Warehouse control method and warehouse control system

Abstract

The present invention discloses a warehouse control method and a warehouse control system, wherein the warehouse control method first stacks two pallets of goods by a stacking machine, then places the stacked pallet goods on a load-bearing pallet, and finally transports the load-bearing pallet with the two pallets of goods to a storage transfer mechanism; the storage transfer mechanism transports the load-bearing pallet with the pallet goods to its corresponding storage entry and exit mechanism; finally, the storage entry and exit mechanism places the load-bearing pallet with the pallet goods on its corresponding shelf. The present invention arranges a stacking machine to stack two pallets of goods and then transports them to the shelf area for storage, which can effectively improve storage efficiency, reduce the frequency of action of the storage transfer mechanism and the storage entry and exit mechanism, and provide convenient conditions for subsequent efficient storage and loading. Using a load-bearing pallet to carry two pallets of goods can effectively ensure the stability of cargo transfer and prevent the lower pallet of goods from deforming due to heavy loads and affecting stable transportation.

Description

Technical Field

[0001] The present invention relates to a warehouse system, in particular to a warehouse control method and a warehouse control system. Background Art

[0002] In enterprise production, it is often necessary to set up a warehouse system to store goods.

[0003] For example, the invention patent with application publication number CN110525870A discloses a multi-layer pallet-type stereoscopic warehouse module and a stereoscopic warehouse.

[0004] In this type of three-dimensional warehouse, when warehousing or outgoing goods are carried out, one pallet of goods is put in or out each time, the corresponding goods storage and retrieval mechanism has a high frequency of action, and the efficiency of warehousing and outgoing goods is relatively low. Summary of the invention

[0005] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a warehouse control method and a warehouse control system.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] The warehouse control method comprises the following steps:

[0008] S1, control the loading mechanism to transport a pallet of goods to a receiving conveyor of a stacking machine;

[0009] S2, controlling the stacking machine to lift the pallet cargo to above the receiving conveyor;

[0010] S3, controlling the loading mechanism to convey another pallet of goods to the receiving conveyor, and then controlling the stacking machine to place the lifted pallet of goods on the pallet of goods at the receiving conveyor;

[0011] S4, controlling the stacking machine to lift the two stacked pallets of goods to above the receiving conveyor;

[0012] S5, controlling the pallet supply mechanism to convey a load-bearing pallet to the receiving conveyor, and then controlling the stacking machine to place the lifted pallet cargo on the load-bearing pallet at the receiving conveyor;

[0013] S6, controlling the receiving conveyor to convey the load-bearing pallet with the pallet goods to the storage transfer mechanism;

[0014] S7, controlling the storage transfer mechanism to transport the load-bearing pallet with the pallet goods to its corresponding storage entry and exit mechanism;

[0015] S8, controlling the warehousing-in and -out mechanism to place the load-bearing pallet with the pallet goods on its corresponding shelf.

[0016] Preferably, the S1 includes the following process:

[0017] S11, controlling the loading mechanism to transport the pallet cargo thereon to the first strapping machine and controlling the first strapping machine to tie a strap on the pallet cargo;

[0018] S12, controlling the loading mechanism to transport the pallet cargo to the second strapping machine for strapping, wherein the straps strapped by the second strapping machine and the first strapping machine on the pallet cargo are distributed in a tic-tac-toe pattern;

[0019] S13, controlling the loading mechanism to transport the pallet cargo to the film wrapping machine, and controlling the film wrapping machine to wrap a film around the periphery of the portion of the pallet cargo located above the pallet;

[0020] S14, controlling the loading mechanism to transport the pallet cargo to the first labeling machine, and controlling the first labeling machine to attach a first label to the cargo;

[0021] S15, controlling the loading mechanism to transport the pallet cargo to the stacking machine.

[0022] Preferably, the loading mechanism comprises a No. 2 conveyor, a covering station is arranged next to the No. 2 conveyor, and a first reading device is arranged at the covering station.

[0023] Preferably, the loading mechanism includes conveyor No. 1, conveyor No. 2, turntable conveyor No. 1, conveyor No. 3, turntable conveyor No. 2, conveyor No. 4, turntable conveyor No. 3, conveyor No. 5, turntable conveyor No. 4, conveyor No. 6, and turntable conveyor No. 5, which are arranged in sequence, and a buffer area is arranged between conveyor No. 6 and turntable conveyor No. 5.

[0024] Preferably, S6 includes:

[0025] S61, the receiving conveyor conveys the load-bearing pallet and the pallet cargo on the load-bearing pallet to the shape detection mechanism for shape detection;

[0026] S62, if it is determined that the appearance inspection fails, the load-bearing pallet and the pallet cargo on the load-bearing pallet are transferred to the first abnormality handling conveyor;

[0027] S63, if it is determined that the appearance inspection is qualified, the load-bearing pallet and the pallet goods on the load-bearing pallet are transferred to the storage transfer mechanism.

[0028] Preferably, in S6, the receiving conveyor is first controlled to convey the load-bearing pallet stacked with pallet goods to the labeling conveyor, and the second labeling machine next to the labeling conveyor is controlled to attach a second label to the side of the pallet goods on the load-bearing pallet, the second label stores the location where the load-bearing pallet and the pallet goods on the load-bearing pallet are to be stored, and the pallet goods are stored in partitions according to the types of pallet goods.

