An automatic warehouse system for cold storage

Abstract

The present application relates to a kind of cold storage automated warehousing system, including box, box conveying system, flexible conveying system, visual identification station, automated stereoscopic warehouse, WMS system and WCS system, WMS system receives the task information issued by operator, processes and issues instruction to WCS system, after WCS system receives WMS instruction, instruction is issued to automated stereoscopic warehouse control system, box conveying control system and flexible conveying control system, for instruction execution, after instruction execution is completed, WMS completes task feedback information.This application closely integrates WMS system, WCS system and the leading automated logistics equipment and warehousing equipment in various industries, uses robot to carry box, packing, and stacker carries out the storage and retrieval operation of box on shelf, realizes the full automation of crop resources, warehousing, storage management, so that the whole crop resource long-term storage realizes unmanned.

Description

TECHNICAL FIELD

[0001] The present application relates to an automated warehouse logistics system, in particular to a cold storage automated warehouse system. BACKGROUND

[0002] At present, the facilities of domestic crop resource long-term storage library are backward, and the informatization and intelligentization level is low. The existing crop resource long-term storage library uses traditional fixed shelves as storage shelves. When the operating personnel access the high layer crop resources, they need to use a ladder to complete the work. The storage temperature in the library is lower than-18 DEG C, and the personnel cannot work in the low temperature environment for a long time, which leads to low work efficiency and potential safety hazards. At the same time, the operating personnel need to frequently enter and exit the library area when working, which seriously affects the constant temperature and humidity storage conditions in the library, and is not conducive to the long-term storage of crop resources. Since the crop resources need to be manually transported, the fixed shelves with high height are not suitable, which leads to less effective capacity, and it is difficult to meet the actual work requirements. SUMMARY

[0003] The purpose of the present application is to solve the above problems existing in the existing crop resource long-term storage library, and to provide a cold storage automated warehouse system which uses modern and intelligent equipment to replace manual operation, and can timely, accurately and efficiently complete the crop resource storage and access work.

[0004] In order to achieve the above purpose, the present application realizes the technical scheme as follows:

[0005] A cold storage automated warehouse system, comprising a material box, a material box conveying system, a flexible conveying system, a visual identification station, an automated stereoscopic warehouse, a WMS system and a WCS system,

[0006] The material box is a conveying object, and the size of the material box is matched with the size of the single crop resource storage medium;

[0007] The bin conveying system is used for bin conveying, comprising a carrying robot, a warehouse-in station, a warehouse-out station, a jacking and translating machine, a chain type drum conveyor and a movable drum conveyor. The carrying robot is used to realize automatic online warehousing, automatic offline warehousing, automatic stacking and unstacking of the bins of the warehouse-in station and the warehouse-out station. The robot gripper of the carrying robot is provided with a bin detection device, which is used to adjust the grabbing posture of the carrying robot by detecting the placement angle of the bin each time the bin is grabbed. The jacking and translating machine is arranged at each conveying corner turning place and is used to convey the bin to the device. The chain mechanism in the drum gap jacks up the bin to lift it off the original drum conveying surface, and then the chain mechanism is started to realize 90° right-angle turning conveying of the bin. The chain type drum conveyor is used to realize straight line conveying of the bin. Guide strips are arranged on both sides of the chain type drum conveyor according to the size of the conveying bin, which are used to correct the possible skew of the bin in the conveying process. The movable drum conveyor is arranged below the warehouse door of each warehouse area and is used to realize linkage conveying of the flexible conveying system and the warehouse doors of each area.

