An integrated panel part storage and dispensing system and method

Abstract

The application belongs to the technical field of intelligent manufacturing of steel structures, and particularly relates to an integrated plate part storage and dispensing system and method, which comprises a stereoscopic shelf, a double-stretch-position stacker, a seven-axis dispensing robot, a dispensing primary tray connection position and a dispensing secondary tray connection position. The double-stretch-position stacker is arranged in the middle of the stereoscopic shelf, the dispensing secondary tray connection position, the seven-axis dispensing robot and the dispensing primary tray connection position are sequentially arranged on the same side of the stereoscopic shelf, and the end of the seven-axis dispensing robot is provided with an image acquisition and recognition unit and a grabbing unit. When the parts are stored, the part tray enters the vertical warehouse access connection position under the action of the automatic guided vehicle, and the part tray is sent into the stereoscopic shelf for temporary storage under the action of the double-stretch-position stacker. When the parts are dispensed, the part tray reaches the dispensing primary tray connection position through the double-stretch-position stacker, the seven-axis dispensing robot sends the parts to be dispensed in the part tray to the dispensing secondary tray connection position for dispensing of the parts.

Description

Technical Field

[0001] This invention belongs to the field of intelligent manufacturing technology for steel structures, specifically relating to an integrated plate parts storage, retrieval, and palletizing system and method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] In the intelligent manufacturing of steel structures or steel components, each component must be broken down into multiple sheet metal parts for production. After the parts are produced, the parts trays need to be transported to the storage location. Before the parts are used, the parts trays are transported from the storage location to the distribution location to complete the parts allocation.

[0004] Currently, the transportation methods that may be used to move parts pallets from storage locations such as automated warehouses to pallet distribution or inventory warehouses include:

[0005] 1. Using Automated Guided Vehicles (AGVs) for transportation requires additional AGV vehicles and space for aisle layout, resulting in slower transportation speeds and frequent occupation of outbound storage positions in the automated warehouse.

[0006] 2. Using conveyor belts or conveyor rollers requires a large amount of space for conveying equipment, and the parts trays must be conveyed sequentially.

[0007] 3. When the inventory storage location and the parts inventory entry / exit connection location are shared, it will affect the parts inventory entry / exit operation when performing inventory work. If an additional inventory storage location in the form of a conveyor roller is added, it will increase the additional cost.

[0008] When parts are stored in an automated warehouse, all three methods mentioned above will result in the stacker crane's cycle time being much greater than that of the conveying and palletizing processes, leading to a mismatch in equipment performance. Currently, there is no automated palletizing system in the industry that uses process recipe algorithms for dynamic parts allocation; only automatic parts classification and palletizing are implemented. Summary of the Invention

[0009] To address the aforementioned issues, this invention proposes an integrated sheet metal parts storage, retrieval, and palletizing system and method for use in intelligent manufacturing of steel structures or components. This system serves as a parts storage, retrieval, and distribution system for processes ranging from cutting to welding. By employing a combination of a double-extension stacker crane and a seven-axis palletizing robot, the automated warehouse and palletizing system are integrated into a single unit, achieving high-speed storage and distribution of parts without the need for traditional conveyor systems, significantly improving the efficiency of parts storage, retrieval, and palletizing.

[0010] According to some embodiments, the first aspect of the present invention provides an integrated sheet metal parts storage, retrieval, and tray matching system, which adopts the following technical solution:

[0011] An integrated sheet metal parts storage, retrieval, and palletizing system includes an automated storage and retrieval system (AS / RS), a double-reach stacker crane, a palletizing robot, a primary palletizing docking station, and a secondary palletizing docking station. The double-reach stacker crane is positioned in the middle of the AS / RS, while the secondary palletizing docking station, the palletizing robot, and the primary palletizing docking station are sequentially located on the same side of the AS / RS. The palletizing robot is equipped with an image acquisition and recognition unit and a gripping unit at its end. During parts storage and retrieval, the parts pallet enters the AS / RS access docking station under the action of an automated guided vehicle. The double-reach stacker crane then moves the parts pallet from the AS / RS access docking station into the AS / RS for temporary storage. During parts palletizing, the parts pallet reaches the primary palletizing docking station via the double-reach stacker crane. Based on the recognition and gripping capabilities of the palletizing robot, the parts to be palletized are sent to the secondary palletizing docking station for palletizing.