[0029] Preferably, the in-and-out storage mechanism includes an RGV transfer vehicle located at each in-and-out storage channel and a transfer conveyor line connected between each of the RGV transfer vehicles and the in-warehouse transfer mechanism, the RGV transfer vehicle is connected to the out-warehouse conveyor line, and the out-warehouse conveyor line and the in-warehouse transfer mechanism are distributed on opposite sides of the shelf area.

[0030] Preferably, the outbound conveyor line includes a main conveyor line, and a side of the main conveyor line is provided with an outbound transfer line matching each of the RGV transfer vehicles, and the outbound transfer line is used to transfer the load-bearing pallets and pallet cargo transferred thereon by the in-and-out mechanism to the main conveyor line.

[0031] Preferably, the outbound conveyor line is connected to a pallet return conveyor line, the pallet return conveyor line includes a pallet stacker, the pallet return conveyor line is docked with an inbound and outbound mechanism, and the inbound transfer mechanism is also connected to the pallet supply mechanism.

[0032] Warehouse control system, including:

[0033] A loading unit is used to control the loading mechanism to transport a pallet of goods to a receiving conveyor of a stacking machine;

[0034] A first lifting unit, used for controlling the stacking machine to lift the pallet cargo to above the receiving conveyor;

[0035] The first stacking unit is used to control the loading mechanism to transport another pallet of goods to the receiving conveyor, and then control the stacking machine to place the lifted pallet of goods on the pallet of goods at the receiving conveyor;

[0036] The second lifting unit is used to control the stacking machine to lift the two stacked pallets of goods to above the receiving conveyor;

[0037] The second stacking unit is used to control the pallet supply mechanism to convey a load-bearing pallet to the receiving conveyor, and then control the stacking machine to place the lifted pallet cargo on the load-bearing pallet at the receiving conveyor;

[0038] The material discharging unit is used to control the receiving conveyor to transport the load-bearing pallet with the pallet goods to the storage transfer mechanism;

[0039] A transfer unit, used to control the storage transfer mechanism to transport the load-bearing pallet with pallet goods to its corresponding storage entry and exit mechanism;

[0040] The storage unit is used to control the storage and retrieval mechanism to place the load-bearing pallet with pallet goods on its corresponding shelf.

[0041] The advantages of the technical solution of the present invention are mainly reflected in:

[0042] The method of the present invention stacks two pallets of goods and then transports them to the shelf area for storage, which can effectively improve the storage efficiency, reduce the operation frequency of the storage transfer mechanism and the storage and retrieval mechanism, and provide convenient conditions for subsequent efficient retrieval and loading. In addition, the use of a load-bearing pallet to carry two pallets of goods can effectively ensure the stability of the transfer of goods and avoid the deformation of the lower pallet due to heavy load, which affects the stable transportation.

[0043] The loading mechanism of the present invention can bind and fix the pallet, the enclosure and the top cover by cable ties, and after binding, wrap them with a film wrapping machine, which can effectively ensure the structural stability of the pallet cargo, thereby providing the basic conditions for the subsequent pallet cargo to be reliably stacked together, which is conducive to ensuring the stability of the pallet cargo after stacking.

[0044] The loading mechanism of the present invention can load different pallet goods, and can ensure that the two pallet goods entering the stacking machine are the same by setting a buffer area, thereby facilitating accurate control of incoming and outgoing goods.

[0045] The outbound conveyor line of the present invention cooperates with a plurality of outbound transfer lines through a main conveyor line, and can simultaneously carry out synchronous delivery of a plurality of stacked pallet goods, which is beneficial to improving delivery efficiency.

[0046] The present invention can effectively stack the load-bearing pallets after shipment and convey them back to the pallet supply mechanism through the coordination of the pallet return conveyor line with the storage-in / out mechanism and the storage-in transfer mechanism, thereby effectively improving the utilization efficiency of the storage-in / out mechanism and the storage-in transfer mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a top view of the storage system of the present invention;

[0048] Figure 2 is a top view of the loading mechanism of the present invention;

[0049] Figure 3 It is a partial top view of the shelf area, the storage-in / out mechanism and the storage-in / transfer mechanism of the present invention;

[0050] Figure 4 is a top view of the RGV transfer vehicle of the present invention;

[0051] Figure 5 is a top view of the forking mechanism of the present invention;

[0052] Figure 6 is a side view of the servo turntable of the present invention and the telescopic fork thereon;

[0053] Figure 7 It is a process schematic diagram of the warehousing control method of the present invention;

[0054] Figure 8 It is a top view of the storage system of the present invention having two loading mechanisms;

[0055] Fig. 9 is a top view of the loading mechanism of the present invention having a buffer area;

[0056] Fig.10 It is a partial top view of the shelf area, the storage-in and storage-out mechanism, the storage-in and storage-out transfer mechanism and the storage-out conveyor line of the present invention;

[0057] Fig.11 is a top view of the connection between the pallet supply mechanism of the present invention and the storage transfer mechanism;

[0058] Fig.12 is a perspective view of a turntable conveyor of the present invention;