[0008] The flexible conveying system is used for conveying single-portion crop resources and comprises an automatic sorting platform, a spider hand robot station, a flexible chain plate bottle clamping conveyor, a flexible chain plate conveyor and a movable belt conveyor. The automatic sorting platform is divided into an auxiliary feeding line and a feeding line. The auxiliary feeding line is driven by a synchronous belt to assist the material to enter the feeding line. The feeding line is driven by a belt. The feeding port is provided with a kicking mechanism, which can kick out the crop resources on the feeding line and then convey them one by one. The flexible chain plate bottle clamping conveyor is provided with a side guide device and a protection device, which are used to realize lifting conveying of the crop resources. The flexible chain plate conveyor is used to realize straight line conveying and curved conveying of the single-portion crop resources and is provided with a side guide protection device and a positioning device. The movable belt conveyor is arranged below the warehouse door of each warehouse area and is linked with the opening and closing of the warehouse door to realize linkage conveying of the flexible conveying system and the warehouse doors of each area. The spider hand robot station is provided with a boxing station and an unpacking station. The spider hand robot is used to unpack the single-portion crop resources in the bin at the unpacking station and pack them into the bin at the boxing station. A bin clamping mechanism is arranged at the boxing station and the unpacking station to fix the bin at each station.

[0009] The visual recognition station is arranged at the intersection of the bin conveying system and the flexible conveying system and is used to recognize the bin code of the passing bin and the barcode information of the crop resources in the bin, bind the crop resource information with the position information in the bin, and check the barcode information of the crop resources in the bin.

[0010] The WMS system receives task information issued by an operator, processes and issues instructions to the WCS system, the WCS system receives the WMS instructions, and issues instructions to the automated warehouse control system, the box conveying control system and the flexible conveying control system for instruction execution, and the WMS feeds back the task completion information after the instruction execution is completed.

[0011] Further, a plurality of compartments are arranged in each box according to the size of the crop resource storage medium, the side wall of the box is in a hollow structure, and the bottom is a closed stackable structure; a barcode groove is symmetrically arranged on both sides of the box for pasting a box barcode.

[0012] Further, the flexible conveying system is provided with a flexible chain plate bottle clamping conveyor behind the automatic sorting platform when there is a height difference in the conveying surface.

[0013] Further, the spider robot is provided with a drop prevention device at the clamping jaw according to the storage medium of the single-portion crop resource, so as to ensure the reliability and stability of each grabbing.

[0014] Further, the automated warehouse comprises a shelf, a stacker and a related control component, wherein the shelf is used for storing the box in the high-layer storage area, and the stacker and the related control component are used for completing the storage and automatic access of the crop resource box in the low-temperature cold storage area.

[0015] The beneficial effects of the present application are:

[0016] 1. The WMS system, the WCS system and the leading automated logistics equipment and warehouse equipment in each industry are closely integrated, the robot is used for carrying and boxing the box, and the stacker is used for storing and accessing the box on the shelf, so that the full-automatic unloading, loading, storage and management of the crop resource are realized, and the entire crop resource long-term storage warehouse is unmanned;

[0017] 2. The loading and unloading task amount of the crop resource can reach 1500 boxes per day (8h), and the work efficiency is greatly improved;

[0018] 3. The robot and the stacker replace the manual operation of frequently entering and leaving the low-temperature warehouse area, and the visual identification replaces the manual checking of the crop resource information, so that the labor intensity of the operator is significantly reduced, the storage environment of the warehouse area is more conducive to maintaining constant temperature and humidity, and the safety of the crop resource storage is improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a planar layout diagram of the cold storage automated warehouse system in the embodiment of the present application;

[0020] Figure 2 It is a box structure schematic diagram in the embodiment of the present application;

[0021] Figure 3 Structure diagram of the jacking and translating machine in the embodiment of the present application;

[0022] Figure 4 Structure diagram of the chain type roller conveyor in the embodiment of the present application;

[0023] Figure 5 Structure diagram of the mobile roller conveyor in the embodiment of the present application;

[0024] Figure 6 Structure diagram of the automatic cargo handling platform in the embodiment of the present application;

[0025] Figure 7 Structure diagram of the flexible chain plate conveyor in the embodiment of the present application;

[0026] Figure 8 Structure diagram of the mobile belt conveyor in the embodiment of the present application;

[0027] Figure 9 Structure diagram of the spider mobile robot station in the embodiment of the present application.

