Intelligent truss transfer system and method for lead stack warehouse-in and warehouse-out

Abstract

The invention discloses an intelligent truss transfer system and method for lead stack warehouse-in and warehouse-out, the system comprises a transfer RGV, a warehouse-in and warehouse-out conveying line and a warehouse-in and warehouse-out truss, and lead stack transfer is executed by taking the warehouse-in and warehouse-out truss as a core. A warehouse area is divided into two areas, a simultaneous warehouse-in, warehouse-out or mixed operation mode is supported, two warehouse-out conveying lines for alternate stock-up are matched, and the loading efficiency is greatly improved; the warehouse-in conveying line and the warehouse-out conveying line are arranged in a high-low crossed mode, space utilization is optimized, and path conflicts are avoided. During operation, the WCS dispatch equipment cooperates, the WMS manages data information, and full-process tracing is achieved. Compared with a traditional manual forklift and crown block hoisting mode, the system reduces personnel assistance, and the labor cost and the safety risk are reduced; through automatic and intelligent operation, the flexibility, the efficiency and the management level of lead stack warehouse-in and warehouse-out are remarkably improved, and an efficient, safe and intelligent solution is provided for enterprise warehouse transfer.

Description

Technical Field

[0001] The present invention belongs to the technical field of metallurgical equipment, and specifically relates to an intelligent truss transfer system and method for lead stacks entering and leaving a warehouse. Background Art

[0002] Traditionally, lead stacks are transported off the production line using manual forklifts or cranes. Since each shift requires 6-8 hours of continuous production, manual forklifts and cranes are required to pick up the lead stacks, requiring multiple people to assist, and the stacks must be transported back and forth from the production line to the inventory area, repeating routes and manual work. During the process of storing the lead stacks off the production line, manual quantity recording and inventory are required. Ground storage is generally used, and both manual lifting and forklifts require reserved personnel or forklift lanes, resulting in low ground storage capacity. During shipment, manual assistance is required to lift the stacks from the warehouse, first transport them to the weighing platform for weighing, and then manually apply the labels printed by the labeling machine to both sides of the stack. The stacks are then lifted from the weighing platform and transported to the truck for loading and placement. Manual unloading is also required. Before loading the truck, manual verification of truck information, printing of loading orders, and manual inventory of loading status are required.

[0003] The process of placing lead stacks in the warehouse is crucial. Due to the limited storage area, manual forklifts are required to place lead stacks gradually from the farthest to the nearest corner of the warehouse, and sufficient turning radius is required for the forklifts to facilitate U-turns. When manually counting lead stacks in inventory or sampling lead stacks, lead stacks within the warehouse are difficult to remove. Manual forklifts can only load lead stacks from one end of the warehouse and gradually move them toward the interior, and cannot select and load lead stacks based on the loading order.

[0004] If the crane is used to transport the lead stacks into the warehouse, the workers who hang and unload the crane hoist will need to walk back and forth from the lead stack offline point to the warehouse area, which increases the workload; or special personnel can be arranged to hang the lead stacks on the production line and unload the lead stacks in the warehouse area, which will increase the labor cost; when the lead stacks are shipped out of the warehouse, special personnel will need to be arranged on the truck to unload the lead stacks; if the lead stacks need to be shipped at the same time as production, there will be more cases of cross-operation between overhead cranes and manual workers, which increases many safety risks.

[0005] The traditional practice for the process of lead stacks entering and leaving the warehouse is manual recording and inventorying, which is prone to errors. In addition, manual processing is complex when handling inventory data and loading data, requiring multiple verification and comparison. When labeling shipments, the lead stack must first be manually lifted onto the scale using a forklift or overhead crane. The weight information from the scale is then sent to the labeling machine for label printing. The labels are then manually affixed to both sides of the lead stack before it is forked from the scale or lifted onto the truck for loading. Weighing, label printing, labeling, and loading all require manual assistance and confirmation. In addition, the inventory management of lead stacks requires data sharing with the upper-level management system. The traditional practice is to manually upload information and print documents. Summary of the Invention

[0006] In response to the above-mentioned problems existing in the prior art, the present invention provides an intelligent truss transfer system and method for the entry and exit of lead stacks, which realizes the functions of intelligent entry and transfer of lead stacks and ground stacking storage, automatic selection of lead stacks for exit according to delivery orders, and automatic labeling on the output conveyor line.

