A three-dimensional storage system and method for storing parts

Abstract

The present invention belongs to the technical field of intelligent warehousing, and particularly relates to a three-dimensional warehousing system and method for storing parts. The system includes a storage room and an operation room separated from the storage room by a wall. Shelves are placed near the wall in the storage room, and goods are stored and retrieved from the shelves by a stacker. There is a communication window on the wall between the operation room and the storage room, and an inbound and outbound communication rack passes through the communication window and is horizontally docked with a certain layer of the shelf. In the operation room, there are workstations, PDA handheld terminals used to input part information at the workstations, AGV vehicles shuttling between the workstations and the inbound and outbound points, support feet placed at the inbound and outbound points, large pallets placed on the inbound and outbound communication racks, and gantry cranes. The operation room is at least divided into two layers. The present invention stores parts on multi-layer shelves through a stacker, greatly reducing the floor area occupied by parts storage. The fully automatic warehousing of parts can be completed only by inputting part information on the PDA handheld terminal, with a high degree of intelligence.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent warehousing, and particularly relates to a three-dimensional warehousing system and method for storing parts. Background Art

[0002] In the domestic aircraft maintenance industry, the wings of aircraft are generally placed flat (the large wings of aircraft are 7.5 meters × 3.5 meters, and the small ones are 1 meter × 3 meters), which occupies a large area, is very difficult to transfer, and has a low level of intelligence.

[0003] In order to facilitate the transfer of aircraft parts to the workstations in the operation room, the operation room can only be set on the first floor. The area of the operation room is limited, and there are relatively few operation workstations. After the parts are repaired, they need to be transferred out in time, still occupying a large storage space, and a certain transfer space still needs to be left between the parts, increasing the floor area for storing the parts. It often takes a long distance and a long time to find and transfer the parts.

[0004] Not only in the aircraft maintenance industry, but also in the parts storage and maintenance work of industries such as automobiles and trains, the same problems exist. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects in the prior art that the parts stored flat on the ground occupy a large area and are not convenient for access and storage, and to provide a three-dimensional warehousing system and method for storing parts with a small occupied space and convenient transfer.

[0006] The technical solution adopted by the present invention to solve its technical problems is:

[0007] The present invention discloses a three-dimensional warehousing system for storing parts, which is characterized in that: it includes a storage room and an operation room separated from the storage room by a wall. Shelves are placed close to the wall in the storage room, and goods are accessed from the shelves by a stacker; there is a communication window on the wall between the operation room and the storage room, and an in-out communication rack passes through the communication window and is horizontally docked with a certain layer of the shelf; workstations, PDA handheld terminals for inputting part information located at the workstations, AGV vehicles shuttling between the workstations and the in-out points, support feet placed at the in-out points, large trays placed on the in-out communication rack, and a hoist for taking the parts from the support feet and transferring them to the large trays are provided in the operation room; the operation room is at least divided into two layers, and each layer of the operation room is horizontally docked with a certain layer of the shelf through the in-out communication rack.

[0008] Furthermore, it also includes small trays for storing small parts located at the workstations, and each large tray can accommodate at least two small trays.

[0009] Further, there is a support foot on each side of the connection window of each operation room, namely the first support foot for supporting the entry and exit of large parts or small pallets and the second support foot for supporting the entry and exit of small parts.

[0010] Further, the entry and exit point has a vision acquisition system for photographing large parts or small pallets on the AGV vehicle and sending the images to the controller.

[0011] Further, there is a barcode scanner at the entry and exit connection frame for scanning large parts or small pallets.

[0012] Further, the shelves are arranged in two side-by-side rows, and the stacker crane travels between the two rows of shelves; operation rooms are arranged on both sides of the storage room.

[0013] Furthermore, there are gravity roller lines on the layer racks of the shelves and on the entry and exit connection frames.