[0059] Fig.13 yes Fig.12 A partial enlarged view of . DETAILED DESCRIPTION

[0060] The purpose, advantages and features of the present invention will be illustrated and explained by the non-limiting description of the following preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present invention, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

[0061] In the description of the scheme, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0062] Example 1

[0063] The following is an explanation of the storage control method disclosed by the present invention in conjunction with the accompanying drawings. The storage control method is based on a storage system, as shown in the attached drawings. Figure 1 As shown, the storage system includes:

[0064] The stacking machine 100 is used to stack palletized goods, and includes a receiving conveyor;

[0065] The loading mechanism 200 is connected to the receiving conveyor of the stacking machine 100 and is used to transport the pallet goods to the receiving conveyor;

[0066] The pallet supply mechanism 300 is docked with the loading mechanism 200 and is used to deliver the load-bearing pallet to the receiving conveyor;

[0067] The shelf area 400 is provided with multiple rows or columns of shelves for storing palletized goods and in-and-out passages between the shelves;

[0068] A set of in-and-out storage mechanisms 500, arranged at the in-and-out storage passage, for placing the load-bearing pallets transferred thereto and the pallet goods on the load-bearing pallets onto the corresponding shelves;

[0069] The storage transfer mechanism 600 is used to receive the load-bearing pallet with pallet goods output by the receiving conveyor and transfer it to the corresponding storage and warehousing mechanism 500.

[0070] Specifically, as attached Figure 2 As shown, the stacking machine 100 may be a known feasible stacking machine, and its specific structure is a known technology and will not be described in detail here.

[0071] The pallet cargo may be a pallet and cargo placed on the pallet. Preferably, for the sake of stable stacking, the pallet cargo is a panel box and cargo placed in the panel box. The pallet cargo may be transferred to the loading mechanism by a forklift, AGV or other feasible equipment.

[0072] The loading mechanism 200 may be a plurality of conveyor sections arranged in sequence, and the conveyor may be a known chain conveyor or roller conveyor.

[0073] As attached Figure 2 As shown, the pallet supply mechanism 300 includes a destacker 310 arranged on the side of the loading mechanism 200, and the destacker 310 is used to destacker the stacked load-bearing pallets and transport them one by one to the loading mechanism 200. The loading mechanism 200 transports the load-bearing pallets transported thereon to the stacking machine 100. The load-bearing pallets are preferably steel pallets, which have sufficient strength, rigidity, etc., so as to ensure stability.

[0074] The shelf area 400 is located on the side of the loading mechanism 200 , and the arrangement direction of each row or column of shelves is consistent with the conveying direction of the loading mechanism 200 .

[0075] As attached Figure 3 As shown, the storage-in / out mechanism 500 includes a group of RGV transfer vehicles 510 arranged at each storage-in / out channel and a storage transfer line 520 matched with each RGV transfer vehicle 510 .

[0076] As attached Figure 3 -Attached Figure 6 As shown, the RGV transfer vehicle 510 includes a first ground rail 501, which extends in parallel with the conveying direction of the loading mechanism 200. A first vehicle body 502 is movably arranged on the first ground rail 501, and an in-and-out conveyor 503 and a fork mechanism 504 located next to the in-and-out conveyor 503 are arranged on the first vehicle body 502. The conveying direction of the in-and-out conveyor 503 is perpendicular to the extending direction of the first ground rail 501. The fork-picking mechanism 504 is used to transfer the load-bearing pallet on the in-and-out conveyor 503 and the pallet cargo on the load-bearing pallet to the shelf. The specific structure of the fork-picking mechanism 504 can be designed as needed. For example, in one embodiment, the fork-picking mechanism 504 includes a fixed frame 505 arranged on the first vehicle body 502, and a lifting seat 506 is arranged on the fixed frame 505 so as to be movable up and down relative to the fixed frame 505. The first vehicle body 502 is also provided with a lifting drive mechanism 507 for driving the lifting seat 506 to rise and fall. The lifting drive mechanism 507 is, for example, a servo module, a hydraulic cylinder or other feasible device, which is not limited here. The lifting seat 506 is provided with a servo turntable 508, and the servo turntable 508 is provided with a telescopic fork 509.

[0077] As attached Figure 3 As shown, the warehousing transfer line 520 includes an access conveyor 521 and a first transfer conveyor 522. The conveying direction of the access conveyor 521 is parallel to the extension direction of the first ground rail 501 and is located between the first transfer conveyor and the warehousing transfer mechanism. The first transfer conveyor 522 can be a known lifting transfer conveyor or a turntable conveyor, which will not be described here.

[0078] As attached Figure 3 As shown, the warehousing and transferring mechanism 600 is located on one side of the shelf area 400 and is connected to a group of the access conveyors 521. The warehousing and transferring mechanism 600 is an RGV trolley, which includes a second ground rail 610 perpendicular to the first ground rail 501, and a second vehicle body is movably arranged on the second ground rail 610. A carrying conveyor 620 is arranged on the second vehicle body, and the conveying direction of the carrying conveyor 620 is perpendicular to the extension direction of the second ground rail 610.