[0028] In the figure: a-warehousing station; b-warehousing-out station; c-vision recognition station; d-reinspection station; e-spider mobile robot station; 1-transport robot; 2-chain type roller conveyor I; 3-mobile roller conveyor I; 4-jacking and translating machine I; 5-jacking and translating machine II; 6-chain type roller conveyor II; 7-jacking and translating machine III; 8-jacking and translating machine IV; 9-mobile roller conveyor II; 10-chain type roller conveyor III; 11-flexible chain plate conveyor; 12-mobile belt conveyor; 13-flexible chain plate bottle clamping conveyor; 14-automatic cargo handling platform; 15-chain type roller conveyor IV; 16-mobile roller conveyor III; 17-chain type roller conveyor V; 18-jacking and translating machine V; 19-chain type roller conveyor VI; 20-mobile roller conveyor IV; 21-chain type roller conveyor VII; 22-stacking machine; 23-shelf; 301-chain mechanism; 401-guide strip; 501-linear guide rail; 601-feeding line; 602-feeding line; 603-kicking mechanism; 701-side direction protection device; 702-seed bottle positioning device; 801-linear guide rail; 901-box loading station; 902-box unloading station; 903-spider mobile robot; 904-box clamping mechanism. DETAILED DESCRIPTION

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

[0030] As Figures 1 to 9The system, shown here, can meet the needs of both centralized packaging, transportation, and storage of multiple crops, as well as individual transportation and storage of individual crops, according to different usage requirements. It primarily includes bins (customizable based on usage requirements), a bin conveying system, a flexible conveying system, visual recognition stations, an automated high-bay warehouse, a WMS (Warehouse Management System), and a WCS (Warehouse Scheduling System).

[0031] The material box is the conveying object of this system and is customized according to the external dimensions of a single crop resource storage medium. Each material box is equipped with several compartments according to the size of the crop resource storage medium to ensure that the position of the crop resources in the material box does not change during transportation; the side walls of the material box are designed as a hollow structure, and the bottom is a closed stackable structure; barcode slots are designed symmetrically on both sides of the material box for sticking the material box barcode.

[0032] The material box conveying system is used for material box conveying, and mainly includes a handling robot, a storage station, a retrieval station, a lifting and translation machine, a chain roller conveyor, and a mobile roller conveyor.

[0033] The handling robot is used to automatically load and unload containers from the inbound and outbound stations, as well as automatically stack and depalletize them. The robot's gripper is equipped with a container detection device. This device adjusts the robot's gripping posture based on the container's placement angle each time it grasps a container, ensuring reliable handling.

[0034] If necessary, the warehousing and outbound stations can be configured with three modes that can be switched freely according to the actual warehousing and outbound usage requirements: double outbound station mode, double inbound station mode and one outbound and one inbound station mode to meet the needs of different production rhythms.

[0035] A lifting and translating machine is installed at each conveying corner. When the material box is conveyed to the equipment, the chain mechanism located in the gap between the rollers lifts the material box off the original roller conveying surface, and then the chain mechanism starts to realize the 90° right-angle turn of the material box.

[0036] The chain roller conveyor is used to realize the linear conveyance of the material box. Guide bars are arranged on both sides of the chain roller conveyor according to the size of the conveyed material box to correct the skew of the material box that may occur during the conveying process.

[0037] A movable roller conveyor is arranged below the door of each cold storage area. When the material box is conveyed to the door, the door is lifted and opened. The movable roller conveyor moves to the position below the door through the linear guide at the bottom to connect the chain roller conveyor behind. When the material box passes through, the movable roller conveyor returns to the original position, and the door can be closed. The movable roller conveyor can overcome the conveying gap caused by the thickness of the door, and is linked with the opening and closing of the door to realize the linkage conveying of the material box conveying system and the cold storage door of each area, so that the energy saving and cold preservation effect is achieved.

[0038] The flexible conveying system is used for conveying single crop resources, and mainly includes an automatic sorting platform, a spider mobile robot work station, a flexible chain plate bottle clamping conveyor, a flexible chain plate conveyor and a movable belt conveyor.

[0039] The automatic sorting platform is divided into an auxiliary feeding line and a feeding line. The auxiliary feeding line is driven by a synchronous belt to assist the material to enter the feeding line. The feeding line is driven by a belt, and the feeding port is provided with a kicking mechanism to kick out the crop resources on the feeding line and convey them one by one.

