A method for parts warehousing in a parts in-and-out conveying system

Abstract

The present invention belongs to the technical field of intelligent warehousing, and particularly relates to a part in-out conveying system, which includes an in-out connecting frame, a large pallet, support feet, an AGV vehicle shuttling between workstations and support feet, and a gantry crane for taking parts from the support feet and transporting them to the large pallet; the support feet include support legs and support beams; above the support feet, there is a vision acquisition system for acquiring the contour of parts or small pallets when the AGV vehicle is located at the support feet; fork fingers are arranged at the lower part of the gantry crane; the in-out connecting frame is docked with a certain layer of the shelf, and unpowered roller lines are installed on both the in-out connecting frame and the layer of the shelf. The present invention transports parts of different specifications to the corresponding support feet through the AGV vehicle and accurately transports the parts to the large pallet through the gantry crane, and the parts are stored on multi-layer shelves through a stacker, greatly reducing the floor area for storing parts.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent warehousing, and particularly relates to a method for parts warehousing of a parts in-out conveying system. 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 m × 3.5 m, and the small ones are 1 m × 3 m), which occupy a large area, are very difficult to transfer, and have 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 the number of operation workstations is also relatively small. 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 occupied by the parts storage. 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 object 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 parts in-out conveying system with a small occupied space and convenient transfer.

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

[0007] A parts in-out conveying system, characterized in that: it includes an in-out connection frame, a large tray placed on the in-out connection frame for storing parts, support feet of different specifications respectively arranged on the left and right sides of the in-out connection frame, an AGV vehicle shuttling between the workstations and the support feet, and a gantry crane for taking the parts from the support feet and transferring them to the large tray; the support feet include support legs and two parallel support beams lapped on the support legs, and parts or small trays are lapped on the support beams; above the support feet, there is a vision acquisition system for acquiring the contour of the parts or small trays when the AGV vehicle is at the support feet; the gantry crane moves along the gantry crane frame, and fork fingers for lifting the parts or small trays are arranged at the lower part of the gantry crane; the in-out connection frame is docked with a certain layer of the shelf, and non-powered roller lines are installed on both the in-out connection frame and the layer of the shelf.

[0008] Further, the large tray includes: a transverse main beam and a longitudinal main beam that are perpendicularly overlapped to form a rectangle, and a load-bearing beam is also overlapped between the transverse main beams or between the longitudinal main beams; a TPR material is laid on the load-bearing beam; a plurality of push-pull holes for docking with the stacker are provided on the transverse main beam.

[0009] Further, a concave surface corresponding to the convex surface of the component is machined on the large tray; a protective frame that fits it is also sleeved on the outer edge of the component; the bending shape of the protective frame is consistent with the outer edge of the component.

[0010] Further, at least two small trays are stored on one large tray, a TPR material is laid on the small trays; small components are manually tied to the small trays; the small components are spaced apart by a flexible material.

[0011] Further, it also includes a stacker for storing and retrieving goods from the shelf; the stacker includes: a load-carrying platform, push-pull guide rails consistent with the storage and retrieval direction of the stacker are provided at both ends of the load-carrying platform, a push-pull motor is slidably connected to the push-pull guide rails, the push-pull motor is a shaftless motor, its output end is a push-pull nut, the push-pull nut is helically sleeved on a push-pull lead screw, and both ends or one end of the push-pull lead screw is rotatably installed on the load-carrying platform through bearings; a push-pull cross bar parallel to the push-pull guide rail is fixedly installed on the outer shell of the push-pull motor, and an electric bolt that cooperates with the push-pull hole is installed on the push-pull cross bar.

[0012] Further, the stacker and the shelf are located in the storage room, the components are located in the operation room adjacent to the storage room, there is a communication window between the storage room and the operation room, and the inbound and outbound connection frame penetrates through the communication window and is horizontally docked with a certain layer of the shelf.

[0013] Further, the operation room has at least two floors, and there is a communication window between each floor of the operation room and the storage room.

[0014] Further, the AGV vehicle includes a carrying platform, a scissor telescopic mechanism provided under the carrying platform, and a rotating mechanism provided under the scissor telescopic mechanism.