[0014] The present invention also discloses a three-dimensional storage method for part storage, which is characterized by including the following steps:

[0015] Step 1: At a certain work station in the operation room, an operator inputs the number and starting position information of the parts or small pallets to be stored into a PDA handheld terminal, and the PDA handheld terminal sends the input signal to the controller.

[0016] Step 2: The controller sends a transfer command to the AGV vehicle, and the AGV vehicle runs to the work station, lifts the parts or small pallets, and transports them to the corresponding support feet.

[0017] Step 3: After the AGV vehicle is located at the center position of the support foot, the vision acquisition system identifies the contour of the parts or small pallets on the AGV vehicle and sends the acquired contour information to the controller.

[0018] Step 4: The controller calculates the angle that the AGV vehicle needs to rotate according to the contour information, and sends a command to the AGV vehicle, and the AGV vehicle rotates by an appropriate angle.

[0019] Step 5: The AGV vehicle descends and places the parts or small pallets on the support feet.

[0020] Step 6: The controller calculates the distances that the overhead crane needs to move on the X-axis and Y-axis according to the contour information of the parts or pallets, and sends a command to the overhead crane. The overhead crane transports the parts or small pallets from the support feet to the large pallet through the finger.

[0021] Step 7: Scan the parts on the large pallet at the entry and exit connection frame and send the information to the controller.

[0022] Step 8: Push the large tray to the shelf that is docked with the in-out storage connecting frame, and the controller sends a command to the stacker, and the stacker completes the warehousing of the parts.

[0023] Further, large parts are placed directly on the large tray individually or in pairs side by side, and multiple small parts are placed on a small tray, and then the small tray is placed on the large tray.

[0024] Furthermore, the parts are aircraft parts, where one outer wing of the aircraft is placed on a large tray for warehousing; two vertical tails are placed side by side on a large tray for warehousing; two horizontal tails are placed side by side on a large tray for warehousing; multiple other parts are manually placed on a small tray and tied and fixed, and then two small trays are placed on a large tray for warehousing.

[0025] Compared with the prior art, the beneficial effects of a three-dimensional storage system and method for storing parts of the present invention are as follows:

[0026] 1. The three-dimensional storage system for parts stores the parts on multiple layers of shelves through a stacker, greatly reducing the floor area for storing the parts; the storage room and the operation room are separated and arranged adjacent to each other, and the transfer of parts from the shelf to the operation room is realized through the connecting window.

[0027] 2. According to the height of the shelf, the operation room can be correspondingly divided into multiple layers, greatly reducing the overall floor area of the operation room and increasing the number of maintenance operation stations, improving the maintenance efficiency.

[0028] 3. The parts are stored on the tray, and only by inputting the part information on the PDA handheld terminal can the full-automatic warehousing of the parts be completed, and the parts are tracked and monitored in real time, with a high degree of intelligence. Brief Description of the Drawings

[0029] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0030] Figure 1 is the structural diagram of the stacker in the embodiment of the present invention;

[0031] Figure 2 is the three-dimensional structural diagram of the three-dimensional storage system for parts in the embodiment of the present invention;

[0032] Figure 3 is the structural schematic diagram of the three-dimensional storage system for parts in the embodiment of the present invention;

[0033] Figure 4 is the structural diagram of the large tray in the embodiment of the present invention;

[0034] Figure 5 is the structural diagram of the parts from the shelf to the loading platform in the embodiment of the present invention;

[0035] Figure 6 It is the connection diagram between the warehousing connection frame and the shelf in the embodiment of the present invention;

[0036] Figure 7 It is the structure diagram of the small tray in the embodiment of the present invention;

[0037] Figure 8 It is the installation structure diagram of the protection frame and components.