[0040] If there is a height difference in the conveying surface, a flexible chain plate bottle clamping conveyor can be arranged. The flexible chain plate bottle clamping conveyor is provided with a side guide device and a protection device to realize the lifting conveying of the crop resources.

[0041] The flexible chain plate conveyor is used to realize the straight line conveying and curved conveying of single crop resources, and is provided with a side guide protection device and a positioning device.

[0042] A movable belt conveyor is arranged below the door of each cold storage area. When the single crop resource is conveyed to the door, the door is lifted and opened. The movable belt conveyor moves to the position below the door through the linear guide at the bottom to connect the flexible chain plate conveyor behind. When the crop resource passes through, the movable belt conveyor returns to the original position, and the door can be closed. The movable belt conveyor can overcome the conveying gap caused by the thickness of the door, and is linked with the opening and closing of the door to realize the linkage conveying of the flexible conveying system and the cold storage door of each area, so that the energy saving and cold preservation effect is achieved.

[0043] The spider mobile robot work station is provided with a boxing station and an unpacking station. The spider mobile robot can unpack the single crop resources in the material box at the unpacking station and pack them into the material box at the boxing station. A material box clamping mechanism is arranged at the boxing station and the unpacking station to fix the material box at each station. A drop prevention device is arranged at the gripper of the spider mobile robot according to the storage medium of the single crop resources to ensure the reliability and stability of each grabbing.

[0044] The visual identification station is arranged at the intersection of the box conveying system and the flexible conveying system, and when the box entering through the box conveying system or the box completed by the flexible conveying system is ready to enter the automated stereoscopic warehouse, the visual identification station identifies the box code of the passing box and the barcode information of the crop resources in the box, and binds the crop resource information with the position information in the box. At the same time, the barcode information of the crop resources in the box is checked, and when missing barcode, barcode error and the like are found, an alarm information is sent to the management system, and the box is moved out to the re-inspection station, waiting for manual inspection and confirmation.

[0045] The automated stereoscopic warehouse mainly includes shelves, stackers and related control components, wherein the shelves are main equipment for storing boxes in the high-level storage area, have sufficient strength, rigidity and overall stability, and high dimensional accuracy. The stacker and the related control component are used to complete the storage and automatic access of the crop resource box in the low-temperature cold storage area.

[0046] The main architecture of the system is that the operator issues a task to the WMS system, the WMS system analyzes and calculates, issues an instruction to the WCS system, the WCS system receives the WMS instruction, and the WCS issues an instruction to the automated stereoscopic warehouse control system, the box conveying control system and the flexible conveying control system for instruction execution, and after the instruction execution is completed, the WMS feeds back the task completion information.

[0047] Embodiment:

[0048] As shown in Figure 1 , the present application provides a cold storage automated warehousing system, which mainly includes a box, a box conveying system, a flexible conveying system, a visual identification station, an automated stereoscopic warehouse, a WMS system (warehouse management system) and a WCS system (warehouse scheduling system).

[0049] In this embodiment, the single crop resource storage medium is a plastic square bottle, hereinafter referred to as "seed bottle".

[0050] The box structure is as shown in Figure 2 , which is customized according to the size of the seed bottle, and several compartments are arranged in each box according to the size of the seed bottle to ensure that the position of the seed bottle in the box does not change during transportation; the side wall of the box is designed as a hollow structure, and the bottom is a closed stackable structure; the two sides of the box are symmetrically designed with barcode grooves for pasting box barcodes.

[0051] The box conveying system is used for conveying the box, and mainly includes a handling robot, an entry station, an exit station, a jacking and translating machine, a chain type roller conveyor and a movable roller conveyor.

[0052] As shown in Figure 1As shown in the middle, the transfer robot 1 is used to realize the functions of automatic online warehousing, automatic offline delivery, automatic stacking, unstacking and so on of the boxes stacked in the warehouse entry station a and the warehouse exit station b. The robot gripper of the transfer robot 1 is provided with a box detection device, which can adjust the grabbing posture of the transfer robot by detecting the placement angle of the box during each grabbing of the box, to ensure the reliability of each grabbing.

