Automatic multi-layer stereoscopic warehouse tallying equipment and method

Abstract

The present invention belongs to the field of mechanical automation technology, and specifically relates to an automatic multi-layer stereoscopic warehouse sorting equipment and method, the equipment comprising: a main frame, the main frame as a carrier; a lifting mechanism, the lifting mechanisms are two and symmetrically installed on both sides of the main frame; a conveying mechanism, the conveying mechanisms are two and installed on the lifting platforms corresponding to the lifting mechanisms; a multi-layer pallet storage mechanism, the multi-layer pallet storage mechanism is installed on the main frame and located between the two lifting mechanisms; a controller, the controller is respectively connected to the lifting mechanism, the conveying mechanism, and the power unit in the multi-layer pallet storage mechanism. The present invention has a reasonable structural design, can effectively reduce the labor intensity of workers, reduce maintenance costs, can realize the efficient operation of turnover pallets, further improve production technology and production efficiency, improve assembly accuracy and effect, and enable the stereoscopic warehouse to be further developed in the automated production line.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical automation, and in particular relates to an automatic multi-layer stereoscopic warehouse tallying device and method. Background Art

[0002] With the development of science and technology and the continuous advancement of automation technology, all walks of life are constantly putting forward new requirements for automated stereoscopic warehouses. Stereoscopic warehouses are the most frequently used equipment in automated production. According to the characteristics of parts, the process of production lines, and the needs of automated control, we will continue to develop automated stereoscopic warehouses that can further increase production capacity, improve accuracy, and facilitate control. The quality of the stereoscopic warehouse is directly related to the assembly accuracy of the production line, and the mechanical structure of the stereoscopic warehouse is closely related to the later use effect.

[0003] At present, the stereoscopic warehouses used in conventional automated production lines still have defects such as low efficiency, precision that needs to be improved, and high equipment maintenance costs, which restrict the rapid production and development of automated production lines. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic multi-layer stereoscopic warehouse sorting equipment and method to solve the problems existing in the above-mentioned prior art, effectively reduce the labor intensity of workers, reduce maintenance costs, realize efficient operation of turnover pallets, further improve production technology and production efficiency, improve assembly accuracy and effect, and enable the stereoscopic warehouse to be further developed in the automated production line.

[0005] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0006] An automatic multi-layer stereoscopic warehouse tallying device, the device comprising:

[0007] A main frame, the main frame serving as a carrier;

[0008] Lifting mechanisms, there are two lifting mechanisms and they are symmetrically installed on both sides of the main frame;

[0009] Conveying mechanisms, there are two conveying mechanisms installed on the lifting platforms of the corresponding lifting mechanisms;

[0010] A multi-layer pallet storage mechanism, which is installed on the main frame and located between the two lifting mechanisms;

[0011] A controller is connected to the lifting mechanism, the conveying mechanism, and the power units in the multi-layer pallet storage mechanism respectively.

[0012] Furthermore, in the above-mentioned automatic multi-layer stereoscopic warehouse sorting equipment, the lifting mechanism includes a base plate, a motor, a first reducer, a power mounting plate, a first synchronous pulley, a first synchronous belt, a linear guide, a linear slider, a first bearing seat, a transmission screw, a wire block, a fixed connection seat, a lifting platform and a second bearing seat. The power mounting plate is installed above the base plate, the first reducer is installed below the power mounting plate, the motor is installed below the first reducer, the first synchronous belt and the first synchronous pulley are installed above the power mounting plate and are used in conjunction with each other inside and outside, the linear guide and the linear slider are installed on the base plate and are used in conjunction with each other, the first bearing seat and the second bearing seat are installed on both sides of the base plate, the transmission screw is installed between the first bearing seat and the second bearing seat, the transmission screw is installed with a wire block meshing with it, the fixed connection seat is installed on the outside of the wire block, and the lifting platform is fixedly installed on the fixed connection seat.

[0013] Furthermore, in the above-mentioned automatic multi-layer stereoscopic warehouse sorting equipment, the motor drives the first synchronous pulley to move after the speed is changed by the first reducer, the first synchronous pulley drives the first synchronous belt to rotate, and then drives the transmission screw to rotate, the transmission screw drives the wire block to rise and fall, thereby driving the lifting and falling movement of the lifting platform, and the motor is controlled by the controller.