[0038] In the figure: 1. In-out warehousing connection frame, 2. Stacker, 20. Loading platform, 21. Push-pull guide rail, 22. Push-pull motor, 23. Push-pull lead screw, 24. Push-pull cross bar, 25. Electric bolt, 26. Optical camera, 27. Detection rod, 28. Large tray detection sensor, 29. Component detection sensor, 210. Overhead rail, 211. Ground rail, 212. Lower chassis, 213. Column, 214. Lifting motor, 215. Connection frame, 216. Moon ladder, 217. High-position maintenance platform, 218. Limit switch, 219. Vertical guide rail, 220. Lifting slider, 3. Shelf, 31. Tier rack, 32. Vertical plate, 4. Large tray, 41. Push-pull hole, 42. Horizontal main beam, 43. Longitudinal main beam, 44. Load-bearing beam, 5. AGV vehicle, 11. Unpowered roller conveyor line, 12. Operation room, 121. First-floor operation room, 122. Second-floor operation room, 13. Storage room, 14. Protection frame, 15. Connecting window, 16. Components, 17. Small tray, 18. PDA handheld terminal, 19. Workstation, 200. First in-out point, 201. Second in-out point, 210. First support foot, 211. Second support foot, 22. Barcode scanner. Detailed implementation manners

[0039] Now, the present invention will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0040] As Figures 1-8 shown in the specific embodiment of the parts storage three-dimensional warehousing system of the present invention, it is mainly applied to the storage of parts such as those of airplanes, automobiles, and trains. Taking the storage of airplane parts as an example in this embodiment, refer to Figure 2, the parts storage three-dimensional warehousing system includes: a factory building, a shelf 3, and a stacker 2. The factory building includes a storage room 13 and an operation room 12 separated from the storage room 13 by a wall. There is a communication window 15 on the wall between the operation room 12 and the storage room 13. An inbound and outbound communication rack 1 passes through the communication window 15 and is horizontally docked with a certain layer rack 31 on the shelf 3. In this embodiment, the shelf 3 is two rows of shelves 3 arranged side by side, and a single-row shelf 3 can also be set according to needs. The shelf 3 is arranged close to the wall of the storage room 13. The storage room 13 can be set in the middle according to needs, with operation rooms 12 arranged on both the left and right sides, or an operation room 12 can be arranged on one side. The stacker 2 travels between the two rows of shelves 3 under the guidance of the overhead rail 210 and the ground rail 211 to store goods on the shelf 3 or take goods from the shelf 3. The shelf 3 and the stacker 2 are located in the storage room 13. The operation room 12 can be divided into multiple layers according to the height of the factory building and the height of the stacker 2. In this embodiment, it is divided into two layers of operation rooms 12, namely the first-floor operation room 121 and the second-floor operation room 122. There are communication windows 15 between the first-floor operation room 121 and the second-floor operation room 122 and the storage room 13. There should be a communication window 15 between each layer of the operation room 12 and the storage room 13 to realize the inbound and outbound of the parts 16.

[0041] See Figure 3 , a work station 19 is set in the operation room, a PDA handheld terminal 18 for inputting part information is located at the work station 19, an AGV vehicle 5 shuttles between the work station 19 and the inbound and outbound points, support feet are placed at the inbound and outbound points, a large tray 4 is placed on the inbound and outbound communication rack 1, and a truss crane is used to take the parts from the support feet and transfer them to the large tray 4. The inbound and outbound point has a vision acquisition system for photographing large parts or small trays 17 on the AGV vehicle 5 and sending them to the controller.

[0042] A barcode scanner 22 is provided at the inbound and outbound communication rack 1 for scanning barcodes of large parts or small trays 17.

[0043] The shelf 3 is higher than the communication window 15 of the second-floor operation room 122. An unpowered roller conveyor line 11 is installed on each layer rack 31 to facilitate the inbound and outbound of goods. The inbound and outbound methods in each layer of the operation room 12 are the same. Here, the second floor is taken as an example.

[0044] Aircraft parts 16 need to be placed on trays for inbound and outbound. The trays are divided into large trays 4 and small trays 17. One large tray 4 is placed on each layer rack 31. For large parts 16, one large tray 4 can hold one part. For small parts 16, one large tray 4 can hold multiple parts. Two small trays 17 can be placed on one large tray 4, and small aircraft parts 16 are placed on the small trays 17. There are tray codes on the trays and product codes on the aircraft parts. The system identifies their identity characteristics through barcode scanning.