[0053] If necessary, the warehouse entry station a and the warehouse exit station b can also be configured with three modes according to the actual use requirements of the delivery and warehousing, that is, the double-delivery station mode, the double-warehousing station mode and the one-delivery one-warehousing station mode, to meet the needs of different production rhythms.

[0054] The jacking and translating machine one 4, the jacking and translating machine two 5, the jacking and translating machine three 7, the jacking and translating machine four 8 and the jacking and translating machine five 18 are respectively arranged at each conveying corner turning place. The structure is as shown in Figure 3 When the box is conveyed to the device, the chain mechanism 301 in the drum gap jacks up to lift the box away from the original drum conveying surface, and then the chain mechanism starts to run to realize the 90° right-angle turning conveying of the box.

[0055] The chain type drum conveyor one 2, the chain type drum conveyor two 6, the chain type drum conveyor three 10, the chain type drum conveyor four 15, the chain type drum conveyor five 17, the chain type drum conveyor six 19 and the chain type drum conveyor seven 21 are used to realize the straight line conveying of the box, and the structure is as shown in Figure 4 As shown in the figure, guide strips 401 are arranged on both sides of the chain type drum conveyor according to the size of the conveying box to correct the possible skew of the box in the conveying process.

[0056] The movable drum conveyor one 3, the movable drum conveyor two 9, the movable drum conveyor three 16 and the movable drum conveyor four 20 are arranged below the door of each warehouse area, and the structure is as shown in Figure 5 When the box is conveyed to the door, the door is lifted and opened, the movable drum conveyor moves to the lower part of the door through the linear guide rail 501 to connect the chain type drum conveyor behind, and when the box passes through, the movable drum conveyor returns to the original position, and the door can be closed. Through the movable drum conveyor, the conveying gap caused by the thickness of the door can be overcome, and the movable drum conveyor is linked with the opening and closing of the door to realize the linkage conveying of the box conveying system and the doors of each area cold storage, so as to achieve the effect of energy saving and cold preservation.

[0057] The flexible conveying system is used for the conveying of seed bottles, mainly including an automatic cargo handling platform, a spider mobile robot station, a flexible chain plate bottle conveying machine, a flexible chain plate conveying machine and a movable belt conveyor.

[0058] The automatic cargo handling platform 14 is composed of two parts, that is, the feeding line 601 and the loading line 602, as shown inFigure 6 The auxiliary feeding line is driven by a synchronous belt, and the auxiliary materials enter the feeding line; the feeding line is also driven by a belt, and the feeding port is equipped with a kicking mechanism 603, which can kick out the seed bottles on the feeding line and transport them one by one.

[0059] In this embodiment, the flexible conveying system has a height difference of the conveying surface, so a flexible chain plate bottle clamping conveyor 13 is provided behind the automatic tallying platform 14. The flexible chain plate bottle clamping conveyor is equipped with a side guide device and a protective device for realizing the lifting and conveying of the seed bottles.

[0060] The flexible chain conveyor 11 is used to realize the straight line conveyance and the curved conveyance of the seed bottles. Figure 7 As shown, it is equipped with a side guide protection device 701 and a seed bottle positioning device 702.

[0061] A mobile belt conveyor 12 is provided below the door of each storage area. Figure 8 As shown, when the seed bottle is transported to the warehouse door, the warehouse door is lifted and opened, and the mobile belt conveyor 12 moves to the bottom of the warehouse door through the linear guide 801 at the bottom to connect with the flexible chain plate conveyor 11 behind it. When the seed bottle passes, the mobile belt conveyor 12 returns to its original position and the warehouse door can be closed. The mobile belt conveyor 12 can overcome the conveying gap caused by the thickness of the warehouse door and is linked with the opening and closing of the warehouse door to realize the linkage conveying of the flexible conveying system and the cold storage doors in each area, thereby achieving the effect of energy saving and cold preservation.