[0014] Furthermore, in the above-mentioned automatic multi-layer stereoscopic warehouse sorting equipment, the conveying mechanism includes a C-type frame, a first main transmission shaft, a second synchronous pulley, a second synchronous belt, a first coupling, a second reducer, a first pneumatic motor, a third synchronous pulley, a third bearing seat, a first driven shaft and a third bearing. The third bearing and the first driven shaft are installed on the C-type frame, the first main transmission shaft is installed inside the third bearing and is connected to the first coupling on the outside of the C-type frame, the second reducer is installed on the outside of the first coupling and is used in conjunction with the first pneumatic motor, and the second synchronous pulley is installed on the first main transmission shaft and is used in conjunction with the third synchronous pulley through the second synchronous belt.

[0015] Furthermore, in the above-mentioned automatic multi-layer stereoscopic warehouse tallying equipment, the third bearing seat and the first driven shaft are used to support and adjust the third synchronous pulley, the second synchronous belt is connected in series through the first main transmission shaft, and the transmission is realized through the first pneumatic motor and the second reducer, the second synchronous belt is used to convey turnover pallets, and the first pneumatic motor is controlled by the controller.

[0016] Furthermore, in the above-mentioned automatic multi-layer stereoscopic warehouse sorting equipment, the multi-layer pallet storage mechanism includes a passive side base plate, a transmission side base plate, a second coupling, a third reducer, a second pneumatic motor, a second driven shaft, a fourth bearing seat, a fourth synchronous pulley, a third synchronous belt, a fifth synchronous pulley and a second main transmission shaft. The transmission side base plate and the passive side base plate are installed on the main frame, the second main transmission shaft is installed inside the fourth bearing seat and is connected to the second coupling on the outside of the transmission side base plate, the third reducer is installed on the outside of the second coupling and is used in conjunction with the second pneumatic motor, the fifth synchronous pulley is installed on the second main transmission shaft and is used in conjunction with the fourth synchronous pulley through the third synchronous belt, the fourth bearing seat and the second driven shaft are respectively installed on the transmission side base plate and the passive side base plate, and the second pneumatic motor is controlled by the controller.

[0017] Furthermore, in the above-mentioned automatic multi-layer stereoscopic warehouse sorting equipment, the fourth bearing seat and the second driven shaft are used to support and adjust the fourth synchronous pulley, the third synchronous belt is connected in series through the second main transmission shaft, the second main transmission shaft is driven by the second pneumatic motor and the third reducer, and the third synchronous belt is used to transport turnover pallets.

[0018] Furthermore, in the above-mentioned automatic multi-layer stereoscopic warehouse sorting equipment, the second synchronous belt and the third synchronous belt are each located on the inner side of the upper belt body and are installed with a support member to prevent them from deforming when under pressure, and the upper end of the support member is provided with a support plane that abuts against the inner side of the upper belt body.

[0019] Furthermore, in the above-mentioned automatic multi-layer stereoscopic warehouse sorting equipment, the equipment also includes a sensor for detecting whether there are turnover pallets at designated positions of the lifting mechanism, the conveying mechanism, and the multi-layer pallet storage mechanism.

[0020] An automatic multi-layer stereoscopic warehouse tallying method is implemented based on the automatic multi-layer stereoscopic warehouse tallying device as described above, and the method comprises the following steps:

[0021] 1) The lifting mechanisms on both sides of the main frame are reset and controlled. One of the two lifting mechanisms is set to be lifted for incoming goods, and the other is set to be lifted for outgoing goods. The lifting mechanism drives the conveying mechanism back to the top initial position. At this time, the controller will detect whether there is a turnover pallet at the initial position. If there is no pallet, the controller will detect whether there is a turnover pallet in the bottom empty pallet area of ​​the multi-layer pallet storage mechanism. If there is a pallet, the lifting mechanism will descend to the bottom layer, drive the conveying mechanism to take back the turnover pallet, and then return to the top initial position, waiting for the next instruction from the controller to perform the next action;

[0022] 2) When the controller detects that the turnover pallet in the initial position has been loaded, it will automatically determine which layer of the multi-layer pallet storage mechanism has a vacant space, and then the lifting mechanism drives the conveying mechanism to lift to this layer, completing the conveying of the turnover pallet to the designated pallet storage area, and the equipment waits for the next process;