[0007] A first aspect of the present invention provides an intelligent truss transfer system for lead stacks entering and leaving the warehouse, comprising: The in-and-out truss divides the storage area into the north and south areas. It includes a support structure with tracks on the top, a trolley that moves along the x-axis on the tracks, a small trolley installed on the inner tracks of the trolley that moves along the y-axis, and a lead stack fixture installed at the bottom of the trolley. The transfer section includes the transfer RGV track and the transfer RGV that moves along the transfer RGV track. One end of the transfer RGV track is located directly below the offline truss, and the other end extends to the storage area. The inbound conveyor unit includes at least two serial transport conveyors, one end of which is connected to the transfer RGV track and is perpendicular to the track, and the other end extends into the end that runs through the north storage area and the south storage area; The outbound conveyor section is located below the inbound conveyor section and extends to the loading area. It includes the No. 1 conveyor line extending to the north storage area and the No. 2 conveyor line extending to the south storage area. A labeling system is installed on the side of the conveyor line. The control unit includes a controller and monitoring equipment connected to the controller and installed on the in-and-out truss, the transfer part and the in-and-out conveying part. The monitoring equipment includes a proximity switch, an encoder and a photoelectric sensor.

[0008] The supporting structure includes three rows of parallel steel columns. Two rows of tracks and racks are installed on the top of the middle row of columns. There are two trolleys corresponding to the north and south storage areas. The running wheels run independently on the tracks and are driven by gear racks to achieve precise positioning.

[0009] Among them, conveyor line No. 1 and conveyor line No. 2 both include two long conveyors and one short conveyor. The short conveyor is used to adjust the spacing between lead stacks.

[0010] Among them, the loading platform of the transfer RGV is a chain conveyor. When the transfer RGV is running on the track, the loading platform is consistent in height and width with the warehousing conveyor.

[0011] Among them, proximity switches are installed at the pickup point of the inbound conveying department, the delivery end of the outbound conveying department, the front and rear ends of the labeling system, the docking point between the transfer RGV and the inbound conveying department, the extreme positions at both ends of the inbound and outbound truss trolley track, the extreme positions at both ends of the trolley's internal track, and the lead stack clamps.

[0012] Among them, the encoder is installed on the drive motor shaft of the truss trolley and trolley for inbound and outbound transportation, the drive motor shaft of the transfer RGV, and the drive motor shaft of the inbound conveying part and the outbound conveying part.

[0013] A second aspect of the present invention provides an intelligent truss transfer method for lead stacks entering and exiting a warehouse, which is applicable to the intelligent truss transfer system for lead stacks entering and exiting a warehouse as shown in the first aspect, and includes the following steps: Obtain the loading status of the transfer RGV within the target warehousing period, and when the transfer RGV start signal is generated, control the transfer RGV to move toward the warehousing conveying section; Obtain the position signal of the encoder during the operation of the transfer RGV. When it detects that the position signal reaches the docking point with the inbound conveyor, control the transfer RGV to transfer the lead stack to the inbound conveyor, and control the inbound conveyor to run towards the storage area; Obtain the arrival information of the inbound conveyor unit in the north storage area. When the lead stack arrives at the pickup point, control the inbound and outbound trusses to move toward the inbound conveyor unit until it reaches the pickup point. Control the lead stack fixture to grab the lead stack and deliver it to the designated location for storage. When it is detected that the north storage area is full, control the inbound conveyor unit to move to the south storage area. Repeat the above steps to complete the inbound storage in the north and south storage areas. Furthermore, when obtaining the outbound instruction and the coordinate information of the target lead stack and generating the inbound and outbound truss start signal, the inbound and outbound truss is controlled to move to the top of the target lead stack, grab the target lead stack and move it to the outbound conveyor, and the inbound and outbound truss is controlled to place the target lead stack at the discharge end of the No. 1 conveyor line or the No. 2 conveyor line; Control the outbound conveyor to run toward the loading area, obtain the location information of the target lead stack, and when the target lead stack reaches the labeling system, control the outbound conveyor to pause and perform the labeling operation. When the outbound conveyor start signal is generated, control the outbound conveyor to continue running; After obtaining the signal that the lead stack is complete, the loading truss is controlled to move to the top of the lead stack, the loading operation is performed, and the lead stack is shipped out of the warehouse.