[0062] The spider robot station e is provided with a packing station 901 and an unpacking station 902. Figure 9 As shown, a spider-hand robot 903 removes seed bottles from a bin at unpacking station 902 and loads them into a bin at packing station 901. Bin clamping mechanisms 904 are also provided at packing station 901 and unpacking station 902 to secure the bins at each station. The spider-hand robot's gripper is designed with a drop-proof device for the seed bottles, ensuring reliable and stable gripping.

[0063] Visual recognition station c is located at the intersection of the bin conveyor system and the flexible conveyor system. When a bin enters the automated warehouse through the bin conveyor system or is packed by the flexible conveyor system, it identifies the bin barcode and the barcode information of the crop resources inside the bin, and binds the crop resource information to the location information within the bin. It also verifies the barcode information of the crop resources inside the bin. If a missing barcode or an incorrect barcode is found, an alarm is issued to the management system and the bin is moved to re-inspection station d for manual inspection and confirmation.

[0064] The automated stereoscopic warehouse mainly comprises a shelf 23, a stacking machine 22 and related control components, wherein the shelf 23 is a main equipment for storing the box in the high-layer storage area, has sufficient strength, rigidity and overall stability, and high dimensional accuracy. The stacking machine 22 and related control components are used for completing the box storage and automatic storage and taking operation of crop resources in the low-temperature cold storage area.

[0065] The working process of the present application is described as follows:

[0066] (1) Box storage

[0067] The box stacked in the storage position a is grabbed by the handling robot 1 and placed on the storage end chain type drum conveyor 2, the chain type drum conveyor 2 and the movable drum conveyor 3 are started at the same time to convey the box to the movable drum conveyor 3, at this time the door is lifted and opened, the movable drum conveyor 3 moves to the lower part of the door through the linear guide rail 501, the rear chain type drum conveyor 6 is started to convey the box to the chain type drum conveyor 6, the movable drum conveyor 3 returns to the original position, the door is lowered and closed, the box is conveyed to the visual identification position c by the chain type drum conveyor 6, the visual identification position c identifies the box code of the box and the code information of the seed bottle in the box and binds the seed bottle information with the position information in the box, the box is continuously conveyed to the jacking and translating machine 7 by the chain type drum conveyor 6, the chain mechanism 301 at the bottom of the jacking and translating machine 7 lifts the box to lift off the original drum conveying surface, then the chain mechanism is started to run to convey the box at a right angle of 90° to the movable drum conveyor 9, the door is lifted and opened, the movable drum conveyor 9 moves to the lower part of the door through the linear guide rail 501, the rear chain type drum conveyor 10 is started to convey the box to the chain type drum conveyor 10, the movable drum conveyor 9 returns to the original position, the door is lowered and closed, after the box reaches the chain type drum conveyor 10, the WCS system allocates the position to the box according to the position in the warehouse and dispatches the stacking machine 22 to store and take the box on the chain type drum conveyor 10 to the shelf 23, the WMS system feeds back information to the management system, and the box storage is completed.

[0068] (2) Box storage

[0069] After the WMS system receives the bin out-of-warehouse task, the production bin out-of-warehouse list is generated, the WCS system schedules the stacker crane 22 to take the bin from the shelf 23 and place it on the chain roller conveyor 21, the warehouse door is lifted to open, the movable roller conveyor 20 moves to the lower part of the linear guide rail 501 to the lower part of the warehouse door, the bin is sent to the movable roller conveyor 20, the movable roller conveyor 20 returns to the original position, the warehouse door is lowered to close, the chain mechanism 301 at the bottom of the jacking and translating machine 8 is started to lift, the bin is transported to the chain roller conveyor 19 through the chain mechanism 301, the jacking and translating machine 18 at the end of the chain roller conveyor 17 is started to lift, the bin is connected to the chain mechanism 301, the chain mechanism 301 is lowered to drop the bin onto the chain roller conveyor 17, then the chain roller conveyor 17 is started to run to turn the bin by 90° to the warehouse door, the warehouse door is lifted to open, the movable chain conveyor 16 moves to the lower part of the linear guide rail 501 to the lower part of the warehouse door, the bin is sent to the movable roller conveyor 16, the movable roller conveyor 16 returns to the original position, the warehouse door is lowered to close, the bin is sent to the chain roller conveyor 15 at the out-of-warehouse end, then the bin is grabbed by the transfer robot 1 and stacked on the out-of-warehouse station b, and the bin out-of-warehouse is completed.

