the present embodiment, the elevator may be provided at the end in the conveying direction of a certain main rail 31 or a certain reversing rail 32.

Of course, the above-mentioned lifter structure may also be disposed at the warehouse-out selecting station 12 or the warehouse-out temporary storage station 13 and connected thereto, so as to facilitate the four-way shuttle 4 to convey the goods to different heights, thereby realizing the three-dimensional operation.

During the movement of the four-way shuttle 4 along the walking rail 3 and the sub-rail 5, different areas are traversed. For accurate understanding four-way shuttle 4's position, conveniently regulate and control its motion route and motion state, as optional implementation mode, still include authentication subassembly, authentication subassembly includes identification piece 6 and identification piece, and identification piece 6 is fixed to be set up on storehouse end platform 1, transfer chain 2 and walking track 3, and identification piece is fixed to be set up on four-way shuttle 4.

Under the action of the authentication component, the current working state (whether idle) of all the four-way shuttles 4, the scheduling frequency and the operation path can be timely and effectively mastered by matching with a corresponding control system, so that an operator can be conveniently and dynamically allocate the proper four-way shuttles 4 to achieve the purpose of improving the transportation efficiency, and meanwhile, the four-way shuttles 4 positioned on the same layer can be timely and effectively helped to carry out path adjustment.

Specifically, the identifier 6 may be a two-dimensional code or a bar code, and the corresponding identifier is an image capturing device having a scanning and identifying function. The four-way shuttle 4 can acquire the current position information through the identifier 6. The identification member and the identification member 6 are conventional, and will not be described in detail herein.

The following describes a case where the four-way shuttle 4 may appear when moving on the single-layer travel rail 3, taking the single-layer travel rail 3 as an example:

if the upper computer needs to assign a cargo transportation task, whether the four-way shuttle 4 is in an idle state or not needs to be detected firstly, if so, the task is sent to the four-way shuttle 4 in a certain idle state according to a system setting sequence or randomly, after the four-way shuttle 4 receives the task, the state of the four-way shuttle 4 is switched to a task state, and at the moment, a task instruction sent by the upper computer is not received until the task is completed; if the four-way shuttle 4 in the idle state is not currently detected, the cargo transportation task waits until the four-way shuttle 4 in the idle state appears.

Aiming at the scheduling frequencies of different four-way shuttles 4, the aim of balancing the times is generally achieved, so that the same four-way shuttle 4 is prevented from continuously executing tasks, and the rest idle four-way shuttles 4 are always in an idle state.

For the transportation path of the four-way shuttle 4, the current position of the four-way shuttle 4 is generally taken as a starting point, so that the sum of vector segments running from the current starting point to the target point is ensured to be minimum, and meanwhile, the four-way shuttle 4 is prevented from turning for multiple times in the transportation process as much as possible.

It should be noted that when a plurality of four-way shuttles 4 perform a job at the same floor, a path conflict may occur, and the path conflict includes a node conflict (i.e., two four-way shuttles 4 meet at the same intersection node in the same time period) and an encounter conflict (i.e., travel paths of two four-way shuttles 4 overlap in the same time period). The above conditions may be adjusted according to the priority of the job (the priority may be considered to be set according to certain criteria or requirements). Aiming at node conflict, the four-way shuttle 4 with high job priority passes through the intersection node preferentially, and the four-way shuttle 4 with low job priority waits before the intersection node until the node conflict does not exist; if the job priorities of the two four-way shuttles 4 are the same, the four-way shuttle 4 with the shortest path passes through first, and the other four-way shuttle 4 waits before the intersection node until the node conflict does not exist. Aiming at meeting conflict, the walking path of the four-way shuttle 4 with high job priority is unchanged; setting the conflict road section as an obstacle and rescheduling a path at the four-way shuttle 4 with low job priority (the obstacle is set to be disposable and is recovered after the current transportation task is completed); when the job priorities of the two four-way shuttles 4 are the same, the four-way shuttle 4 with the shortest path passes preferentially, and the other one re-plans the path according to the above.