[0014] Among them, controlling the in-and-out trusses includes the following steps: After receiving the control signal, the trolley drive motor drives the gear to mesh with the track rack, and drives the trolley to position and move along the X-axis according to the signal instruction, and moves to the pickup point or the end of the storage area; Obtain the position information of the lead stack and drive the trolley to move along the Y-axis to reach the appropriate position above the lead stack; Control the trolley to pull the telescopic rod to lower the lead stack clamp to the lead stack clamping position, and drive the lead stack clamp to grab the lead stack.

[0015] Beneficial effects of the present invention: Reduced labor costs and safety risks: The system replaces manual forklift and overhead crane lifting operations with a truss system for loading and unloading lead stacks, significantly reducing reliance on human assistance during the loading and unloading process. Automated equipment replaces the traditionally complex collaborative work process, reducing labor costs and exposure to hazardous working environments. This effectively avoids accidents caused by operator fatigue and errors, and improves operational safety.

[0016] Improved operational flexibility and efficiency: The system divides the warehouse into two areas, supporting multiple operational modes such as simultaneous inbound and outbound operations, or single inbound and single outbound operations. Compared to traditional single inbound and outbound methods, this system can better adapt to different production rhythms and order requirements, significantly improving operational flexibility. During outbound operations, the outbound conveyor lines in the two warehouse areas can alternate between stocking and loading. When a lead stack on one conveyor line is grabbed by the loading truss, the other conveyor line simultaneously prepares the next lead stack, greatly shortening loading wait time, improving overall loading efficiency, and accelerating lead stack turnover.

[0017] Optimize space utilization and operational fluency: The inbound and outbound conveyor lines adopt a high-low cross configuration, cleverly solving the problem of intersecting conveyor paths in a limited space, avoiding operational stagnation and efficiency loss caused by path conflicts, and enabling lead stacks to flow smoothly during the inbound and outbound process, making full use of storage space and improving space utilization and operational fluency.

[0018] Achieve intelligent management and full-process traceability: Leveraging the WCS (Warehouse Control System) to centrally dispatch transfer equipment, the WMS precisely controls the coordinated operation of inbound and outbound trusses, transfer RGVs, conveyor lines, and other equipment, ensuring seamless integration of all links and improving system operational stability and reliability. Furthermore, the WMS manages data from the entire process of lead stack inbound and outbound, recording every operational node from production line entry to outbound loading. This enables real-time tracking and full-process traceability of lead stack flow information, facilitating inventory management, quality monitoring, and data analysis, providing strong support for production decision-making. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1This is a schematic structural diagram of the intelligent truss transfer system for lead stacks entering and leaving the warehouse according to the present invention; Figure 2 This is a schematic structural diagram of a truss device for loading and unloading lead stacks in an intelligent truss transfer system according to the present invention; Figure 3 Another structural schematic diagram of the truss device for loading and unloading the lead stacks in the intelligent truss transfer system of the present invention; Figure 4 A schematic structural diagram of a lead stack clamp of an in-and-out truss device of an intelligent truss transfer system for lead stacks in and out of a warehouse according to the present invention; Figure 5 The figure is a flow chart of the intelligent truss transfer method for lead stacks entering and leaving the warehouse according to the present invention. DETAILED DESCRIPTION

[0020] Embodiments of the present invention will now be described in greater detail with reference to the accompanying drawings. While the accompanying drawings illustrate embodiments of the present invention, it should be understood that the present invention may be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0021] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0022] Unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," and the like should be interpreted broadly. For example, they may refer to fixed or detachable connections, or integration; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances. Example 1