[0012] As a further technical limitation, an integrated sheet metal parts storage and retrieval and palletizing system also includes transporting the parts after palletizing to the palletizing line side warehouse under the action of an automated guided vehicle. At the same time, the automated guided vehicle transports the parts pallet at the primary palletizing connection position to the secondary palletizing connection position.

[0013] As a further technical limitation, the image acquisition and recognition unit uses a 3D vision camera, and the grasping unit uses an electro-permanent magnet end effector.

[0014] Furthermore, during the identification and grasping process, the seven-axis palletizing robot acquires images of parts in the parts pallet based on a 3D vision camera. The acquired images are then recognized by the seven-axis palletizing robot, and the recognition results are fed back to the electro-permanent magnet end effector. The part is then grasped by the electro-permanent magnet end effector.

[0015] According to some embodiments, the second aspect of the present invention provides an integrated plate component storage and palletizing method, which adopts the integrated plate component storage and palletizing system provided in the first aspect, and employs the following technical solution:

[0016] An integrated method for storing, retrieving, and palletizing sheet metal parts includes parts storage and palletizing. During parts storage, a pallet is guided by an automated guided vehicle to the automated storage and retrieval system (AS / RS) access point, and then transported by a double-extension stacker crane from the access point into the AS / RS for temporary storage. During palletizing, the pallet is transported by the double-extension stacker crane to the primary palletizing access point, where a seven-axis palletizing robot identifies and grasps the parts to be palletized, transporting them to the secondary palletizing access point for palletizing.

[0017] As a further technical limitation, after the parts pallet enters the automated warehouse access point, the temporary storage location of the parts pallet on the automated warehouse rack is selected based on the determination of the type of parts on the parts pallet.

[0018] Furthermore, when the parts on the parts tray are of a single type, that is, when all the parts in the parts tray are of the same model, the parts tray is temporarily stored on the double-row shelves of the automated storage and retrieval system.

[0019] When the parts on the parts tray are mixed parts, that is, the parts in the parts tray are of different models, the parts tray is temporarily stored on a single row of shelves.

[0020] Furthermore, parts pallets containing the same model of parts are temporarily stored on double-row racks in an automated storage and retrieval system that uses the same double-reach stacker crane retrieval position.

[0021] As a further technical limitation, during the parts matching process, the matching server issues matching tasks to the matching workstation. The matching workstation breaks down the received matching tasks and executes a seven-axis matching robot to identify and grasp the parts according to the broken-down matching tasks, so as to complete the parts matching.

[0022] Furthermore, before performing the palletizing task, the palletizing workstation needs to calculate the parts requirement list for the primary palletizing docking position. Based on the obtained parts requirement list, the palletizing workstation uses a double-extension stacker crane to transport the parts pallets corresponding to the parts requirement list to the primary palletizing docking position.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] This invention integrates an automated warehouse and a palletizing system into a single unit by combining a double-reach stacker crane and a seven-axis palletizing robot. This effectively balances the cycle time differences between the storage and palletizing systems, improving palletizing efficiency and achieving a high-speed parts storage and distribution system that eliminates the need for traditional conveyor systems. It cleverly utilizes the operating characteristics of the double-reach stacker crane and the flexibility of the seven-axis palletizing robot, along with a specially designed palletizing algorithm, significantly reducing the complexity of traditional palletizing systems. This reduces implementation costs while greatly improving the efficiency of the palletizing system. Through unique hardware and software design, it lowers overall costs while ensuring the rapid, large-volume storage and distribution capabilities for sheet metal parts. Attached Figure Description

[0025] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0026] Figure 1This is a schematic diagram of an integrated sheet metal parts storage and palletizing system according to Embodiment 1 of the present invention;

[0027] Figure 2 This is another structural schematic diagram of the integrated sheet metal parts storage and palletizing system in Embodiment 1 of the present invention;

[0028] Figure 3 This is a diagram illustrating the architecture of the integrated sheet metal parts storage and pallet matching method in Embodiment 2 of the present invention.

[0029] Figure 4 This is a flowchart of the APS disk allocation task generation algorithm in Embodiment 2 of the present invention;

[0030] Figure 5 This is a flowchart illustrating the disk allocation task for the disk allocation server in Embodiment 2 of the present invention.

[0031] Figure 6 The matching in Embodiment 2 of the present invention ； Flowchart of the algorithm for a disk workstation to request disk allocation task;

[0032] Figure 7 This is a flowchart of the single-step task execution of the disk distribution workstation in Embodiment 2 of the present invention;

[0033] Figure 8 This is a flowchart illustrating the dynamic request for a single-disk parts package by the disk-matching workstation in Embodiment 2 of the present invention.