[0015] Further, the support feet include a first support foot and a second support foot, the distance between the support beams of the first support foot is less than the distance between the support beams of the second support foot; the first support foot is used to support the horizontal tail and vertical tail of the aircraft; the second support foot is used to support the outer wing of the aircraft and the small tray.

[0016] Furthermore, a non-powered roller line is also installed on the load-carrying platform. Compared with the prior art, the beneficial effects of a parts inbound and outbound conveying system of the present invention are:

[0017] 1. Use an AGV vehicle to transport parts of different specifications to the corresponding support feet, and adjust the position and angle of the parts. Since the distance between the overhead crane and the support feet is constant, the overhead crane can accurately transport the parts on the support feet to the large tray, and push the large tray to the shelf connected to the access frame through the gravity roller conveyor line.

[0018] 2. To reduce the number of times the AGV vehicle transports parts, for smaller parts, multiple parts are concentrated and placed on a small tray, and the parts are stored and retrieved by placing the small tray on the large tray.

[0019] 3. The parts storage and retrieval conveyor system stores parts on multiple-layer shelves through a stacker, greatly reducing the floor area for storing parts; separate the storage room and the operation room and set them adjacent to each other, and transfer parts from the shelf to the operation room through a connecting window.

[0020] 4. The operation room can be divided into multiple layers according to the height of the shelf, greatly reducing the overall floor area of the operation room and increasing the number of maintenance operation stations, improving the maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0022] Figure 1 is the structural diagram of the stacker in the embodiment of the present invention;

[0023] Figure 2 is the three-dimensional structural diagram of the parts storage and retrieval conveyor system in the embodiment of the present invention;

[0024] Figure 3 is the structural schematic diagram of the parts storage and retrieval conveyor system in the embodiment of the present invention;

[0025] Figure 4 is the structural diagram of the large tray in the embodiment of the present invention;

[0026] Figure 5 is the structural diagram of the parts from the shelf to the loading platform in the embodiment of the present invention;

[0027] Figure 6 is the connection diagram of the access frame and / or the shelf in the embodiment of the present invention;

[0028] Figure 7 is the structural diagram of the small tray in the embodiment of the present invention;

[0029] Figure 8 is the installation structural diagram of the protection frame and the parts in the embodiment of the present invention;

[0030] Figure 9 is the structural diagram of the AGV vehicle in the embodiment of the present invention;

[0031] Figure 10 It is the structure diagram of the inbound and outbound points in the embodiment of the present invention.

[0032] In the figure: 1. Inbound and outbound connecting frame, 2. Stacker crane, 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. Connecting frame, 216. Moon ladder, 217. High-level maintenance platform, 218. Limit switch, 219. Vertical guide rail, 220. Lifting slider, 3. Shelf, 31. Tier rack, 32. Longitudinal plate, 4. Large tray, 41. Push-pull hole, 42. Transverse main beam, 43. Longitudinal main beam, 44. Load-bearing beam, 5. AGV vehicle, 51. Carrying platform, 52. Scissor expansion mechanism, 6. Truss cart, 61. Finger, 11. Unpowered roller conveyor, 12. Operation room, 13. Storage room, 14. Protection frame, 15. Connecting window, 16. Components, 17. Small tray, 18. PDA handheld terminal, 19. Workstation, 200. First inbound and outbound point, 201. Second inbound and outbound point, 710. First support foot, 711. Second support foot, 712. Support leg, 713. Support beam, 72. Barcode scanner, 73. Truss cart frame. Detailed implementation manners

[0033] 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.

[0034] As Figures 1 - 10 shown in the specific embodiment of the parts inbound and outbound conveying 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 part in-out conveying system includes: a workshop, a shelf 3, and a stacker crane 2. The workshop 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 in-out communication frame 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 of shelves 3 can also be set as needed. The shelf 3 is arranged closely against the wall of the storage room 13. The storage room 13 can be set in the middle as needed, 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 crane 2 travels between the two rows of shelves 3 under the guidance of the overhead rail 210 and the ground rail 211, storing goods on the shelf 3 or taking goods from the shelf 3. The shelf 3 and the stacker crane 2 are located in the storage room 13. The operation room 12 can be divided into multiple layers according to the height of the workshop and the height of the stacker crane 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 both 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 in-out of the parts 16.