[0023] like Figure 1The truss device system shown is used for the intelligent transfer of lead stacks in and out of the warehouse: when entering the warehouse, the lead stacks off the production line are transferred to the incoming conveyor line through the transfer RGV. According to the scheduling requirements, the lead stacks are sent to the designated warehouse area, and the incoming and outgoing trusses are used to move the lead stacks to the warehouse floor for stacking and storage; when leaving the warehouse, according to the requirements of the loading list, the incoming and outgoing trusses will select the lead stacks in the warehouse and send them out to the end of the outgoing conveyor line in each warehouse area, and then transport them out through the outgoing conveyor line. After being labeled at the labeling station, they are sent to the loading area for loading.

[0024] The intelligent transfer truss system for lead stacks entering and leaving the warehouse primarily consists of a transfer RGV, an inbound conveyor line, an outbound conveyor line, an inbound and outbound truss, and a control unit. The transfer RGV's track is perpendicular to the inbound conveyor line, and the RGV traverses along the track. The RGV's loading platform is a chain conveyor. When operating on the track, the platform is aligned with the inbound conveyor and its width is the same, facilitating the transfer of lead stacks from the RGV platform to the inbound conveyor. The inbound conveyor line is higher than the outbound conveyor line to prevent crossover between the inbound and outbound conveyor paths. One end of the inbound conveyor line extends beyond the storage area to connect with the RGV, while the other end extends through the ends of the two storage areas, covered by two inbound and outbound trusses for unloading. The inbound conveyor line is located at the ends of both storage areas. The outbound conveyor line extends to the ends of each storage area, covered by the inbound and outbound trusses for unloading. The other end extends to the loading area to supply the loading trusses.

[0025] The inbound and outbound trusses, inbound conveyor lines and outbound conveyor lines all have signal interlocking functions. When the lead stack runs to the pick-up points in the two storage areas of the inbound conveyor line and stops, the inbound and outbound trusses can come to pick up the lead stack, otherwise the lead stack may create a risk of collision with the clamps of the inbound and outbound trusses; the loading trusses can load lead stacks only when there are no lead stacks at the loading end of the outbound conveyor line; the lead stacks loaded on the outbound conveyor line can be transported to the labeling station only when there are no lead stacks at the labeling station; the lead stacks at the labeling station can be transported to the end of the outbound conveyor in the loading area only when there are no lead stacks at the end of the outbound conveyor line in the loading area.

[0026] The specific settings are proximity switches, encoders and photoelectric sensors. The proximity switches are installed at the pick-up point of the inbound conveyor line and the discharge end of the outbound conveyor line; the extreme positions at both ends of the inbound and outbound truss trolley track and the extreme positions at both ends of the trolley running track within the trolley frame; the starting and ending positions of the clamp claw extension and retraction stroke. The proximity switches at the pick-up point of the inbound conveyor line and the discharge end of the outbound conveyor line are used to detect whether the lead stack has reached the specified position, serving as the key trigger signal source for the inbound and outbound truss to perform the grabbing and placing actions; the proximity switches at the truss track are used to detect whether the trolley and trolley have reached the limit position to prevent the equipment from exceeding the safe operating range and prevent derailment accidents; the proximity switches at the clamp are used to monitor whether the clamp claw is in place to ensure that the lead stack grabbing and release actions are completed reliably. If the clamp claw in place signal is not detected, the system cannot perform subsequent transfer operations.

[0027] Encoders are installed on the drive motor shafts of the gantry and trolleys used for inbound and outbound storage, as well as the winch motor shaft of the telescopic boom; the drive motor shaft of the transfer RGV; and the drive motor shafts of the inbound and outbound conveyor lines. By precisely detecting the number of motor revolutions and angles, the encoders calculate the displacement and speed of the gantry, trolley, telescopic boom, RGV, and conveyor lines. This provides the control unit with precise device position information, enabling the system to achieve precise positioning and speed control.