[0045] One outer wing of the aircraft is placed on a large pallet 4, and every two components of the vertical tail and horizontal tail are placed on a large pallet 4. The rudder, drooping tail, flap aileron, front cabin door, speed brake, leading-edge flap, second-stage leading-edge flap, main wheel well door, and rear landing gear door are placed on a small pallet 17.

[0046] See Figure 4 , the large pallet 4 includes a transverse main beam 42 and a longitudinal main beam 43 that are perpendicularly overlapped to form a rectangle. There are also load-bearing beams 44 overlapped between the transverse main beams 42 or between the longitudinal main beams 43. The transverse main beam 42 and the longitudinal main beam 43 are made of steel. For the lower layer of the load-bearing beam 44, soft pine wood can be selected, or hard ironwood can also be used because wood is relatively easy to process. The upper layer of the load-bearing beam 44 selects TPR material and is directly laid on the wood. This material has the characteristics of being economical, wear-resistant, anti-slip, flexible, shock-absorbing, etc. There are multiple push-pull holes 41 on the transverse main beam 42 for docking with the stacker 2.

[0047] See Figure 5 , the size of the small pallet 17 ≤ 1 / 2 of the size of the large pallet 4, and it is also made of steel lap joints. Flexible TPR material is laid at the place where it contacts the component 16. Two small pallets 17 can be placed on each large pallet 4.

[0048] Since the outer surfaces of the outer wing, vertical tail, and horizontal tail, etc. all have arcs, taking the convex surface of the component 16 as the reference, a concave surface corresponding to the convex surface of the component 16 can be processed on the wood layer of the pallet. The convex surface of the part and the concave surface of the pallet are combined so that the aircraft component 16 can be stored on the pallet for a long time without deformation. A protective frame 14 that fits it can be sleeved on the outer edge of the component 16, and the bending shape of the protective frame 14 is consistent with the outer edge of the component 16.

[0049] On the workstations for repairing small components, there are small pallets 17 for storing small components. The small pallets 17 have good compatibility. The components 16 are manually placed on the small pallets 17. Flexible materials are needed to separate the components 16, and the components 16 need to be manually tied with safety ropes.

[0050] See Figure 2 , on both sides of the communication window 15 of each floor of the operation room, there is an inbound / outbound point, namely the first inbound / outbound point 200 and the second inbound / outbound point 201. The inbound / outbound point includes a support foot and a visual acquisition system, namely the first support foot 210 used to support the inbound / outbound of large components and small pallets 17, and the second support foot 211 used to support the inbound / outbound of small components.

[0051] See Figure 6The shelves 3 are welded shelves 3 and are bolted with I-beams. Each shelf 31 includes a longitudinal plate 32 and a plurality of non-powered roller lines 11 fixed on the upper surface of the longitudinal plate 32. Fire protection installation space and maintenance space are reserved on the shelves 3. In order to prevent the large pallet 4 from sliding in the warehouse, a damping device is installed at the end where the non-powered roller line 11 is connected to the stacker 2 to ensure that the pallet will not slide on the shelf 31 by itself.

[0052] See also Figure 1 The stacker 2 includes: two mutually parallel ground rails 211 arranged on the ground, two ceiling rails 210 arranged on the ceiling of the storage room 13 and parallel to the ground rails 211, a lower base frame 212 slidably connected to the ground rails 211, two mutually parallel columns 213 vertically installed on the lower base frame 212, a loading platform 20 moving up and down along the columns 213, a lifting motor 214 for driving the loading platform 20 to rise and fall, and an upper connecting frame 215 arranged at the top of the column 213 and slidably connected to the ceiling rails 210; the lifting motor drives the loading platform 20 to move up and down through a chain, a moon ladder 216 is installed on the outer side of the column 213 and connected to a high-position maintenance platform 217 close to the position of the ceiling rails 210, and limit switches 218 are provided at both ends of the ground rails 211, and the stacker 2 is limited.