[0079] The entire storage system is automatically controlled by the control device combined with sensors at various locations. Figure 7 As shown, the warehouse control method includes the following steps:

[0080] S1, the control device controls the loading mechanism 200 to transport a pallet of goods to the receiving conveyor of the stacking machine 100.

[0081] S2, then, the control device controls the stacking machine 100 to lift the pallet cargo to above the receiving conveyor. At this time, the height difference between the pallet cargo and the receiving conveyor is greater than the height of one pallet cargo.

[0082] S3, then, the control device controls the loading mechanism 200 to transport another pallet of goods to the receiving conveyor, and then controls the stacking machine 100 to place the lifted pallet of goods on the pallet of goods at the receiving conveyor.

[0083] S4, then, the control device controls the stacking machine 100 to lift the two stacked pallets of goods to above the receiving conveyor. At this time, the height between the bottom pallet of goods and the receiving conveyor is greater than the height of a load-bearing pallet.

[0084] S5, then, the control device controls the pallet supply mechanism 300 to deliver a load-bearing pallet to the loading mechanism 200 and controls the loading mechanism 200 to deliver the load-bearing pallet to the receiving conveyor. Then, the stacking machine 100 is controlled to place the lifted pallet cargo on the load-bearing pallet at the receiving conveyor.

[0085] S6, after the control device controls the second body of the warehousing transfer mechanism 600 to move to the position where the transport conveyor 620 thereon is docked with the receiving conveyor, the receiving conveyor controls the receiving conveyor to transfer the load-bearing pallet with the pallet cargo to the transport conveyor 620.

[0086] S7, controlling the storage transfer mechanism 600 to transport the load-bearing pallet with the pallet goods to the corresponding storage and retrieval mechanism 500;

[0087] S8, controlling the warehousing-in and -out mechanism 500 to place the load-bearing pallet with the palletized goods on its corresponding shelf.

[0088] Example 2

[0089] This embodiment is further improved on the basis of the above embodiment 1 as follows:

[0090] As attached Figure 2As shown, in order to ensure the stability of subsequent pallet cargo stacking, the loading mechanism 200 includes conveyor No. 1 201, conveyor No. 2 202, turntable conveyor No. 1 203, conveyor No. 3 204, turntable conveyor No. 2 205, conveyor No. 4 206, turntable conveyor No. 3 207, conveyor No. 5 208, turntable conveyor No. 4 209, conveyor No. 6 210, and turntable conveyor No. 5 211, which are arranged in sequence.

[0091] The conveyor No. 1 201 , conveyor No. 202 , conveyor No. 3 204 , conveyor No. 4 206 , conveyor No. 5 208 and conveyor No. 6 210 may be known roller conveyors or chain conveyors, which are not limited here.

[0092] The structures of the No. 1 turntable conveyor 203, the No. 2 turntable conveyor 205, the No. 3 turntable conveyor 207, the No. 4 turntable conveyor 209 and the No. 5 turntable conveyor 211 are the same, and they can adopt known feasible structures, which will not be described here.

[0093] A covering station 212 is provided next to the second conveyor 202, where the top cover of the pallet cargo (the top cover of the panel box) is covered on the top of the panel of the pallet cargo manually or by a covering robot, so that the operating time of operations such as binding tape and wrapping film can be fully utilized for covering operations.

[0094] At the same time, the No. 2 conveyor 202 is preferably a weighing conveyor, and the weight of the pallet cargo is weighed at the No. 2 conveyor 202. At the same time, a first reading device (not shown in the figure) is also provided at the closing station 212 or next to the No. 2 conveyor to read the label information on the pallet cargo at the No. 2 conveyor 202.

[0095] A second abnormal handling conveyor 213 is provided on the side of the No. 1 turntable conveyor for handling abnormal pallet cargo.

[0096] The second turntable conveyor 205 is provided with a first strapping machine 214, which is a known through-arrow type strapping machine, and its specific structure is a known technology and will not be described here in detail. It can tie the pallet, the enclosure and the top cover together by cable ties.

[0097] The third turntable conveyor 207 is provided with a second strapping machine 215, which is also a known through-arrow type strapping machine and will not be described in detail here.

[0098] A known film wrapping machine 216 is provided at the fourth turntable conveyor 209, which is used to wrap film on the pallet cargo at the fourth turntable conveyor 209, specifically wrapping film around the side panels and top cover of the panel box.

[0099] A first labeling machine 217 is provided next to the sixth conveyor 210. The first labeling machine 217 is used to attach a first label to the pallet cargo at the sixth conveyor 210. The first label is, for example, an RFID label or a label with a barcode or a QR code.

[0100] The fifth turntable conveyor 211 is connected to the pallet supply mechanism 300 .

[0101] As attached Figure 8 As shown, the number of the loading mechanism 200 can be designed as needed, preferably two, and the two loading mechanisms 200 are connected by at least one transfer conveyor line 218. Specifically, the transfer conveyor line 218 is connected between the No. 1 turntable conveyors of the two loading mechanisms 200, so that abnormal pallet cargo can be transferred to the same second abnormal processing conveyor for abnormal pallet cargo processing. At the same time, the two No. 5 turntable conveyors 211 are connected by a pallet transition conveyor 224.