[0028] Photoelectric sensors are installed at intervals along the inbound and outbound conveyor lines and along the edges of the transfer RGV loading platform. These sensors on the conveyor lines monitor the status of the lead stacks, detecting any blockages or conveying anomalies. If an anomaly is detected, the system can be adjusted or shut down immediately to prevent an incident. Photoelectric sensors on the edges of the RGV loading platform detect whether the stacks are fully loaded or unloaded, ensuring accuracy during transfer and handover. If the stacks are not correctly loaded, the RGV will not start, preventing them from falling and ensuring the continuity of the system's automated operation.

[0029] In and out of the warehouse truss device Figure 2 and 3 As shown, it is supported by three rows of steel structure columns, with tracks on the top and racks on the sides, and two rows of tracks and racks are installed on the top of the middle row of columns; four rows of shelves divide the warehouse into two areas, the north warehouse area and the south warehouse area; the trolley is provided with running wheels running on the tracks, and the precise positioning of the trolley is driven by the rack and pinion transmission; the trolley is provided with running wheels running on the tracks inside the trolley frame, and the side of the frame is provided with racks, and the gears are installed relative to the trolley. The trolley realizes precise positioning of the running direction through the rack and pinion transmission; a telescopic rod is provided in the middle position of the trolley, and the clamp is installed at the bottom of the telescopic rod, and the telescopic rod is pulled by the winch motor to achieve lifting.

[0030] The direction of movement of the gantry and trolleys, as well as the lifting and lowering of the fixtures, is precisely determined by encoders installed on the drive motors. Proximity switches detect the opening and closing of the fixture jaws. Proximity switches also detect the arrival of lead stacks on the in-and-out conveyor line. The in-and-out gantry operates at high speed and precision thanks to servo-controlled motors.

[0031] Each of the two storage areas is equipped with a loading and unloading truss, operating independently, allowing simultaneous loading and unloading, one loading and one unloading at a time, and dispatched according to the production and loading rhythm. The two storage areas are composed of four rows of steel structures, with lead stacks stored on the ground in both areas. The center row of columns supports two sets of tracks and racks, while the two side rows of columns each support a set of tracks and racks. The four sets of tracks and racks are parallel and at the same height, ensuring the precise positioning of the loading and unloading trusses on the tracks.

[0032] like Figure 4 As shown, the clamp of the in-and-out truss has two sets of clamping jaws, which are composed of an "L"-shaped structure. An adjusting wheel is set on the top of the structure, which can run back and forth on the side track of the clamp frame assembly; the hook at the bottom of the structure is used to insert into the step below the lead pile to clamp the lead pile; at the same time, running wheels are set on both sides of the clamp, which are used to open quickly and effortlessly through the rolling friction of the running wheels when the lead pile is parked on the ground and the clamp is stuck. The opening and closing actions of the two sets of clamps are composed of two sets of cylinders installed under the clamp frame. The tails of the cylinders are installed relative to each other, and the ends of the telescopic rods of the cylinders are connected to the clamps. A flange is set on the top of the clamp, which is connected to the bottom of the telescopic rod; wire rope pulleys are set on both sides of the flange. The movable pulley structure is realized by passing the winch wire rope through the pulley, and the forward and reverse rotation of the winch drives the lifting and lowering of the clamp. Example 2

[0033] like Figure 5 The intelligent truss transfer method for lead stacks entering and exiting a warehouse is applicable to the intelligent truss transfer system for lead stacks entering and exiting a warehouse as shown in the first embodiment, and includes the following steps: S1. Obtain the loading status of the transfer RGV within the target warehousing period, and when the transfer RGV start signal is generated, control the transfer RGV to move toward the warehousing conveying part.

[0034] When the downline truss detects a weighed lead stack coming off the production line, it sends a loading signal to its control system, causing the clamp to descend, grip the stack, and then rise. The downline truss then loads the stack onto the loading platform of the transfer RGV, which is positioned directly below it. Once loading is complete, the downline truss sends a completion signal to the controller. Upon receiving this completion signal, the transfer RGV then moves along the track toward the inbound conveyor line.