[0023] 3) When the controller detects that there is no turnover pallet inside the shipping lifting mechanism, the multi-layer pallet storage mechanism automatically determines which layer of storage area to output the pallet, and the shipping lifting mechanism drives the conveying mechanism to rise and fall to this layer, and completes the conveying of the turnover pallet to the initial position of the shipping lifting mechanism. After the shipping action is completed and the detection is successful, the equipment waits for the next process to be executed;

[0024] 4) When the controller detects that the goods on the turnover pallet in the shipping lifting mechanism have been taken out, and there is vacant space in the empty pallet storage layer of the multi-layer pallet storage mechanism, the controller will control the shipping lifting mechanism to drive the conveying mechanism to descend to the empty pallet storage layer of the multi-layer pallet storage mechanism. The equipment waits to execute the next process, and the pallet and its parts remain in the initial position, waiting for the next round of work to start.

[0025] The beneficial effects of the present invention are:

[0026] The present invention has a reasonable structural design, can effectively reduce the labor intensity of workers, reduce maintenance costs, realize efficient operation of turnover pallets, further improve production technology and production efficiency, improve assembly accuracy and effect, and enable the three-dimensional warehouse to be further developed in the automated production line.

[0027] Of course, any product implementing the present invention does not necessarily need to achieve all of the above advantages at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0029] Figure 1 It is a three-dimensional schematic diagram of the present invention as a whole;

[0030] Figure 2 It is a schematic diagram of the lifting mechanism and the conveying mechanism in the present invention;

[0031] Figure 3 It is a schematic diagram of the lifting mechanism in the present invention;

[0032] Figure 4 It is an exploded view of the lifting mechanism in the present invention;

[0033] Figure 5 is a schematic diagram of the conveying mechanism in the present invention;

[0034] Figure 6 is a schematic diagram of a multi-layer tray storage mechanism in the present invention;

[0035] Figure 7 It is a three-dimensional schematic diagram of the turnover pallet in the present invention.

[0036] In the accompanying drawings, the reference numerals of the various components are as follows:

[0037] 1-lifting mechanism, 101-base plate, 102-motor, 103-first reducer, 104-power mounting plate, 105-first synchronous pulley, 106-first synchronous belt, 107-linear guide rail, 108-linear slider, 109-first bearing seat, 110-transmission screw rod, 111-screw block, 112-fixed connection seat, 113-lifting platform, 114-second bearing seat;

[0038] 2- conveying mechanism, 201- C-type frame, 202- first main transmission shaft, 203- second synchronous pulley, 204- second synchronous belt, 205- first coupling, 206- second reducer, 207- first pneumatic motor, 208- third synchronous pulley, 209- third bearing seat, 210- first driven shaft, 211- third bearing;

[0039] 3-multi-layer tray storage mechanism, 301-passive side base plate, 302-transmission side base plate, 303-second coupling, 304-third reducer, 305-pneumatic motor, 306-second driven shaft, 307-fourth bearing seat, 308-fourth synchronous pulley, 309-third synchronous belt, 310-fifth synchronous pulley, 311-second main transmission shaft;

[0040] 4-Main frame;

[0041] 5- Turnover pallet. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] See also Figure 1-Figure 7As shown, this embodiment provides an automatic multi-layer stereoscopic warehouse tallying device, which includes a main frame 4, a lifting mechanism 1, a conveying mechanism 2, a multi-layer pallet storage mechanism 3, a controller and a sensor. The main frame 4 serves as a carrier, and there are two lifting mechanisms 1, which are symmetrically installed on both sides of the main frame 4. There are two conveying mechanisms 2, which are installed on the lifting platforms corresponding to the lifting mechanisms 1. The multi-layer pallet storage mechanism 3 is installed on the main frame 4 and is located between the two lifting mechanisms 1. The controller is connected to the power units in the lifting mechanism 1, the conveying mechanism 2, and the multi-layer pallet storage mechanism 3 respectively. The sensor is used to detect whether there is a turnover pallet at a specified position of the lifting mechanism 1, the conveying mechanism 2, and the multi-layer pallet storage mechanism 3.