[0102] Correspondingly, the S1 includes the following process:

[0103] S10, the control device controls the AGV trolley to move the pallet cargo without a top cover (a panel box with cargo but without a top cover) to the No. 1 conveyor 201, and then the No. 1 conveyor 201 conveys the pallet cargo to the No. 2 conveyor 202, and the manual or automated equipment covers the top cover on the panel, obtains the weight measured by the No. 2 conveyor 202 and the relevant information of the label on the pallet cargo read by the first reading device, the relevant information at least includes the weight of the panel box of the pallet cargo, the type of cargo loaded in the panel box, etc. Therefore, the weight of the cargo in the panel box can be determined according to the weight of the panel box and the weight measured by the No. 2 conveyor 202, and then it can be judged whether the cargo weight meets the requirements and the No. 2 conveyor 202 is controlled to transport the pallet cargo to the No. 1 turntable conveyor 203. When it is determined that the cargo weight does not meet the requirements, the No. 1 turntable conveyor 203 is controlled to transport the pallet cargo to the second abnormal processing conveyor on its side for processing. When it is determined that the weight of the goods meets the requirements, the first turntable conveyor 203 is controlled to convey the pallet goods to the third conveyor 204.

[0104] S11, control the loading mechanism 200 to transport the pallet cargo entering thereon to the first strapping machine 214 and control the first strapping machine to tie straps on the pallet cargo; specifically, control the No. 3 conveyor 204 to transport the pallet cargo to the second turntable conveyor, and then control the first strapping machine 214 to tie two straps on the pallet cargo.

[0105] S12, control the loading mechanism 200 to convey the pallet cargo to the second strapping machine 215 for strapping, the strappings tied by the second strapping machine 215 and the first strapping machine 214 on the pallet cargo are distributed in a tic-tac-toe shape; specifically, control the No. 2 turntable conveyor 205 and the No. 4 conveyor 206 to move the pallet cargo to the No. 3 turntable conveyor 207, then control the No. 3 turntable conveyor 207 to rotate the pallet cargo horizontally 90°, and then control the second strapping machine 215 to tie two more strappings on the pallet cargo, so that the strappings tied to the pallet cargo twice are distributed in a tic-tac-toe shape. After strapping is completed, the No. 3 turntable conveyor 207 rotates the pallet cargo in the opposite direction 90° to reset it.

[0106] S13, control the loading mechanism 200 to transport the pallet cargo to the film wrapping machine 216, control the film wrapping machine 216 to wrap a film around the periphery of the portion of the pallet cargo located above the pallet; specifically, control the No. 3 turntable conveyor 207 and the No. 5 conveyor 208 to transport the pallet cargo to the No. 4 turntable conveyor 209, manually stick the head of the film of the film wrapping machine 216 to the side of the pallet cargo, control the No. 4 turntable conveyor 209 to drive the pallet cargo to rotate, and start the film wrapping machine 216 at the same time so that the two cooperate to wrap the film around the side of the enclosure and cover plate of the pallet cargo.

[0107] S14, control the loading mechanism 200 to transport the pallet cargo to the first labeling machine, and control the first labeling machine to attach a first label to the cargo; specifically, the No. 4 turntable conveyor 209 transports the pallet cargo to the No. 6 conveyor 210, and then control the first labeling machine to print a first label and attach it to the side of the pallet cargo, the first label stores information corresponding to the pallet cargo, such as cargo weight, cargo type and other information.

[0108] S15, control the loading mechanism 200 to transport the pallet goods to the stacking machine 100. That is, control the No. 6 conveyor 210 and the No. 5 turntable conveyor 211 to transport the pallet goods to the stacking machine 100 for stacking.

[0109] Example 3

[0110] In the above embodiment, there may be only one type of pallet cargo, that is, the type of cargo stored in each pallet cargo is the same.

[0111] However, in actual production, the pallet cargo is often diverse, that is, the cargo stored in different pallets is of different types. When stacking pallet cargo, pallet cargo of the same type needs to be stacked together. Fig. 9As shown, in order to avoid that two consecutive pallet goods are not of the same type and affect the subsequent stacking, the loading mechanism 200 also includes a buffer area 219 connected between the No. 6 conveyor 210 and the No. 5 turntable conveyor 211, and the buffer area 219 includes at least one No. 6 turntable conveyor 220. The number of the No. 6 turntable conveyors 220 is, for example, 2-5, preferably 4, and the adjacent No. 6 turntable conveyors 220 are connected by a buffer transfer conveyor 221. At the same time, the No. 6 turntable conveyor 220 at the most upstream is connected to the No. 6 conveyor 210, and the No. 6 turntable conveyor 220 at the most downstream is connected to the No. 5 turntable conveyor 211 through a connecting conveyor 222. At the same time, a buffer conveyor 223 is provided on at least one side of each No. 6 turntable conveyor 220, and preferably, a buffer conveyor 223 is provided on both sides of the No. 6 turntable conveyor 220.

[0112] Correspondingly, S1 includes the following process: pairing two pallet cargoes of the same type according to the order in which the pallet cargoes enter the loading mechanism and the types of the pallet cargoes, and conveying the pallet cargoes to the stacking machine in the order in which the pairing is completed.