[0053] In this embodiment, there are four columns 213, each of which is fixedly mounted with a vertical guide rail 219. The sides of the loading platform 20 opposite to the vertical guide rail 219 are provided with a lifting slider 220, and the lifting slider 220 has two rows of symmetrically arranged pulleys, which clamp the vertical guide rail 219 and roll along the vertical guide rail 219.

[0054] See also Figure 5 , push-pull guide rails 21 are provided at both ends of the loading platform 20 in the same direction as the stacker 2 for storing and retrieving goods, and a push-pull motor 22 is slidably connected to the push-pull guide rails 21. The push-pull motor 22 is a shaftless motor, and its output end is a push-pull nut, which is spirally sleeved on a push-pull lead screw 23, and both ends or one end of the push-pull lead screw 23 are rotatably mounted on the loading platform 20 through bearings. The embodiment of the present invention adopts a shaftless bidirectional rotating motor, and the motor itself is a slider, so as to avoid the push-pull motor 22 being fixedly arranged at one end of the push-pull lead screw 23, which affects the bidirectional retrieval of the stacker 2.

[0055] A push-pull crossbar 24 parallel to the push-pull guide rail 21 is fixedly installed on the push-pull motor 22. Electric bolts 25 and optical cameras 26 are installed at both ends of the push-pull crossbar 24. When the tray is completely on the loading platform 20, the initial position of the push-pull motor 22 is in the exact middle of the loading platform 20. When the push-pull motor 22 picks up goods from the shelves 3 on the left and right sides, according to the size of the tray and the distance between the push-pull motor 22 and the shelves 3, generally the number of rotation cycles of the push-pull motor 22 is within an interval. In this way, the control system can set a maximum number of rotation cycles for the push-pull motor 22 to prevent the push-pull motor 22 from excessive movement and damaging other components 16.

[0056] The loading platform 20 is also equipped with a non-powered roller conveyor line 11. Detection rods 27 are installed at the four corners of the loading platform 20. Large tray detection sensors 28 are installed at the lower parts of the detection rods 27 to ensure that the tray completely enters the loading platform 20 and prevent slipping. Parts detection sensors are installed at the upper parts of the detection rods 27 to ensure that there are components 16 on the large tray 4 instead of an empty tray being stored in the warehouse.

[0057] When the stacker 2 needs to pick up goods from the shelves 3, the push-pull motor 22 is started to move the push-pull crossbar 24 in the direction of the shelves 3 where goods need to be picked up. Here, taking picking up goods from the right-side shelves 3 as an example, the push-pull motor 22 drives the push-pull crossbar 24 to move to the right. The optical camera 26 on the push-pull crossbar 24 detects the push-pull holes 41 on the large tray 4. When it moves to a certain position, when the optical camera 26 detects that the electric bolt 25 is exactly above a suitable push-pull hole 41, the control system controls the electric bolt 25 to move downward into the push-pull hole 41. Then the push-pull motor 22 moves in the reverse direction to pull the large tray 4 into the loading platform 20. When the large tray detection sensor 28 on the right side does not receive the photoelectric signal, it means that the large tray 4 starts to enter the loading platform 20. When the large tray detection sensor 28 on the right side receives the photoelectric signal again, it means that the large tray 4 has completely entered the loading platform 20. At the same time, when the large tray detection sensor 28 on the left side can receive the photoelectric signal, it means that the left side of the large tray 4 does not exceed the loading platform 20, then the push-pull motor 22 stops rotating, and the stacker 2 completes one time of picking up goods from the shelves 3.