[0044] In this embodiment, the lifting mechanism 1 includes a base plate 101, a motor 102, a first reducer 103, a power mounting plate 104, a first synchronous pulley 105, a first synchronous belt 106, a linear guide 107, a linear slider 108, a first bearing seat 109, a transmission screw 110, a screw block 111, a fixed connection seat 112, a lifting platform 113 and a second bearing seat 114. The power mounting plate 104 is mounted above the base plate 101, the first reducer 103 is mounted below the power mounting plate 104, and the motor 102 is mounted below the first reducer 103. The first synchronous belt 106 and the first synchronous pulley 105 are mounted above the power mounting plate 104 and are used in conjunction with each other. The linear guide 107 and the linear slider 108 are mounted on the base plate 101 and are used in conjunction with each other. The first bearing seat 109 and the second bearing seat 114 are installed on both sides of the base plate 101, and the transmission screw 110 is installed between the first bearing seat 109 and the second bearing seat 114. The transmission screw 110 is installed with a wire block 111 meshed therewith, and the fixed connection seat 112 is installed outside the wire block 111. The lifting platform 113 is fixedly installed on the fixed connection seat 112. The motor 102 drives the first synchronous pulley 105 to move after the first speed reducer 103 changes speed, and the first synchronous pulley 105 drives the first synchronous belt 106 to rotate, and then drives the transmission screw 110 to rotate, and the transmission screw 110 drives the wire block 111 to rise and fall, thereby driving the lifting platform 113 to rise and fall, and the motor 102 is controlled by the controller.

[0045] In this embodiment, the conveying mechanism 2 includes a C-shaped frame 201, a first main transmission shaft 202, a second synchronous pulley 203, a second synchronous belt 204, a first coupling 205, a second reducer 206, a first pneumatic motor 207, a third synchronous pulley 208, a third bearing seat 209, a first driven shaft 210 and a third bearing 211. The third bearing 211 and the first driven shaft 210 are mounted on the C-shaped frame 201, the first main transmission shaft 202 is mounted inside the third bearing 211, and is connected to the first coupling 205 on the outside of the C-shaped frame 201. The second reducer 206 is mounted on the outside of the first coupling 205 and is used in conjunction with the first pneumatic motor 207. The second synchronous pulley 203 is mounted on the first main transmission shaft 202 and is used in conjunction with the third synchronous pulley 208 through the second synchronous belt 204. The third bearing seat 209 and the first driven shaft 210 are used to support and adjust the third synchronous pulley 208. The second synchronous belt 204 is connected in series through the first main transmission shaft 202, and transmission is achieved through the first pneumatic motor 207 and the second reducer 206. The second synchronous belt 204 is used to transport the turnover pallet 5, and the first pneumatic motor 207 is controlled by the controller.

[0046] In this embodiment, the multi-layer pallet storage mechanism 3 includes a passive side base plate 301, a transmission side base plate 302, a second coupling 303, a third reducer 304, a second pneumatic motor 305, a second driven shaft 306, a fourth bearing seat 307, a fourth synchronous pulley 308, a third synchronous belt 309, a fifth synchronous pulley 310 and a second main transmission shaft 311. The transmission side base plate 302 and the passive side base plate 301 are mounted on the main frame 4, and the second main transmission shaft 311 is mounted inside the fourth bearing seat 307 and connected to the second coupling 303 on the outside of the transmission side base plate 302. The third reducer 304 is mounted on the outside of the second coupling 303 and is used in conjunction with the second pneumatic motor 305. The fifth synchronous pulley 310 is mounted on the second main transmission shaft 311 and is used in conjunction with the fourth synchronous pulley 308 through the third synchronous belt 309. The fourth bearing seat 307 and the second driven shaft 306 are respectively mounted on the transmission side substrate 302 and the passive side substrate 301, and the second pneumatic motor 305 is controlled by the controller. The fourth bearing seat 307 and the second driven shaft 306 are used to support and adjust the fourth synchronous pulley 308, and the third synchronous belt 309 is connected in series through the second main transmission shaft 311. The second main transmission shaft 311 is driven by the second pneumatic motor 305 and the third reducer 304, and the third synchronous belt 309 is used to transport the turnover pallet 5.

[0047] In this embodiment, the second synchronous belt 204 and the third synchronous belt 309 are each located on the inner side of the upper belt body and are installed with a support member to prevent them from deforming when under pressure. The upper end of the support member is provided with a support plane that abuts against the inner side of the upper belt body.