[0113] The following description will be made by taking six pallets of goods continuously transported by the loading mechanism 200 as an example. For the convenience of description, the six pallets of goods are defined as pallet goods No. 1 to pallet goods No. 6 in the order in which they enter the loading mechanism.

[0114] Assume that after the goods on pallet No. 1 to No. 6 are moved to the cover closing station in sequence, it is determined that the goods on pallet No. 1 and No. 3 are of the first category, the goods on pallet No. 2 and No. 4 are of the second category, and the goods on pallet No. 5 and No. 6 are of the third category; then the goods on pallet No. 1 and No. 3 are paired and they are the first pair to complete the pairing, the goods on pallet No. 2 and No. 4 are paired and they are the second pair to complete the pairing, and the goods on pallet No. 5 and No. 6 are paired and they are the third pair to complete the pairing. Therefore, the goods on pallet No. 1 are first transported to the stacking machine. Since the goods on pallet No. 2 are located between the goods on pallet No. 3 and the goods on pallet No. 1, it is necessary to first transfer the goods on pallet No. 2 to a cache conveyor in the cache area for cache. When the goods on pallet No. 3 are transported to the downstream of the cache conveyor where the goods on pallet No. 2 are located, the goods on pallet No. 2 are first transported to the stacking machine, and then the goods on pallet No. 4, the goods on pallet No. 5 and the goods on pallet No. 6 are transported to the stacking machine in sequence.

[0115] Assume that after the pallet goods No. 1 to No. 6 are moved to the cover closing station in sequence, it is determined that the pallet goods No. 1 and No. 4 are the first category, the pallet goods No. 2 and No. 3 are the second category, and the pallet goods No. 5 and No. 6 are the third category; then the pallet goods No. 1 and No. 4 are paired, but they are not the first pair to be paired but the second pair to be paired, the pallet goods No. 2 and No. 3 are paired and they are the first pair to be paired, and the pallet goods No. 5 and No. 6 are paired and they are the third pair to be paired. Since the pallet goods No. 1 is not the first to be paired, the pallet goods No. 1 is first transported to a cache conveyor in the cache area for cache, and then the pallet goods No. 2 and No. 3 are transported to the stacker. When the pallet goods No. 3 is transported to the downstream of the cache conveyor 223 where the pallet goods No. 1 is located, the pallet goods No. 1 is first transported to the stacker, and then the pallet goods No. 4, No. 5 and No. 6 are transported to the stacker in sequence.

[0116] Furthermore, in order to ensure that the pallet cargo entering the stacker 100 is of the same type, a second reading device is also provided on the side of the No. 5 turntable conveyor 211 or on the side of the loading conveyor connected between the No. 5 turntable conveyor 211 and the stacker 100. The second reading device is used to read the first label on the side of the pallet cargo, thereby determining the type of the pallet cargo.

[0117] Example 4

[0118] On the basis of the above embodiments, in this embodiment, an appearance detection mechanism 700 is further arranged between the stacking machine 100 and the storage transfer mechanism 600, and the appearance detection mechanism 700 includes a detection conveyor 710, and a detection frame (not shown in the figure) is arranged next to the detection conveyor 710, and 5 groups of through-shooting sensors (not shown in the figure) are arranged on the detection frame, and each group of symmetrical sensors forms a plane detection area, and the five plane detection areas are used to respectively detect the four side surfaces and the top surface of the stacked load-bearing pallets and the pallet goods on the load-bearing pallets. If any through-shooting sensor detects the load-bearing pallets and the pallet goods on the load-bearing pallets, it is confirmed that the appearance is unqualified and cannot be stored; on the contrary, if no through-shooting sensor detects the load-bearing pallets and the pallet goods on the load-bearing pallets, it is confirmed that the appearance is qualified and can be stored. At the same time, a No. 7 turntable conveyor 720 is also arranged between the detection conveyor 710 and the storage transfer mechanism 600, and a first exception handling conveyor 730 is arranged on the side of the No. 7 turntable conveyor 720. The No. 7 turntable conveyor 720 can be connected to the storage transfer mechanism 600 through an import conveyor 740.

[0119] Correspondingly, S6 includes:

[0120] S61, the receiving conveyor transports the load-bearing pallet and the pallet cargo on the load-bearing pallet to the shape detection mechanism 700 for shape detection;

[0121] S62: If it is determined that the appearance inspection fails, the load-bearing pallet and the pallet cargo on the load-bearing pallet are transferred to the first exception handling conveyor 730 for manual exception handling.

[0122] S63, if it is determined that the appearance inspection is qualified, the appearance inspection mechanism 700 is controlled to transfer the load-bearing pallet and the pallet goods on the load-bearing pallet to the storage transfer mechanism 600.