[0035] S2. Obtain the position signal of the encoder during the operation of the transfer RGV. When it is detected that the position signal reaches the docking point with the inbound conveying part, control the transfer RGV to transfer the lead stack to the inbound conveying part, and control the inbound conveying part to run toward the storage area.

[0036] When the RGV aligns with the inbound conveyor, a proximity switch installed near the RGV detects the presence of a lead stack. If no lead stack is present, the proximity switch sends a no-lead-stack signal to the RGV control system and the inbound conveyor line control system. Upon receiving the signal, the inbound conveyor line control system first activates the conveyor closest to the RGV toward the storage area. Simultaneously, the RGV control system also receives the signal and activates its own chain conveyor, rotating toward the storage area, transferring the lead stack to the inbound conveyor. Once the stack is transferred, the RGV chain conveyor stops, while the inbound conveyor continues to operate, sending a signal to the controller indicating that the lead stack has been received.

[0037] S3. Obtain the arrival information of the inbound conveyor unit in the north warehouse area. When the lead stack arrives at the pickup point, control the in-and-out truss to move toward the inbound conveyor unit until it reaches the pickup point. Control the lead stack fixture to grab the lead stack and send it to the designated location for storage. When it is detected that the north warehouse area is full, control the inbound conveyor unit to move toward the south warehouse area (south warehouse area). Repeat the above steps to complete the warehousing in the north and south warehouse areas.

[0038] The dispatching system dispatches the lead stack to the designated storage area according to instructions. When the stack reaches the corresponding pickup point on the inbound conveyor line and comes to rest, a proximity switch installed at the pickup point detects the stack's arrival and sends a signal to the inbound and outbound truss control system. Upon receiving the signal, the gantry, driven by a rack and pinion, moves its running wheels on tracks to the pickup point above the lead pickup point. The trolley, driven by a rack and pinion within the gantry frame, then moves to the corresponding position. A winch motor then lowers the telescopic rod, allowing the clamp to reach the lead stack. Proximity switches on either side of the clamp detect the stack's position. When the clamp reaches the desired position, they activate two cylinders mounted below the clamp frame, extending the clamp jaws and inserting them into the step below the stack, clamping the stack. Once clamped, the winch motor raises the telescopic rod. The gantry and trolley then follow the instructions to reach the designated storage area's ground level. The rods are lowered, placing the stack on the ground for stacking and storage. After placement, a signal indicating completion of storage is sent to the dispatching system.

[0039] The control unit sets a storage strategy to prioritize lead stacks stored in the north storage area. After the transfer RGV delivers the lead stacks to the storage conveyor line, the controller of the storage conveyor line receives instructions from the scheduling system and combines them with the current storage status information of the storage area. If the control unit determines that there is still storage space in the north storage area, it controls the storage conveyor line to transport the lead stacks to the north storage area, allowing the in-and-out trusses to perform storage operations in the north storage area. If the north storage area is full, it controls the in-and-out trusses to transport the lead stacks to the south storage area, and the in-and-out trusses complete the storage in the south storage area.

[0040] The full warehouse detection in the north storage area is realized based on the detection device in the system. Photoelectric sensors are installed at intervals within the storage range of the north storage area along the storage conveyor line. When the lead stacks are placed on the ground of the north storage area by the storage and outbound trusses for stacking and storage, the photoelectric sensors monitor the distribution status of the lead stacks in this area in real time. When the photoelectric sensor detects that all the preset storage locations in the north storage area are occupied by lead stacks and there is no remaining space for new lead stacks, the photoelectric sensor will feed back the signal to the control unit. The control unit will determine that the north storage area is full and switch the storage strategy to guide the subsequent lead stacks to the south storage area for storage. Pressure sensors can also be set on the ground of the north storage area to determine whether there are lead stacks placed and whether the space is occupied by detecting changes in ground pressure. They can cooperate with the photoelectric sensor to improve the accuracy of full warehouse detection.