[0035] 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 in-storage point, support feet are placed at the in-out point, a large tray 4 is placed on the in-out communication frame 1, and a hoist 6 takes the parts from the support feet and transfers them to the large tray 4. The in-out 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.

[0036] See Figure 10 , the support feet include support legs 712 and two parallel support beams 713 lapped on the support legs 712. The parts or small trays 17 are lapped on the support beams 713. The support feet include a first support foot 710 and a second support foot 711. The distance between the support beams 713 of the first support foot 710 is less than the distance between the support beams 713 of the second support foot 711. The first support foot 710 is used to support the horizontal tail and vertical tail of the aircraft. The second support foot 711 is used to support the outer wing of the aircraft and the small tray 17.

[0037] See Figure 9 , the AGV vehicle includes a carrying platform 51, a scissor telescopic mechanism 52 arranged under the carrying platform 51, and a rotating mechanism arranged under the scissor telescopic mechanism. The parts are placed on the carrying platform 51. The scissor telescopic mechanism drives the carrying platform to lift, and the rotating mechanism drives the parts 16 on the carrying platform 51 to rotate a certain angle.

[0038] Refer to Figure 10 , the trolley 6 moves along the trolley frame 73, and fork fingers 61 for lifting parts or small pallets 17 are provided at the lower part of the trolley 6.

[0039] At the access and storage connecting frame 1, there is a barcode scanner 72 for scanning large parts or small pallets 17.

[0040] The shelf 3 is higher than the connecting window 15 of the second - floor operation room 122. An unpowered roller conveyor line 11 is installed on each layer of the shelf 31 to facilitate the access of goods. The access and storage methods in each layer of the operation room 12 are the same. Here, the second - floor is taken as an example.

[0041] Aircraft parts 16 need to be placed on pallets for access and storage. The pallets are divided into large pallets 4 and small pallets 17. One large pallet 4 is placed on each layer of the shelf 31. For large parts 16, one large pallet 4 holds one part. For small parts 16, one large pallet 4 can hold multiple parts; two small pallets 17 can be placed on one large pallet 4. Small aircraft parts 16 are placed on the small pallets 17. There are pallet codes on the pallets and product codes on the aircraft parts. The system identifies their identity characteristics through barcode scanning.

[0042] One outer wing of the aircraft is placed on one large pallet 4. For the vertical tail and horizontal tail, every two parts are placed on one 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 landing - gear rear - door are placed on the small pallets 17.

[0043] Refer to 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. Load - bearing beams 44 are also 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, pine wood with relatively soft material can be selected, or ironwood with relatively hard material can also be used because wood is easier 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 for docking with the stacker 2 on the transverse main beam 42.

[0044] The size of the small pallet 17 ≤ 1 / 2 of the size of the large pallet 4. It is also made of overlapping steel. Flexible TPR material is laid at the place where it contacts the parts 16. Two small pallets 17 can be placed on each large pallet 4.

[0045] Refer to Figure 8Since the outer surfaces of the outer wing, vertical tail and horizontal tail have curvature, the convex surface of the component 16 can be used as a reference to process a concave surface corresponding to the convex surface of the component 16 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 the outer edge of the component 16 can be set on the outer edge of the component 16, and the curved shape of the protective frame 14 is consistent with the outer edge of the component 16.

[0046] The workstation for repairing small parts is provided with a small tray 17 for storing small parts. The small tray 17 has good compatibility. Parts 16 are manually placed on the small tray 17. Flexible materials are required to be used to space the parts 16, and the parts 16 need to be manually bound with safety ropes.

[0047] There is an entry and exit point on both sides of the connecting window 15 of each operating room, namely the first entry and exit point 200 and the second entry and exit point 201. The entry and exit points include a supporting foot and a visual acquisition system, namely the first supporting foot 710 for supporting large parts and small pallets 17 to enter and exit the warehouse, and the second supporting foot 711 for supporting small parts to enter and exit the warehouse.