[0123] Furthermore, a labeling conveyor 750 is also arranged between the stacking machine 100 and the shape detection mechanism 700, and a second labeling machine 760 is arranged next to the labeling conveyor 750. The second labeling machine 760 is used to print a second label and attach the second label to the stacked pallet goods at the labeling conveyor. The second label stores information of the stacked pallet goods, and the information includes the weight of each pallet of goods, the type of goods, the location to be stored, etc., so as to facilitate the subsequent determination of the storage position and shipping position of each load-bearing pallet and the pallet goods on the load-bearing pallet by reading the information of the second label. For example, a reading device is arranged at the import conveyor 740 to read the second label, and then determine the storage position of each load-bearing pallet and the pallet goods on the load-bearing pallet. Furthermore, before printing the second label, the location where the load-bearing pallet at the labeling conveyor and the pallet cargo stacked thereon are to be stored is determined. When determining the location where the load-bearing pallet at the labeling conveyor and the pallet cargo stacked thereon are to be stored, they are stored in partitions according to the types of the pallet cargo on the load-bearing pallet, that is, each type of pallet cargo is stored in a row or column of shelves.

[0124] Example 5

[0125] This embodiment further adds a storage out structure based on the above embodiment. Fig.10 As shown, a set of in-and-out storage mechanisms 500 is also connected to an out-of-stock conveyor line 800 , and the out-of-stock conveyor line 800 and the in-stock transfer mechanism 600 are distributed on opposite sides of the shelf area 400 .

[0126] Further, the outbound conveyor line 800 includes a main conveyor line 801, and the side of the main conveyor line 801 is provided with an outbound transfer line 802 matching each of the inbound and outbound mechanisms 500. The main conveyor line 801 includes a row of eight turntable conveyors 803, each of which is connected to an outbound transfer line 802, and each of which is arranged on the side of an inbound and outbound mechanism 500. The outbound transfer line 802 includes a nine-turntable conveyor 804 and an output conveyor 805 connected to each other, and the nine-turntable conveyor 804 is used to receive the load-bearing pallet and the pallet goods on the load-bearing pallet conveyed by the inbound and outbound mechanism 500 and convey them to the output conveyor 805, and the output conveyor 805 is used to convey the load-bearing pallet and the pallet goods on the load-bearing pallet to the eight turntable conveyors 803.

[0127] Adjacent No. 8 turntable conveyors 803 are connected by a transfer conveyor 806. At the same time, the two downstream No. 8 turntable conveyors 803 are located outside the warehouse area and are respectively connected to a warehouse-out conveyor 807.

[0128] When leaving the warehouse, after any of the in-and-out mechanisms 500 takes a load-bearing pallet and the pallet cargo on the load-bearing pallet, the in-and-out mechanism 500 transports the load-bearing pallet and the pallet cargo on the load-bearing pallet it has taken out to the out-of-warehouse transfer line 802 next to it, and the out-of-warehouse transfer line 802 transfers the load-bearing pallet and the pallet cargo on the load-bearing pallet to the main conveyor line 801, and the main conveyor line 801 transports the load-bearing pallet and the pallet cargo on the load-bearing pallet to an out-of-warehouse conveyor 807, and finally a forklift picks up the two pallets of cargo stacked on the load-bearing pallet and loads them onto the truck.

[0129] Example 6

[0130] After the pallet cargo on the load-bearing pallet is taken away by a forklift, the load-bearing pallet needs to be recovered and transferred to the pallet supply mechanism 300 again.

[0131] Better, such as Fig.10 As shown, the two outbound conveyors 807 are connected to the pallet return conveyor line 900, and the pallet return conveyor line 900 includes a No. 10 turntable conveyor 901 connected to the two outbound conveyors 807 respectively, and the two No. 10 turntable conveyors 901 are connected via a first return conveyor line 902. The pallet return conveyor line 900 also includes a pallet stacker 903 connected to a No. 10 turntable conveyor 901, and the pallet stacker 903 is connected to the most downstream outbound transfer line 802 via a second return conveyor line 904. The second return conveyor line and the pallet stacker 903 are located between the main conveyor line 801 and the shelf area 400.

[0132] The storage transfer mechanism 600 is also connected to the pallet supply mechanism 300. Fig.11 As shown, the pallet supply mechanism 300 includes, in addition to the depalletizer 310, a third return conveyor line connected between the depalletizer 310 and the warehousing and loading transfer mechanism 600, and the third return conveyor line includes a first return conveyor 320, a turning conveyor 330 and a second return conveyor 340. The first return conveyor 320 is multi-segmented and connected in sequence. The conveying direction of the first return conveyor 320 is perpendicular to the second ground rail 610, and the conveying direction of the second return conveyor 340 is perpendicular to the conveying direction of the first return conveyor 320. The turning conveyor 330 is a known turntable conveyor, which will not be described here. It is used to transfer the load-bearing pallet from the first return conveyor 320 to the second return conveyor 340.

[0133] When the stacked pallet cargo is removed from the load-bearing pallet, the No. 10 turntable conveyor 901 transfers the load-bearing pallet to the pallet stacker 903, and the pallet stacker 903 stacks the load-bearing pallets together. When a certain number of pallets are stacked, the pallet stacker 903 transports the stacked load-bearing pallets to the most downstream outbound transfer line 802 through the second return conveyor line, and the most downstream outbound transfer line 802 transports the stacked load-bearing pallets to the connected entry and exit mechanism 500, and the entry and exit mechanism 500 transports the stacked load-bearing pallets to the entry and exit transfer mechanism 600, and the entry and exit transfer mechanism 600 transports the stacked load-bearing pallets to the third return conveyor line, and the third return conveyor line transports the stacked load-bearing pallets to the destacker 310 for destacking.