[0048] This embodiment also provides an automatic multi-layer stereoscopic warehouse tallying method, comprising the following steps:

[0049] 1) The lifting mechanisms 1 on both sides of the main frame 4 are reset and controlled. One of the two lifting mechanisms 1 is set to be lifted for incoming goods, and the other is set to be lifted for outgoing goods. The lifting mechanism 1 drives the conveying mechanism back to the top initial position. At this time, the controller will detect whether there is a turnover pallet 5 at the initial position. If there is no pallet, the controller will detect whether there is a turnover pallet 5 in the bottom empty tray area of ​​the multi-layer pallet storage mechanism 3. If there is a pallet, the lifting mechanism 1 will descend to the bottom layer, drive the conveying mechanism 2 to take back the turnover pallet 5, and then return to the top initial position, waiting for the next instruction of the controller to perform the next action;

[0050] 2) When the controller detects that the turnover pallet 5 at the initial position has completed loading, it will automatically determine which layer of the multi-layer pallet storage mechanism 3 has a vacant space, and then the lifting mechanism 1 drives the conveying mechanism 2 to rise and fall to this layer, completing the conveyance of the turnover pallet 5 to the designated pallet storage area, and the equipment waits for the next process to be executed;

[0051] 3) When the controller detects that there is no turnover pallet 5 inside the delivery lifting mechanism 1, the multi-layer pallet storage mechanism 3 automatically determines which layer of storage area is used for pallet output, and the delivery lifting mechanism drives the conveying mechanism to lift to this layer, and completes the conveying of the turnover pallet to the initial position of the delivery lifting mechanism. After the delivery action is completed and the detection is successful, the equipment waits for the next process to be executed;

[0052] 4) When the controller detects that the goods on the turnover pallet 5 in the shipping lifting mechanism 1 have been taken out, and there is a vacant space in the empty pallet storage layer of the multi-layer pallet storage mechanism 3, the controller will control the shipping lifting mechanism 1 to drive the conveying mechanism 2 to descend to the empty pallet storage layer of the multi-layer pallet storage mechanism 3, and the equipment will wait for the next process to be executed. The pallet and its parts will maintain their initial position, waiting for the next round of work to start.