In order to achieve the above effects, the pre-warehouse conveying system also comprises a control system, wherein the control system comprises an upper computer and a signal receiving and transmitting assembly connected with the upper computer, and the upper computer can be an electronic element such as a PLC (programmable logic controller) and has the functions of data processing, storage, signal transmission, signal reception and the like. The number of the signal transceiver components is plural and correspondingly arranged on the four-way shuttle 4. The four-way shuttle 4 can receive the task instruction sent by the upper computer through the signal receiving and transmitting component and operate according to the instruction, and after the operation is completed, the four-way shuttle 4 can send the task completion instruction to the upper computer through the signal receiving and transmitting component and switch to the idle state again. The four-way shuttle 4 can be in a task state and an idle state according to whether a task is executed or not in a working state; if the electric quantity of the four-way shuttle 4 is too low, the vehicle can automatically walk to a charging position for charging.

The above-mentioned charging position 33 is also arranged on the running rail 3, as shown in fig. 1. The charging location 33 may enable automatic charging of the four-way shuttle 4. This structure is prior art and will not be described in detail here.

It can be appreciated that compared with the traditional pre-warehouse conveying system, the scheme has lower cost on the premise of meeting the same conveying efficiency, and meanwhile, the dependency of equipment on photoelectric detection is lower, so that the failure rate of the equipment can be effectively reduced, and the maintenance is more convenient; in addition, this scheme can also effectively promote transport efficiency through the mode that increases vehicle quantity, and its whole is discrete overall arrangement, and flexibility is high, and later stage rectifying or expanding's potentiality is bigger, and is more convenient in the use.

In actual use, an auxiliary conveying assembly which can be matched with the walking rail 3 can be arranged outside the walking rail according to different requirements of different warehouses, and the auxiliary conveying assembly comprises a linear conveying assembly and/or an annular conveying assembly.

The invention also provides an automatic stereoscopic warehouse, which comprises the pre-warehouse conveying system with high conveying efficiency and a stereoscopic goods shelf.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The utility model provides a conveying system before storehouse of high conveying efficiency, its characterized in that includes walking track and the four-way shuttle that is located between storehouse end platform and the transfer chain, the walking track with storehouse end platform with the transfer chain meets, four-way shuttle can be via the walking track carry out article transport between storehouse end platform with the transfer chain.

2. The high conveying efficiency pre-warehouse conveying system as claimed in claim 1, wherein the travel track comprises a main track and a reversing track, the number of reversing tracks being a plurality; the main track and the reversing track are mutually perpendicular, and the reversing tracks are distributed along the length direction of the main track.

3. The high conveying efficiency pre-warehouse conveying system as claimed in claim 2, wherein the number of the main rails is at least two and all the main rails are arranged in parallel in the same direction, and any one of the reversing rails can communicate with at least two of the main rails.

4. The high delivery efficiency pre-warehouse delivery system of claim 1, wherein the warehouse end stations comprise a warehouse entry station and an ex warehouse station;

and/or, the conveying line comprises a warehouse-in conveying line and a warehouse-out conveying line.

5. The high delivery efficiency pre-warehouse delivery system of claim 4, wherein said ex warehouse stations comprise an ex warehouse pick station and an ex warehouse temporary storage station.

6. The high delivery efficiency pre-warehouse delivery system of claim 1, wherein the warehouse end platform and/or the delivery line is provided with a sub-track through which the four-way shuttle can travel, the four-way shuttle being connectable with the warehouse end platform and/or the delivery line via the sub-track.

7. The high delivery efficiency pre-warehouse delivery system of claim 6, wherein the sub-rails at different ones of the warehouse end stations and/or the delivery lines are not entirely uniform in structure.

8. The high delivery efficiency pre-warehouse delivery system of claim 1, further comprising an authentication assembly comprising a marker fixedly disposed on the warehouse end station, the conveyor line, and the travel track and a recognition member fixedly disposed on the four-way shuttle.

9. The high delivery efficiency pre-warehouse delivery system as claimed in any one of claims 1-8, further comprising an auxiliary delivery assembly coupled to the travel rail;

the auxiliary conveying assembly comprises a linear conveying assembly and/or an annular conveying assembly.

10. An automated stereoscopic warehouse comprising the high delivery efficiency pre-warehouse delivery system of any one of claims 1-9, further comprising a stereoscopic shelf.