[0048] The shelf 3 is a welded shelf 3 and is bolted with I-beams. Each layer of the shelf 31 includes a longitudinal plate 32 and a plurality of unpowered roller lines 11 fixed on the upper surface of the longitudinal plate 32. Fire protection installation space and maintenance space are reserved on the shelf 3. In order to prevent the large pallet 4 from sliding in the warehouse, a damping device is installed at the end where the unpowered roller line 11 is connected to the stacker 2 to ensure that the pallet will not slide on the shelf 31 by itself.

[0049] See also Figure 1 The stacker 2 includes: two 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 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 outside of the column 213 and is 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.

[0050] This embodiment has a total of four columns 213. A vertical guide rail 219 is fixedly installed on each column 213. Lifting sliders 220 are provided on the sides of the load platform 20 opposite to the vertical guide rails 219. Two rows of symmetrically arranged pulleys are provided on the lifting sliders 220. The two rows of pulleys clamp the vertical guide rail 219 and roll along the vertical guide rail 219.

[0051] See Figure 5 , push-pull guide rails 21 consistent with the access direction of the stacker 2 are provided at both ends of the load platform 20. 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. The push-pull nut is spirally sleeved on a push-pull lead screw 23. Both ends or one end of the push-pull lead screw 23 are rotatably installed on the load platform 20 through bearings. In the embodiment of the present invention, a shaftless bidirectional rotation motor is adopted, and the motor itself is a slider, avoiding the situation that the push-pull motor 22 is fixedly arranged at one end of the push-pull lead screw 23 and affecting the bidirectional picking of the stacker 2.

[0052] A push-pull cross bar 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 cross bar 24. When the tray is completely on the load platform 20, the initial position of the push-pull motor 22 is in the middle of the load platform 20. When the push-pull motor 22 picks 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 circles of the push-pull motor 22 is within an interval. In this way, the control system can set a maximum number of rotation circles for the push-pull motor 22 to prevent the push-pull motor 22 from over-moving and damaging other components 16.

[0053] A non-powered roller line 11 is also provided on the load platform 20. Detection rods 27 are installed at the four corners of the load platform 20. A large tray 4 detection sensor 28 is installed at the lower part of the detection rod 27 to ensure that the tray completely enters the load platform 20 and avoid slipping. A part detection sensor is installed at the upper part of the detection rod 27 to ensure that there are components 16 on the large tray 4 instead of an empty tray entering the warehouse.

[0054] When the stacker 2 needs to pick up goods from the shelf 3, the push-pull motor 22 is started, and the push-pull crossbar 24 moves towards the shelf 3 where goods need to be picked up. Here, taking the example of picking up goods from the right-side shelf 3, 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 plug 25 is exactly above a suitable push-pull hole 41, the control system controls the electric plug 25 to move downward into the push-pull hole 41. Then the push-pull motor 22 moves in the reverse direction, pulling the large tray 4 into the loading platform 20. When the right-side large tray 4 detection sensor 28 no longer receives the photoelectric signal, it means that the large tray 4 starts to enter the loading platform 20. When the right-side large tray 4 detection sensor 28 receives the photoelectric signal again, it means that the large tray 4 has completely entered the loading platform 20. At the same time, the left-side large tray 4 detection sensor 28 can receive the photoelectric signal, indicating 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 pick-up operation from the shelf 3.

[0055] The specific working process of the parts inbound and outbound conveying system according to the embodiment of the present invention is as follows:

[0056] Step 1: At a certain work station in the operation room 12, the operator inputs the number and starting position information of the parts or small trays 17 to be warehoused into the PDA handheld terminal 18, and the PDA handheld terminal 18 sends the input signal to the controller.

[0057] Step 2: The controller sends a transfer command to the AGV vehicle 5, and the AGV vehicle 5 runs to the work station 19 to lift the parts or small trays 17 and transports them to the corresponding support feet.

[0058] Step 3: After the AGV vehicle 5 is located at the center position of the support feet, the vision acquisition system identifies the contour of the parts or small trays 17 on the AGV vehicle 5 and sends the acquired contour information to the controller.

[0059] 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 a suitable angle.