[0034] Figure 9 This is a flowchart illustrating the process of calculating the required parts for one disk in Embodiment 2 of the present invention.

[0035] Figure 10 This is a flowchart illustrating the priority increase of the single-step task in disk allocation according to Embodiment 2 of the present invention;

[0036] The components include: 1. Automated warehouse racking; 2. Double-reach stacker crane; 3. Primary palletizing connection point; 4. Secondary palletizing connection point; 5. Seven-axis palletizing robot; 6. Automated warehouse entry and exit connection point; 7. Palletizing location; 8. RFID reader; 9. 3D vision camera; and 10. Electro-permanent magnet end effector. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0038] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0039] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0040] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0041] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0042] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0043] Example 1

[0044] Embodiment 1 of the present invention introduces an integrated plate parts storage, retrieval and pallet matching system.

[0045] like Figure 1 and Figure 2The integrated sheet metal parts storage, retrieval, and palletizing system shown includes an automated storage and retrieval system (AS / RS) 1, a double-reach stacker crane 2, a primary palletizing connection station 3, a secondary palletizing connection station 4, a seven-axis palletizing robot 5, an AS / RS inbound / outbound connection station 6, a pallet storage location 7, an RFID reader 8, a 3D vision camera 9, an electro-permanent magnet end effector 10, and a control system. The control system includes a robot control system, a PLC control system, a palletizing workstation, a palletizing server, a central control APS advanced scheduling system, a central control PCS process coordination system, and a parts palletizing line edge warehouse. The ZKTeco WMS parts inventory management system operates as follows: During operation, parts pallets are delivered to the automated warehouse inlet / outlet connection position 6 via AGV, and the double-extension stacker crane 2 delivers the parts pallets to the automated warehouse rack 1 for temporary storage. During palletizing, the double-extension stacker crane 2 delivers the parts pallets to the primary palletizing connection position 3, and the seven-axis palletizing robot 5 identifies the parts through 3D vision 9 and picks up the parts through the electro-permanent magnet end effector 10 and places them into the secondary palletizing connection position 4. After palletizing, the parts pallets are transported to the palletizing line side warehouse via AGV, and at the same time, the AGV transports the empty parts pallets back to the secondary palletizing connection position 4.

[0046] This embodiment integrates the automated warehouse and the palletizing system into a whole by using a double-extension stacker crane and a seven-axis palletizing robot. This effectively balances the difference in cycle time between the storage system and the palletizing system, improves the efficiency of palletizing, and realizes a high-speed parts storage and distribution system that does not require a traditional conveying system.

[0047] Example 2

[0048] Embodiment 2 of the present invention introduces an integrated plate component storage and retrieval and tray matching method, which adopts the integrated plate component storage and retrieval and tray matching system introduced in Embodiment 1.

[0049] The architecture diagram of the integrated sheet metal parts storage and pallet matching method in this embodiment is as follows: Figure 3 As shown, the specific steps are as follows:

[0050] Step S01: The parts pallet is sent to the inbound / outbound connection position 6 of the automated warehouse by AGV. The parts inventory management software determines the type of parts pallet. If it is a mixed pallet, a single-row rack is selected first. If it is a single model of parts pallet, a double-row rack is selected first. After the storage location of the parts pallet is selected, the double-extend stacker crane 2 sends the parts pallet into the automated warehouse rack 1.

[0051] Step S02: The assembly server's assembly task allocation algorithm, that is, the APS advanced scheduling system calculates the part formula and assembly task through model analysis. The APS system sends the assembly task to the assembly server, the assembly server allocates the assembly task to each assembly workstation, and the assembly workstation breaks down the assembly task into single-step tasks.

[0052] Step S03: The palletizing workstation performs the gripping and palletizing actions of the parts according to the generated single-step task list;

[0053] Step S04: Dynamically request primary pallets: Before each single-step task is executed, the parts requirement list of the integrated pallet distribution docking station (primary pallet) must be calculated. The pallet distribution workstation sends instructions to the PCS process coordination system based on the calculated primary pallet parts requirement list. The PCS process coordination system controls the WMS material warehouse management system to transport the corresponding parts pallets loaded in the required parts list to the integrated pallet distribution docking station via the stacker crane.

[0054] Step S05: Prioritize the disk configuration task.