[0070] (3) Seed bottle into the warehouse

[0071] The operator places the seed bottle on the automatic sorting platform 14, and the seed bottle is arranged and discharged through the auxiliary feeding line 601 and the feeding line 602. When passing through the feeding port, the seed bottle is kicked out one by one by the kicking mechanism 603 to the flexible chain plate bottle conveying machine 13, and is conveyed to the movable belt conveyor 12 through the flexible chain plate bottle conveying machine 13. At this time, the warehouse door is lifted and opened, and the movable belt conveyor 12 moves to the position below the warehouse door through the linear guide rail 801 at the bottom, and is connected to the flexible chain plate conveying machine 11 behind. The seed bottle is conveyed to the positioning device 702 of the flexible chain plate conveying machine 11, and at the same time, the WCS system calls an empty box from the warehouse to the boxing station 901, and the box clamping mechanism 904 starts to clamp the empty box. After the empty box is positioned, the spider robot 903 grabs the seed bottle at the positioning device 702 and puts it into the empty box at the boxing station 901. After the boxing task is completed, the jacking and translation machine 5 is started to lift the box to the chain structure 301, and the chain mechanism 301 is lowered to put the box on the chain type drum conveyor 6. The box is conveyed to the visual identification station c on the chain type drum conveyor 6, and the visual identification station c identifies the box code of the box and the bar code information of the seed bottle in the box, and binds the seed bottle information with the position information in the box. The box continues to be conveyed to the jacking and translation machine 7 by the chain type drum conveyor 6, and the chain mechanism 301 at the bottom of the jacking and translation machine 7 lifts the box to lift off the original drum conveying surface. Then the chain mechanism starts to run and turns the box by 90° to the movable drum conveyor 9. The warehouse door is lifted and opened, and the movable drum conveyor 9 moves to the position below the warehouse door through the linear guide rail 501 at the bottom. The chain type drum conveyor 10 behind is started to convey the box to the chain type drum conveyor 10. The movable drum conveyor 9 returns to the original position, the warehouse door is lowered and closed, and the box reaches the chain type drum conveyor 10. The WCS system allocates a position to the box according to the position of the box in the warehouse, and dispatches the stacker crane 22 to store the box on the chain type drum conveyor 10 on the shelf 23. The WMS system feeds back information to the management system, and the seed bottle is stored in the warehouse.

[0072] (4) Seed bottle out of the warehouse

[0073] After the WMS system receives the seed bottle outbound task, it confirms the location of the seed bottle's magazine, and the WCS system dispatches the stacker crane 22 to take the magazine from the rack 23 and place it on the chain roller conveyor 21. The door is raised, the movable roller conveyor 20 moves to the bottom of the door through the linear guide 501, the magazine is sent to the movable roller conveyor 20, the movable roller conveyor 20 returns to the original position, the door is lowered and closed, the chain mechanism 301 at the bottom of the jacking and translating machine 8 is activated to lift the magazine onto the chain structure 301, the chain mechanism 301 is lowered to drop the magazine onto the chain roller conveyor 6, and the magazine is transported to the jacking and translating machine 4 through the chain roller conveyor 6. The jacking and translating machine 4 is activated to lift the magazine onto the chain structure 301, the chain mechanism 301 is lowered to drop the magazine at the magazine unloading station 902, the magazine clamping mechanism 904 is activated to clamp and position the magazine. After the magazine is in place, the spider robot 903 picks up the seed bottle to be unloaded from the magazine and places it on the positioning device 702. At this time, the door is raised, the movable belt conveyor 12 moves to the bottom of the door through the linear guide 801 to connect the flexible chain plate conveyor 11, the flexible chain plate conveyor 11 is activated to convey the seed bottle to the movable belt conveyor 12, the movable belt conveyor 12 returns to the original position, the door is closed, and then the seed bottle is conveyed to the automatic sorting platform 14 through the flexible chain plate bottle conveying machine 13. The seed bottle is unloaded.