[0053] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic multi-layer stereoscopic warehouse tallying equipment, characterized in that: The equipment includes: A main frame, the main frame serving as a carrier; Lifting mechanisms, there are two lifting mechanisms and they are symmetrically installed on both sides of the main frame; Conveying mechanisms, there are two conveying mechanisms installed on the lifting platforms of the corresponding lifting mechanisms; A multi-layer pallet storage mechanism, which is installed on the main frame and located between the two lifting mechanisms; A controller, wherein the controller is respectively connected to the power units in the lifting mechanism, the conveying mechanism, and the multi-layer pallet storage mechanism; The lifting mechanism includes a base plate, a motor, a first reducer, a power mounting plate, a first synchronous pulley, a first synchronous belt, a linear guide, a linear slider, a first bearing seat, a transmission screw, a wire block, a fixed connection seat, a lifting platform and a second bearing seat. The power mounting plate is installed above the base plate, the first reducer is installed below the power mounting plate, the motor is installed below the first reducer, the first synchronous belt and the first synchronous pulley are installed above the power mounting plate and are used in conjunction with each other inside and outside, the linear guide and the linear slider are installed on the base plate and are used in conjunction with each other, the first bearing seat and the second bearing seat are installed on both sides of the base plate, the transmission screw is installed between the first bearing seat and the second bearing seat, a wire block meshing with the transmission screw is installed on the transmission screw, the fixed connection seat is installed on the outside of the wire block, and a lifting platform is fixedly installed on the fixed connection seat; The motor drives the first synchronous pulley to move after the speed is changed by the first reducer, the first synchronous pulley drives the first synchronous belt to rotate, and then drives the transmission screw to rotate, the transmission screw drives the wire block to rise and fall, thereby driving the lifting platform to rise and fall, and the motor is controlled by the controller; The conveying mechanism includes a C-shaped frame, a first main transmission shaft, a second synchronous pulley, a second synchronous belt, a first coupling, a second reducer, a first pneumatic motor, a third synchronous pulley, a third bearing seat, a first driven shaft and a third bearing, wherein the third bearing and the first driven shaft are mounted on the C-shaped frame, the first main transmission shaft is mounted inside the third bearing and connected to the first coupling on the outside of the C-shaped frame, the second reducer is mounted on the outside of the first coupling and used in conjunction with the first pneumatic motor, the second synchronous pulley is mounted on the first main transmission shaft and used in conjunction with the third synchronous pulley through the second synchronous belt; The third bearing seat and the first driven shaft are used to support and adjust the third synchronous belt pulley, the second synchronous belt is connected in series through the first main transmission shaft, and the transmission is realized through the first pneumatic motor and the second reducer, the second synchronous belt is used to transport the turnover pallet, and the first pneumatic motor is controlled by the controller; The multi-layer pallet storage mechanism includes a passive side base plate, a transmission side base plate, a second coupling, a third reducer, a second pneumatic motor, a second driven shaft, a fourth bearing seat, a fourth synchronous pulley, a third synchronous belt, a fifth synchronous pulley and a second main transmission shaft. The transmission side base plate and the passive side base plate are mounted on the main frame, the second main transmission shaft is mounted inside the fourth bearing seat and connected to the second coupling on the outside of the transmission side base plate, the third reducer is mounted on the outside of the second coupling and used in conjunction with the second pneumatic motor, the fifth synchronous pulley is mounted on the second main transmission shaft and used in conjunction with the fourth synchronous pulley through the third synchronous belt, the fourth bearing seat and the second driven shaft are respectively mounted on the transmission side base plate and the passive side base plate, and the second pneumatic motor is controlled by the controller; The fourth bearing seat and the second driven shaft are used to support and adjust the fourth synchronous belt pulley, the third synchronous belt is connected in series through the second main transmission shaft, the second main transmission shaft is driven by the second pneumatic motor and the third reducer, and the third synchronous belt is used to transport the turnover pallet; The second synchronous belt and the third synchronous belt are each located on the inner side of the upper belt body and are provided with a support member to prevent them from deforming when under pressure, and the upper end of the support member is provided with a support plane that abuts against the inner side of the upper belt body; The device also includes a sensor for detecting whether there is a turnover pallet at a designated position of the lifting mechanism, the conveying mechanism, and the multi-layer pallet storage mechanism.

2. An automatic multi-layer stereoscopic warehouse tallying method, implemented based on the automatic multi-layer stereoscopic warehouse tallying device according to claim 1, characterized in that: The method comprises the following steps: 1) The lifting mechanisms on both sides of the main frame are reset and controlled. One of the two lifting mechanisms is set to be lifted for incoming goods, and the other is set to be lifted for outgoing goods. The lifting mechanism drives the conveying mechanism back to the top initial position. At this time, the controller will detect whether there is a turnover pallet at the initial position. If there is no pallet, the controller will detect whether there is a turnover pallet in the bottom empty pallet area of ​​the multi-layer pallet storage mechanism. If there is a pallet, the lifting mechanism will descend to the bottom layer, drive the conveying mechanism to take back the turnover pallet, and then return to the top initial position, waiting for the next instruction from the controller to perform the next action; 2) When the controller detects that the turnover pallet in the initial position has been loaded, it will automatically determine which layer of the multi-layer pallet storage mechanism has a vacant space, and then the lifting mechanism drives the conveying mechanism to lift to this layer, completing the conveying of the turnover pallet to the designated pallet storage area, and the equipment waits for the next process; 3) When the controller detects that there is no turnover pallet inside the shipping lifting mechanism, the multi-layer pallet storage mechanism automatically determines which layer of storage area to output the pallet, and the shipping lifting mechanism drives the conveying mechanism to rise and fall to this layer, and completes the conveying of the turnover pallet to the initial position of the shipping lifting mechanism. After the shipping action is completed and the detection is successful, the equipment waits for the next process to be executed; 4) When the controller detects that the goods on the turnover pallet in the shipping lifting mechanism have been taken out, and there is vacant space in the empty pallet storage layer of the multi-layer pallet storage mechanism, the controller will control the shipping lifting mechanism to drive the conveying mechanism to descend to the empty pallet storage layer of the multi-layer pallet storage mechanism. The equipment waits to execute the next process, and the pallet and its parts remain in the initial position, waiting for the next round of work to start.

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