[0055] Step S06: After the parts allocation task is completed in the secondary pallet 4, the pallet allocation workstation calls an AGV vehicle through the PCS process coordination system to transport the parts pallet away.

[0056] As one or more implementation methods, in step S01, the type of parts pallet entering the warehouse is sent to the automated warehouse by the PCS process coordination system, and different parts pallet storage strategies are set according to different parts pallet types. There are two types of parts pallets entering the warehouse:

[0057] 1) Single Parts Tray: The parts in the tray are all of the same model;

[0058] 2) Mixed parts tray: The parts tray contains parts of different models;

[0059] When parts pallets enter the automated warehouse, single parts pallets are preferentially stored on double-row racks, and parts pallets of the same model are preferentially stored in the same stacker crane picking position on the double-row racks. Mixed parts pallets are preferentially stored on single-row racks. This can minimize the internal handling of parts pallets when picking them up.

[0060] As one or more implementation methods, the flowchart of the APS disk allocation task algorithm in step S02 is as follows: Figure 4 As shown, the APS advanced scheduling system calculates the disk allocation tasks through model analysis and process calculation, and sends the disk allocation tasks to the disk allocation server through the interface; after receiving the disk allocation tasks planned by the APS advanced scheduling system, the disk allocation server stores them in the server database.

[0061] Disk allocation task assignment process for server component disks is as follows: Figure 5 As shown, when the disk allocation server receives task requests from each disk allocation workstation, the disk allocation server performs disk allocation task allocation calculation, generates a disk allocation task that satisfies the requirement of filling an empty disk with all matching disk allocation tasks from the disk allocation task pool, and sends it to the disk allocation workstation.

[0062] The algorithm flow for the disk allocation workstation to request disk allocation tasks is as follows: Figure 6As shown, when the palletizing workstation detects an empty parts pallet at the secondary pallet docking position, it obtains the parts pallet number at position 4 of the secondary palletizing workstation via RFID reader 8. The palletizing workstation initiates a palletizing task request. After receiving the palletizing task assigned by the palletizing server, it first breaks down the palletizing task consisting of multiple parts into single-step tasks consisting of individual parts, with a default priority of level 2 for each single-step task. When breaking down the palletizing task into single-step tasks, the single-step tasks need to be sorted. The sorting method determines the priority strategy of the single-step tasks, such as... Figure 6 If the "part production model" is used as the first sorting condition, the "first disk priority" strategy will be executed; if the "second disk number" is used as the first sorting condition, the "second disk priority" strategy will be executed.

[0063] As one or more implementation methods, in step S03, such as Figure 7 The flowchart shown is for the single-step task execution of the plating workstation. The seven-axis plating robot 5 moves to the top of the integrated plating docking station 3, scans the parts in the parts tray with the 3D vision camera 9, identifies the parts that need to be grasped, and controls the electro-permanent magnet end effector 10 to grasp the required parts. The magnetic force of the end effector is adjusted according to the weight attribute of the parts obtained from the database. Then, the seven-axis plating robot 5 moves to the top of the secondary plating tray 4, arranges the parts neatly, and then performs the grasping and placing of the next part.

[0064] As one or more implementation methods, in step S04, such as Figure 8 The algorithm logic shown is that the disk assembly workstation dynamically requests a disk parts package. Based on the existing single-step task list, the disk assembly workstation calculates the list of disk parts requests required to complete the current disk assembly task.

[0065] like Figure 9 The flowchart shown illustrates the process of calculating the required parts for a single pallet pickup. Based on the parts requirement list calculated by the palletizing workstation, the database is searched to calculate the required pallet number. The palletizing workstation sends instructions to the PCS (Process Coordination System), which in turn controls the WMS (Warehouse Management System). The WMS then sends instructions to the WCS (Warehouse Control System), controlling the double-reach stacker crane 2 to retrieve the parts pallet from the automated racking system 1 and place it at the designated integrated palletizing docking station 3.

[0066] As one or more implementation methods, in step S05, such as Figure 10The flowchart shown illustrates the priority enhancement process for single-step tasks in the palletizing system. During operation, the palletizing workstation employs a primary pallet priority combined with a secondary pallet priority algorithm. By default, if no single-step task with priority level 1 exists, the workstation executes a normal task with priority level 2. This ensures rapid pallet replacement once the parts in the primary pallet at the integrated palletizing docking position 3 are used up. After each single-step task is completed, the seven-axis palletizing robot 5 first checks if any parts in the integrated palletizing docking position 3 can directly satisfy the completion requirement of the palletizing task for one of the parts in the secondary palletizing docking position 4. If so, the secondary pallet priority strategy is executed, raising the priority of the corresponding single-step task to level 1, allowing it to be executed first in the next single-step task execution cycle. This advances the completion time of palletizing tasks in each secondary palletizing docking position 4, preventing AGV clustering of parts in the secondary palletizing docking position 4. Simultaneously, the primary pallet priority strategy can quickly clear the parts in the integrated palletizing docking position 3, improving the turnover efficiency of the parts in that position.