Claims

1. A cold storage automated warehousing system, characterized by: Including material boxes, material box conveying systems, flexible conveying systems, visual recognition stations, automated warehouses, WMS systems and WCS systems, The material box is a conveying object and is adapted to the external dimensions of a single crop resource storage medium; each material box is provided with a number of compartments according to the size of the crop resource storage medium, the side walls of the material box adopt a hollow structure, and the bottom is a closed stackable structure; barcode slots are symmetrically provided on both sides of the material box for affixing the material box barcode; The material box conveying system is used for material box conveying, and includes a handling robot, a storage station, a storage station, a lifting and translating machine, a chain roller conveyor, and a mobile roller conveyor. The handling robot is used to realize automatic online storage, automatic offline storage, automatic palletizing, and depalletizing of the material boxes at the storage station and the storage station. The robot gripper of the handling robot is provided with a material box detection device, which is used to adjust the grasping posture of the handling robot by detecting the placement angle of the material box each time the material box is grasped; the lifting and translating machine is arranged at each conveying corner turning The chain mechanism located in the gap between the rollers lifts the material box off the original roller conveying surface, and then the chain mechanism starts to realize the 90° right-angle turn of the material box; the chain roller conveyor is used to realize the straight-line conveying of the material box. Guide strips are arranged on both sides of the chain roller conveyor according to the size of the conveying material box to correct the skew of the material box during the conveying process; the mobile roller conveyor is arranged under the door of each storage area to realize the linkage conveying of the material box conveying system and the cold storage door of each area; The flexible conveying system is used to transport single-portion crop resources, including an automatic tallying platform, a spider-arm robot workstation, a flexible chain plate bottle clamping conveyor, a flexible chain plate conveyor, and a mobile belt conveyor. The automatic tallying platform is divided into two parts: an auxiliary feeding line and a loading line. The auxiliary feeding line is driven by a synchronous belt to assist materials in entering the loading line. The loading line is driven by a belt, and the loading port is equipped with a kicking mechanism, which can kick out the crop resources on the loading line and transport them one by one; the flexible chain plate bottle clamping conveyor is equipped with a side guide device and a protective device to realize the lifting and transportation of crop resources; the flexible chain plate conveyor is used to realize the straight line and curved transportation of single crop resources, and is equipped with a side guide protective device and a positioning device; the mobile belt conveyor is arranged under the door of each storage area, and is linked with the opening and closing of the door to realize the linkage transportation of the flexible conveying system and the cold storage doors of each area; the spider hand robot station is provided with a packing station and an unpacking station, and the spider hand robot is used to remove the single crop resources in the material box at the unpacking station and load them into the material box at the packing station; a material box clamping mechanism is provided at the packing station and the unpacking station to fix the material box on each station; the flexible conveying system has a height difference on the conveying surface, and a flexible chain plate bottle clamping conveyor is provided behind the automatic tallying platform; the claws of the spider hand robot are provided with an anti-drop device to ensure the reliability and stability of each grab; The visual recognition station is located at the intersection of the material box conveying system and the flexible conveying system, and is used to identify the barcode information of the material box and the crop resources in the material box, bind the crop resource information with the location information in the material box, and verify the barcode information of the crop resources in the material box; The WMS system receives the task information issued by the operator, and issues instructions to the WCS system after processing. After receiving the WMS instructions, the WCS system issues instructions to the automated warehouse control system, the material box conveying control system and the flexible conveying control system for instruction execution. After the instructions are executed, the WMS will feedback the task completion information.

2. The cold storage automated warehousing system according to claim 1, characterized in that: The automated high-bay warehouse includes shelves, stackers and related control components, wherein the shelves are used to store material boxes in the high-rise storage area, and the stackers and related control components are used to complete the material box storage and automatic retrieval operations of crop resources in the low-temperature cold storage area.

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