[0041] S4. Obtain the outbound instruction and the coordinate information of the target lead stack, and when the inbound and outbound truss start signal is generated, the inbound and outbound truss is controlled to move to the top of the target lead stack, grab the target lead stack and move it to the outbound conveyor section, and the inbound and outbound truss is controlled to place the target lead stack at the discharge end of conveyor line No. 1 or conveyor line No. 2.

[0042] Based on the loading order, the dispatch system sends picking instructions to the inbound and outbound truss control system in the corresponding warehouse area. Upon receiving the instructions, the trolley, driven by a rack and pinion, moves on tracks to the top of the designated lead stack. The trolley, driven by a rack and pinion, then moves to the designated position within the trolley frame. The winch motor lowers the telescopic rod, and the clamp reaches the lead stack. Proximity switches on both sides of the clamp detect the stack's position. When the position is correct, the cylinder activates the clamp, extending the jaws and inserting them into the step below the stack, clamping the stack. Once clamped, the winch motor raises the telescopic rod.

[0043] A proximity switch installed at the loading end of the outbound conveyor detects the presence of a lead stack. If not, it sends a no-lead-stack signal to the inbound and outbound truss control system. Upon receiving the signal, the inbound and outbound truss moves the trolley and carriage to the discharge end of the outbound conveyor. A winch motor lowers the telescopic rod, placing the lead stack on the discharge end of the outbound conveyor. Once placed, a release completion signal is sent to the outbound conveyor control system.

[0044] S5. Control the outbound conveyor unit to run toward the loading area, obtain the location information of the target lead stack, and when the target lead stack reaches the labeling system, control the outbound conveyor unit to pause and perform the label pasting operation. When the outbound conveyor unit start signal is generated, control the outbound conveyor unit to continue running.

[0045] S6. After obtaining the signal that the lead stack is collected, the loading truss is controlled to move to the top of the lead stack, and the loading operation is performed to complete the delivery of the lead stack.

[0046] After receiving the signal indicating that the lead stack has been released, the outbound conveyor control system starts the conveyor and transports the lead stack to the loading area. When the lead stack passes the labeling station, a proximity switch installed there detects the stack and sends an in-place signal to the labeler control system and the outbound conveyor control system. Upon receiving this signal, the outbound conveyor control system stops the conveyor. The labeler control system then controls the labeler to apply two labels to two adjacent sides of the lead stack. Once labeling is complete, the labeler sends a completion signal to the outbound conveyor control system, which then starts the conveyor again. When two lead stacks are collected at the end of the outbound conveyor, a loading signal is sent to the loading truss control system. Upon receiving this signal, the loading truss then loads the lead stack onto the truck according to the process.

[0047] Finally, it should be noted that, in this document, relationships such as first and second, etc., are used solely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms include, comprise, or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0048] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0049] While various embodiments of the present invention have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or improvements to existing technologies, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An intelligent truss transfer system for lead stacks entering and leaving the warehouse, characterized in that: include: The in-and-out truss divides the storage area into the north and south storage areas, and includes a support structure with a track on the top, a trolley that moves along the x-axis on the track, a small trolley installed on the inner track of the trolley and moves along the y-axis, and a lead stack fixture provided at the bottom of the trolley; The transfer part includes a transfer RGV track and a transfer RGV that moves along the transfer RGV track. One end of the transfer RGV track is located directly below the downline truss, and the other end extends to the storage area. An inbound conveying section, comprising at least two serial transport conveyors, one end of which is docked with the transfer RGV track and perpendicular to the track, and the other end extends into the end that passes through the north storage area and the south storage area; The outbound conveying section is arranged below the inbound conveying section and extends to the loading area, including a No. 1 conveyor line extending to the north side of the storage area and a No. 2 conveyor line extending to the south side of the storage area. A labeling system is installed on the side of the conveyor line; The control unit includes a controller and monitoring equipment connected to the controller and installed on the in-and-out truss, the transfer part and the in-and-out conveying part. The monitoring equipment includes a proximity switch, an encoder and a photoelectric sensor.