[0067] In this embodiment, when the integrated inventory storage location is in use, the WMS material inventory management software sends the part number that needs to be inventoried to control the double-extension stacker crane 2 to take the part pallet from the automated rack 1 and place it at the inventory storage location 7. After the inventory is completed, an inbound instruction is sent to the WMS material inventory management software, and the double-extension stacker crane 2 forks the part pallet from the inventory storage location 7 and puts it back into the automated rack 1.

[0068] This embodiment is mainly used in the intelligent manufacturing of steel structures or steel components for the storage, retrieval and allocation of parts from the cutting process to the welding and other parts usage processes.

[0069] This embodiment classifies parts trays into single-part trays and mixed-part trays based on the part models within the trays, and sets different storage strategies and optimizes the parts tray storage algorithm to improve access efficiency while reducing tray occupancy. It allows querying the quantity of parts from two dimensions: part model view or part recipe view. It can also store the placement position of parts on the trays for quick identification during subsequent welding processes. The optimized parts tray access algorithm improves turnover efficiency. Parts of the same model are grouped together to form single-part trays, increasing robot picking efficiency and reducing tray changing frequency. A small number of parts of different models are mixed in the same tray to reduce tray occupancy and address the problem of low tray utilization due to a large number of part specifications. When parts trays enter the automated warehouse, single-part trays are preferentially stored on double-row racks, and pallets of the same model are preferably stored in the same stacker crane picking location. Mixed-part trays are preferentially stored on single-row racks to reduce the number of times the stacker crane handles the trays, thus improving turnover efficiency.

[0070] In this embodiment, a parts pallet receiving station is set up on the outer side of the first layer of the automated warehouse. This station allows for the use of the stacker crane's double-extended forks to pick up and place parts pallets, while a seven-axis palletizing robot on the outer side can also use an electro-permanent magnet end effector to pick up and place parts from the pallets, enabling rapid parts distribution. The integrated receiving station between the automated warehouse and the palletizing station utilizes the stacker crane's double-extended forks to traverse double rows of racks, directly transferring parts pallets from the automated warehouse to the palletizing station, thus expanding the stacker crane's applications. The aim is to reduce the complexity of the conveyor system and, by leveraging the high-speed characteristics of the stacker crane, significantly improve the efficiency of parts pallet exchange between the palletizing station and the automated warehouse.

[0071] This embodiment utilizes the double-extension stacker crane forks to span across one shelf layer, realizing the inventory storage location and additional fast inbound / outbound connection location. Using this method, the inventory storage location occupies little space, has low cost, and does not affect the inbound / outbound operation of the original automated storage and retrieval system connection location, thus meeting the ideal inventory storage requirements.

[0072] In this embodiment, when issuing the task of allocating parts to the parts tray, the parts formula is used as the minimum formula task. Different formula parts tables are decomposed according to the usage process of the parts. This can be used to adapt to the general parts allocation needs of different design systems and different products, and realize the general parts allocation under different steel structure systems.

[0073] In this embodiment, a disk allocation server is used to allocate disk allocation tasks to multiple disk allocation workstations on site. Each disk allocation workstation operates independently, without inter-station interference, thus maximizing disk allocation efficiency. The disk allocation server pre-calculates the disk allocation tasks assigned to each part disk, ensuring that all allocated disk allocation tasks are achievable by the disk allocation workstations.

[0074] This embodiment employs a pallet priority algorithm to address the task clustering problem during AGV scheduling. A dedicated palletizing workstation algorithm is used: when allocating parts from the integrated palletizing docking station to the secondary pallet location, the seven-axis palletizing robot uses a primary pallet priority and secondary pallet priority algorithm, effectively solving the clustering problem during parts pallet cycle scheduling and improving the turnover efficiency of the primary pallet. Using the part recipe as the minimum requirement unit for user part needs, the algorithm calculates the start point, end point, and available parts pallet numbers for parts pallet scheduling based on the part usage requirements of each user terminal and the terminal workstation location. The parts usage workstation does not need to directly request parts; it only needs to request the recipe required by its own workstation. The parts pallet scheduling algorithm automatically calculates the most suitable parts pallet location for the required recipe and then schedules the AGV to deliver the parts pallet to the required parts usage workstation. This decouples the relationship between workpieces and parts, enabling dynamic scheduling of parts pallets across different design systems and products.