[0060] Step 5: The AGV vehicle 5 descends to place the parts or small trays 17 on the support feet.

[0061] 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 trays, and sends a command to the overhead crane 6. The overhead crane 6 transports the parts or small trays 17 from the support feet to the large tray 4 through the finger.

[0062] Step 7: Scan the parts on the large tray 4 at the inbound and outbound connecting frame 1 and send them to the controller.

[0063] Step 8: Push the large tray 4 onto the shelf 31 docked with the in-out storage connecting frame 1, and the controller sends a command to the stacker crane 2, and the stacker crane 2 completes the warehousing of the parts.

[0064] The specific process of the stacker crane 2 warehousing the large tray is as follows:

[0065] Place the large tray 4 carrying the aircraft parts 16 on the in-storage connecting frame 1, slide it onto the shelf 31 docked with the in-storage connecting frame 1 through the unpowered roller line 11 on the in-storage connecting frame 1, and prevent the large tray 4 from slipping in the warehouse through the damping device at the end of the shelf 31. The control system sends a warehousing command to the stacker crane 2. The loading platform 20 of the stacker crane 2 moves to the shelf 31 at the warehousing position. The push-pull motor 22 starts to drive the push-pull cross bar 24 to move. When it moves to a suitable position, the electric bolt 25 is inserted into the push-pull hole 41 of the large tray 4, and the large tray 4 is pulled onto the loading platform 20. Then, the stacker crane 2 moves the parts 16 to the corresponding shelf 31 according to the warehousing information sent by the control system.

[0066] Large parts are placed directly on the large tray 4 individually or in pairs side by side. Small parts are placed on the small tray 17 in multiple numbers, and then the small tray 17 is placed on the large tray 4.

[0067] The parts are aircraft parts. One outer wing of the aircraft is placed on a large tray 4 for warehousing; two vertical tails are placed side by side on a large tray 4 for warehousing; two horizontal tails are placed side by side on a large tray 4 for warehousing; multiple other parts 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 warehousing.

[0068] The control system inside the gantry crane 6 has four motion modes, namely the outer wing warehousing mode, the vertical tail warehousing mode, the horizontal tail warehousing mode, and the small tray warehousing mode. Since the initial position of the gantry crane 6 is fixed, only by judging the position of the parts on the support feet can the walking distance of the gantry crane 6 be determined.

[0069] 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 method for parts warehousing in a parts in-out conveying system, characterized in that: The part in-out conveying system includes an in-out connecting frame (1), a large tray (4) placed on the in-out connecting frame (1) for storing parts, support feet of different specifications respectively arranged on the left and right sides of the in-out connecting frame (1), an AGV vehicle (5) shuttling between the workstations (19) and the support feet, and a gantry crane (6) for taking parts (16) from the support feet and transporting them to the large tray (4); the support feet include support legs (712) and two parallel support beams (713) lapped on the support legs (712), and parts (16) or small trays (17) are lapped on the support beams (713); above the support feet, there is a vision acquisition system for acquiring the contour of parts (16) or small trays (17) when the AGV vehicle (5) is at the support feet; the gantry crane (6) moves along the gantry crane frame (73), and a finger (61) for lifting parts (16) or small trays (17) is arranged at the lower part of the gantry crane (6); the in-out connecting frame (1) is docked with a certain layer (31) of the shelf (3), and a non-powered roller conveyor line (11) is installed on both the in-out connecting frame (1) and the layer (31). The part warehousing method includes the following steps: Step 1: At a certain workstation in the operation room (12), an operator inputs the number and starting position information of the parts or small trays (17) to be warehoused 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 parts or small trays (17) and transports them to the corresponding support feet. Step 3: After the AGV vehicle (5) is located at the central position of the support feet, the vision acquisition system identifies the contour of the parts or small trays (17) on the AGV vehicle (5) and sends the acquired contour information to the controller. Step 5: 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 parts or small trays (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 parts or trays and sends a command to the gantry crane (6), and the gantry crane (6) transports the parts or small trays (17) from the support feet to the large tray (4) through the fingers. Step 8: Scan the parts on the large tray (4) at the in-out connecting frame (1) and send the information to the controller. Step 9: Push the large tray (4) to the layer (31) docked with the in-out connecting frame (1), and the controller sends a command to the stacker (2), and the stacker (2) completes the warehousing of the parts. The specific process of the stacker (2) warehousing the large tray is as follows: Place the large tray (4) carrying aircraft parts (16) on the inbound connection rack (1), slide it onto the shelf (31) docked with the inbound connection rack (1) through the unpowered roller line (11) on the inbound connection rack (1), and prevent the large tray (4) from sliding in the warehouse through the damping device at the end of the shelf (31). The control system sends an inbound command to the stacker crane (2). The carrier platform (20) of the stacker crane (2) moves to the shelf (31) at the inbound position. The push-pull motor (22) starts to drive the push-pull crossbar (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 tray (4) to pull the large tray (4) onto the carrier platform (20). Then, the stacker crane (2) moves the parts (16) to the corresponding shelf (31) according to the inbound information sent by the control system.