2. The intelligent truss transfer system for lead stacks in and out of storage as claimed in claim 1, characterized in that: The support structure includes three rows of parallel steel structure columns, and two rows of rails and racks are installed on the top of the middle row of columns. Two trolleys are set up corresponding to the north and south storage areas. The running wheels run independently on the rails and are driven by gear racks to achieve precise positioning.

3. The intelligent truss transfer system for lead stacks in and out of storage as claimed in claim 1, characterized in that: The No. 1 conveyor line and the No. 2 conveyor line both include two long conveyors and one short conveyor, and the short conveyor is used to adjust the distance between lead stacks.

4. The intelligent truss transfer system for lead stacks in and out of storage as claimed in claim 1, characterized in that: The cargo platform of the transfer RGV is a chain conveyor. When the transfer RGV is running on the track, the cargo platform is consistent with the height and width of the storage conveyor.

5. The intelligent truss transfer system for lead stacks in and out of storage as claimed in claim 1, characterized in that: The proximity switch is installed at the pickup point of the inbound conveying part, the delivery end of the outbound conveying part, the front and rear ends of the labeling system, the docking point between the transfer RGV and the inbound conveying part, the extreme positions at both ends of the inbound and outbound truss trolley track, the extreme positions at both ends of the trolley's internal track, and the lead stack clamp.

6. The intelligent truss transfer system for lead stacks in and out of storage as claimed in claim 1, characterized in that: The encoder is installed on the drive motor shafts of the trolley and the small trolley, the drive motor shaft of the transfer RGV, and the drive motor shafts of the inbound conveying unit and the outbound conveying unit.

7. An intelligent truss transfer method for lead stacks entering and leaving a warehouse, applicable to the intelligent truss transfer system for lead stacks entering and leaving a warehouse as claimed in any one of claims 1 to 6, characterized in that: The following steps are involved: Obtain the loading status of the transfer RGV within the target warehousing period, and when a transfer RGV start signal is generated, control the transfer RGV to move toward the warehousing conveying section; Obtaining the position signal of the encoder during the operation of the transfer RGV, and when detecting that the position signal reaches the docking point with the inbound conveyor, controlling the transfer RGV to transfer the lead stack to the inbound conveyor, and controlling the inbound conveyor to run toward the storage area; Obtain the arrival information of the inbound conveyor unit in the north storage area; when the lead stack arrives at the pickup point, control the inbound and outbound trusses to move toward the inbound conveyor unit until it reaches the pickup point; control the lead stack clamp to grab the lead stack and deliver it to the designated location for storage; when it is detected that the north storage area is full, control the inbound conveyor unit to move toward the south storage area; repeat the above steps to complete the inbound storage in the north and south storage areas; And, when obtaining the outbound instruction and the coordinate information of the target lead stack and generating the inbound and outbound truss start signal, controlling the inbound and outbound truss to move to the top of the target lead stack, grabbing the target lead stack and moving it to the outbound conveyor, and controlling the inbound and outbound truss to place the target lead stack at the discharge end of the first conveyor line or the second conveyor line; Controlling the outbound conveyor to run toward the loading area, obtaining the location information of the target lead stack, controlling the outbound conveyor to pause and perform a labeling operation when the target lead stack reaches the labeling system, and controlling the outbound conveyor to continue running when a start signal for the outbound conveyor is generated; After obtaining the signal that the lead stack is complete, the loading truss is controlled to move to the top of the lead stack, the loading operation is performed, and the lead stack is shipped out of the warehouse.

8. The intelligent truss transfer method for lead stacks in and out of storage as claimed in claim 7, characterized in that: Controlling the in-and-out truss comprises the following steps: After receiving the control signal, the trolley drive motor drives the gear to engage with the track rack, and drives the trolley to position and move along the X-axis according to the signal instruction, and moves to the pickup point or the end of the storage area; Obtain the position information of the lead stack and drive the trolley to move along the Y-axis to reach the appropriate position above the lead stack; The trolley is controlled to pull the telescopic rod to lower the lead stack clamp to the lead stack clamping position, and the lead stack clamp is driven to grab the lead stack.

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