[0075] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A method for storing, retrieving, and matching sheet metal parts, characterized in that, The system includes an integrated sheet metal parts storage, retrieval, and palletizing system. The system comprises an automated storage and retrieval system (AS / RS), a double-reach stacker crane, a palletizing robot, a primary palletizing docking station, and a secondary palletizing docking station. The double-reach stacker crane is positioned in the middle of the AS / RS. The secondary palletizing docking station, the palletizing robot, and the primary palletizing docking station are sequentially located on the same side of the AS / RS. The palletizing robot is equipped with an image acquisition and recognition unit and a gripping unit at its end. During parts storage and retrieval, the parts pallet enters the AS / RS access docking station under the action of an automated guided vehicle. The double-reach stacker crane then moves the parts pallet from the AS / RS access docking station into the AS / RS for temporary storage. During parts palletizing, the parts pallet reaches the primary palletizing docking station via the double-reach stacker crane. Based on the recognition and gripping capabilities of the palletizing robot, the parts to be palletized are sent to the secondary palletizing docking station for palletizing. During the parts matching process, the matching server sends matching tasks to the matching workstation. The matching workstation breaks down the received matching tasks and executes a seven-axis matching robot to identify and grasp the parts according to the broken-down matching tasks, so as to complete the parts matching. Before performing the palletizing task, the palletizing workstation needs to calculate the parts requirement list for the primary palletizing docking position. Based on the obtained parts requirement list, the palletizing workstation uses a double-extension stacker crane to transport the parts pallets corresponding to the parts requirement list to the primary palletizing docking position. When the palletizing workstation is working, it adopts a primary pallet priority and secondary pallet priority algorithm. By default, if there is no single-step task with priority level 1, the palletizing workstation executes a normal task with priority level 2. After each single-step task is completed, the seven-axis palletizing robot needs to first check if there are any parts in all the parts pallets in the integrated palletizing docking position that can directly satisfy the palletizing task completion requirements of one of the parts pallets in the secondary palletizing docking. If so, the secondary pallet priority strategy is executed, and the priority of the corresponding single-step task is increased to level 1, so that it can be executed first in the next single-step task execution cycle. This can advance the completion time of the palletizing task of each parts pallet in the secondary palletizing docking, avoiding the phenomenon of AGVs clustering together in the scheduling of parts pallets in the secondary palletizing docking. Traverse the recipe list. When all parts in the recipe, except for oversized, oversized, and overweight parts, have been put into inventory, initialize the part index i=1. Obtain the process BOM attribute of part i. If part i is not an oversized, oversized, or overweight assembly part, determine whether the recipe already has a palletizing task. If not, create a new palletizing task and add the production model code and quantity of part i to the palletizing task. Repeat the above steps until all parts in the recipe have been traversed, and the process ends.

2. The integrated sheet metal parts storage, retrieval, and tray matching method as described in claim 1, characterized in that, Check if there are any empty slots in the pallet docking position. If there are empty slots, retrieve the list of parts in the single-step task information table with a task status of "not executed" and a part preparation status of "null" for each pallet task. Calculate the total number and quantity of all parts in the pallet docking position, compare it with the list, and mark the part preparation status of the single-step task. Determine if the part preparation status of all single-step tasks is correct. If so, the process ends. If not, generate a single-pallet part package request containing the production model and quantity of a single part according to the single-step task, call the PCS interface to request the stacker crane to deliver the pallet, and the process ends.

3. The integrated sheet metal parts storage, retrieval, and tray matching method as described in claim 1, characterized in that, This includes parts storage and retrieval, and parts palletizing. During parts storage and retrieval, the parts pallet enters the automated storage and retrieval system (AS / RS) access point under the action of an automated guided vehicle (AGV). The pallet is then temporarily stored inside the AS / RS under the action of a double-extension stacker crane. During parts palletizing, the parts pallet reaches the primary palletizing access point via the double-extension stacker crane. Based on the recognition and grasping capabilities of a seven-axis palletizing robot, the parts to be palletized are sent to the secondary palletizing access point for palletizing.

Images