[0058] The specific working process of the parts storage three-dimensional warehousing method in the embodiment of the present invention is as follows:

[0059] Step 1: At a certain working station in the operation room 12, the operator inputs the number and starting position information of the components or small trays 17 to be stored in the warehouse into the PDA handheld terminal 18, and the PDA handheld terminal 18 sends the input signal to the controller;

[0060] Step 2: The controller sends a transfer command to the AGV vehicle 5, and the AGV vehicle 5 runs to the working station 19 to lift the components or small trays 17 and transports them to the corresponding support feet;

[0061] Step 3: After the AGV vehicle 5 is located at the center position of the support feet, the vision acquisition system identifies the contours of the components or small pallets 17 on the AGV vehicle 5 and sends the acquired contour information to the controller;

[0062] Step 4: The controller calculates the angle by which the AGV vehicle 5 needs to rotate based on the contour information, and sends a command to the AGV vehicle 5, and the AGV vehicle 5 rotates by an appropriate angle;

[0063] Step 5: The AGV vehicle 5 descends to place the components or small pallets 17 on the support feet;

[0064] Step 6: The controller calculates the distances that the gantry crane needs to move on the X-axis and Y-axis based on the contour information of the components or pallets, and sends a command to the gantry crane. The gantry crane transports the components or small pallets 17 from the support feet to the large pallet 4 through the finger;

[0065] Step 7: Scan the components on the large pallet 4 at the inbound and outbound connection frame 1 and send them to the controller;

[0066] Step 8: Push the large pallet 4 to the rack 31 docked with the inbound and outbound connection frame 1. The controller sends a command to the stacker 4, and the stacker 4 completes the warehousing of the components.

[0067] The specific process of the stacker 4 warehousing the large pallet is as follows:

[0068] Place the large pallet 4 carrying the aircraft components 16 on the inbound connection frame 1, slide it into the rack 31 docked with the inbound connection frame 1 through the unpowered roller 11 on the inbound connection frame 1, and prevent the large pallet 4 from slipping in the warehouse through the damping device at the end of the rack 31. The control system sends an inbound command to the stacker 2. The loading platform 20 of the stacker 2 moves to the rack 31 at the inbound position. The push-pull motor 22 starts to drive the push-pull cross bar 24 to move. When it moves to the appropriate position, the electric bolt 25 is inserted into the push-pull hole 41 of the large pallet 4, and the large pallet 4 is pulled onto the loading platform 20. Then, the stacker 2 moves the components 16 to the corresponding rack 31 according to the inbound information sent by the control system.

[0069] Large components are placed directly on the large pallet 4 individually or in pairs side by side. Multiple small components are placed on the small pallet 17, and then the small pallet 17 is placed on the large pallet 4.

[0070] The components are aircraft components. One outer wing of the aircraft is placed on one large pallet 4 for warehousing; two vertical tails are placed side by side on one large pallet 4 for warehousing; two horizontal tails are placed side by side on one large pallet 4 for warehousing; multiple other components are manually placed on the small pallet 17 and tied and fixed, and then two small pallets 17 are placed on one large pallet 4 for warehousing.

[0071] There are four motion modes in the control system inside the gantry crane, namely the outer wing storage mode, the vertical tail storage mode, the horizontal tail storage mode, and the small pallet storage mode. Since the initial position of the gantry crane is fixed, it is only necessary to judge the position of the components on the support feet to determine the traveling distance of the gantry crane.