2. The parts warehousing method of a parts inbound and outbound conveying system according to claim 1, characterized in that: The large tray (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); a TPR material is laid on the load-bearing beams (44); there are multiple push-pull holes (41) on the transverse main beam (42) for docking with the stacker crane (2).

3. The method for parts warehousing of a parts in-out conveying system according to claim 2, characterized in that: A concave surface corresponding to the convex surface of the parts (16) is machined on the large tray (4); a protective frame (14) that fits with the outer edge of the parts (16) is also sleeved on the outer edge of the parts (16); the bending shape of the protective frame (14) is consistent with the outer edge of the parts (16).

4. The method for parts warehousing of a parts in-out conveying system according to claim 2, characterized in that: At least two small trays (17) are stored on one large tray (4). A TPR material is laid on the small trays (17); small parts (16) are manually tied to the small trays (17); the small parts (16) are spaced by a flexible material.

5. The method for storing parts in a parts in-out conveying system according to claim 2, characterized in that: It also includes a stacker crane (2) for storing and retrieving goods from the shelf (3). The stacker crane (2) includes: a carrier platform (20). Push-pull guide rails (21) that are consistent with the storage and retrieval direction of the stacker crane (2) are arranged at both ends of the carrier platform (20). 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. The push-pull nut is helically sleeved on a push-pull lead screw (23). Both ends or one end of the push-pull lead screw (23) is rotatably installed on the carrier platform (20) through bearings; a push-pull crossbar (24) parallel to the push-pull guide rails (21) is fixedly installed on the outer shell of the push-pull motor (22), and an electric bolt (25) that cooperates with the push-pull hole (41) is installed on the push-pull crossbar (24).

6. The method for parts warehousing of a parts in-out conveying system according to claim 5, characterized in that: The stacker crane (2) and the shelf (3) are located in the storage room (13). The parts (16) are located in the operation room (12) adjacent to the storage room (13). There is a communication window (15) between the storage room (13) and the operation room (12). The inbound and outbound connection rack (1) penetrates through the communication window (15) and is horizontally docked with a certain shelf (31) of the shelf (3).

7. The method for storing parts in a parts in-out conveying system according to claim 6, characterized in that: The operation room (12) has at least two floors, and there is a communication window (15) between each floor of the operation room (12) and the storage room (13).

8. The method for parts warehousing of a parts in-out conveying system according to claim 1, wherein: The AGV vehicle (5) includes a carrying platform (51), a scissor expansion mechanism (52) arranged under the carrying platform (51), and a rotating mechanism arranged under the scissor expansion mechanism (52).

9. The method for parts warehousing of a parts inbound and outbound conveying system according to claim 1, characterized in that: The support feet include a first support foot (710) and a second support foot (711). The distance between the support beams (713) of the first support foot (710) is less than the distance between the support beams (713) of the second support foot (711); the first support foot (710) is used to support the horizontal tail and vertical tail of the aircraft; the second support foot (711) is used to support the outer wing of the aircraft and the small tray (17).

10. The method for storing parts in a parts in-out conveying system according to claim 5, characterized in that: A non-powered roller line (11) is also installed on the load platform (20).

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