[0072] It should be understood that the specific embodiments described above are only used to explain the present invention and are not used to limit the present invention. Obvious changes or variations derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A warehousing method for a three-dimensional warehousing system for storing parts, characterized in that, The storage system includes: a storage room (13) and an operation room (12) separated from the storage room (13) by a wall. Shelves (3) are placed near the wall in the storage room (13), and goods are stored and retrieved from the shelves (3) by a stacker crane (2). There is a communication window (15) on the wall between the operation room (12) and the storage room (13). An in-out communication rack (1) passes through the communication window (15) and is horizontally docked with a certain layer (31) of the shelves (3). In the operation room (12), there are workstations (19), a PDA handheld terminal (18) located at the workstations (19) for inputting part information, an AGV vehicle (5) shuttling between the workstations (19) and the in-out points, support feet placed at the in-out points, a large pallet (4) placed on the in-out communication rack (1), and a gantry crane for taking the components (16) from the support feet and transporting them to the large pallet (4). The operation room (12) is at least divided into two layers. On both sides of the communication window (15) of each layer of the operation room (12), there is a support foot, namely a first support foot (210) for supporting the in-out of large components (16) or small pallets (17) and a second support foot (211) for supporting the in-out of small components (16). The storage method includes the following steps: Step 1: At a certain workstation (19) in the operation room (12), an operator inputs the numbers and starting position information of the components (16) or small pallets (17) to be stored into the PDA handheld terminal (18), and the PDA handheld terminal (18) sends the input signal to the controller. Step 2: The controller sends a transfer command to the AGV vehicle (5), and the AGV vehicle (5) runs to the workstation (19) to lift the components (16) or small pallets (17) and transports them to the corresponding support feet. Step 3: After the AGV vehicle (5) is located at the center position of the support feet, the vision acquisition system performs contour recognition on the components (16) or small pallets (17) on the AGV vehicle (5) and sends the collected contour information to the controller. Step 4: The controller calculates the angle that the AGV vehicle (5) needs to rotate according to the contour information and sends a command to the AGV vehicle (5), and the AGV vehicle (5) rotates by an appropriate angle. Step 6: The AGV vehicle (5) descends to place the components (16) or small pallets (17) on the support feet. Step 7: The controller calculates the distances that the gantry crane needs to move on the X-axis and Y-axis according to the contour information of the components (16) or pallets and sends a command to the gantry crane. The gantry crane transports the components (16) or small pallets (17) from the support feet to the large pallet (4) through the finger forks. Step 8: Scan the components (16) on the large pallet (4) at the in-out communication rack (1) and send it to the controller. Step 9: Push the large pallet (4) to the layer (31) docked with the in-out communication rack (1). The controller sends a command to the stacker crane (2), and the stacker crane (2) completes the storage of the components (16).

2. The warehousing method for a three-dimensional warehousing system for storing parts according to claim 1, characterized in that: Large components (16) are placed directly on the large tray (4) individually or in pairs side by side. Multiple small components (16) are placed on the small tray (17), and then the small tray (17) is placed on the large tray (4).

3. The warehousing method for a three-dimensional warehousing system for storing parts according to claim 2, characterized in that: The components (16) are aircraft components. One outer wing of the aircraft is placed on a large tray (4) for storage; two vertical tails are placed side by side on a large tray (4) for storage; two horizontal tails are placed side by side on a large tray (4) for storage; multiple other components (16) are manually placed on the small tray (17) and tied and fixed, and then two small trays (17) are placed on a large tray (4) for storage.

4. The warehousing method for a three-dimensional warehousing system for storing parts according to claim 1, characterized in that: On both sides of the connection window (15) of each operation room (12), there is a support foot, namely the first support foot (210) for supporting the large components (16) or the small tray (17) for storage and retrieval, and the second support foot (211) for supporting the small components (16) for storage and retrieval.

5. The warehousing method for a three-dimensional warehousing system for storing parts according to claim 4, characterized in that: The storage and retrieval point is equipped with a vision acquisition system for photographing the large components (16) or the small tray (17) on the AGV vehicle (5) and sending the images to the controller.

6. The warehousing method for a three-dimensional warehousing system for storing parts according to claim 5, characterized in that: At the storage and retrieval connection frame (1), there is a barcode scanner (22) for scanning the barcodes of the large components (16) or the small tray (17).

7. The warehousing method for a three-dimensional warehousing system for storing parts according to claim 1, characterized in that: The shelves (3) are arranged in two rows side by side, and the stacker (2) travels between the two rows of shelves (3); operation rooms (12) are arranged on both sides of the storage room (13).

8. The warehousing method for a three-dimensional warehousing system for storing parts according to any one of claims 1-7, characterized in that: The shelf layers (31) of the shelves (3) and the storage and retrieval connection frame (1) are both equipped with gravity roller conveyors (11).

Images