[0134] Example 7

[0135] Since stacked palletized cargo needs to be transported and if the palletized cargo is heavy, if turntable conveyors No. 1 to No. 10 adopt the structure of a conventional turntable conveyor, when the stacked palletized cargo moves to the output end of the transport component A01 of the turntable conveyor, the output end of the transport component A01 will fall due to the heavy weight, resulting in the load-bearing pallet and the palletized cargo on the load-bearing pallet being unable to be effectively transported to the downstream.

[0136] Therefore, it is better to Fig.12 As shown, the turntable conveyor includes a transport component A01, and the transport component A01 can be a known chain conveyor, roller conveyor, etc., which will not be described here. The transport component A01 can be rotatably arranged on a base A03 through a slewing bearing A02 at the middle position of its bottom. At the same time, the slewing bearing A02 is connected to a rotating drive component A04 that drives its rotation. The rotating drive component A04 includes a gear meshing with teeth on the outer periphery of the slewing bearing A02 and a motor that drives the gear to rotate.

[0137] As attached Fig.12 , Attachment Fig.13 As shown, a universal ball A05 is provided at the bottom of the transport component A01, and the universal ball A05 corresponds to the two ends of the transport component A01. The ball A06 of the universal ball A05 is arranged downward, and the top of the base A03 is provided with four bearing plates A07 distributed on the four sides of the base A03. In one position, the universal ball A05 is located on two bearing plates A07, so that the conveyor can be effectively supported. When the conveyor rotates 90°, the universal ball A05 is located on the other two bearing plates A07. In order to ensure that the ball A06 of the universal ball A05 can be smoothly moved to the bearing plate A07, chamfers A08 are formed at the two short edges on the top of each bearing plate A07 so that the universal ball A05 can be moved to the middle position of the bearing plate A07.

[0138] Example 8

[0139] This embodiment discloses a warehouse control system, including:

[0140] A loading unit, used to control the loading mechanism 200 to transport a pallet of goods to a receiving conveyor of a stacking machine 100;

[0141] A first lifting unit, used to control the stacking machine 100 to lift the pallet cargo to above the receiving conveyor;

[0142] The first stacking unit is used to control the loading mechanism 200 to transport another pallet of goods to the receiving conveyor, and then control the stacking machine 100 to place the lifted pallet of goods on the pallet of goods at the receiving conveyor;

[0143] The second lifting unit is used to control the stacking machine 100 to lift the two stacked pallets of goods to above the receiving conveyor;

[0144] The second stacking unit is used to control the pallet supply mechanism 300 to transport a load-bearing pallet to the receiving conveyor, and then control the stacking machine 100 to place the lifted pallet cargo on the load-bearing pallet at the receiving conveyor;

[0145] A transfer unit, used to control the receiving conveyor to transport the load-bearing pallet with pallet goods to the storage transfer mechanism 600;

[0146] The storage unit is used to control the storage and retrieval mechanism 500 to place the load-bearing pallet with pallet goods on its corresponding shelf.

[0147] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A storage control method, characterized in that: The steps include: S1, controlling the loading mechanism to convey a pallet of goods to a receiving conveyor of a stacking machine; the pallet of goods is composed of a pallet and goods placed on the pallet; S2, controlling the stacking machine to lift the pallet cargo to above the receiving conveyor; S3, controlling the loading mechanism to convey another pallet of goods to the receiving conveyor, and then controlling the stacking machine to place the lifted pallet of goods on the pallet of goods at the receiving conveyor; S4, controlling the stacking machine to lift the two stacked pallets of goods to above the receiving conveyor; S5, controlling the pallet supply mechanism to convey a load-bearing pallet to the receiving conveyor, and then controlling the stacking machine to place the lifted pallet cargo on the load-bearing pallet at the receiving conveyor; S6, controlling the receiving conveyor to convey the load-bearing pallet with the pallet goods to the storage transfer mechanism; S7, controlling the storage transfer mechanism to transport the load-bearing pallet with the pallet goods to its corresponding storage entry and exit mechanism; S8, controlling the in-and-out storage mechanism to place the load-bearing pallet with the pallet goods on its corresponding shelf; The S1 includes the following process: S11, controlling the loading mechanism to transport the pallet cargo thereon to the first strapping machine and controlling the first strapping machine to tie a strap on the pallet cargo; S12, controlling the loading mechanism to transport the pallet cargo to the second strapping machine for strapping, wherein the straps strapped by the second strapping machine and the first strapping machine on the pallet cargo are distributed in a tic-tac-toe pattern; S13, controlling the loading mechanism to transport the pallet cargo to the film wrapping machine, and controlling the film wrapping machine to wrap a film around the periphery of the portion of the pallet cargo located above the pallet; S14, controlling the loading mechanism to transport the pallet cargo to the first labeling machine, and controlling the first labeling machine to attach a first label to the cargo; S15, controlling the loading mechanism to transport the pallet cargo to the stacking machine; The S6 includes: S61, the receiving conveyor conveys the load-bearing pallet and the pallet cargo on the load-bearing pallet to the shape detection mechanism for shape detection; S62, if it is determined that the appearance inspection fails, the load-bearing pallet and the pallet cargo on the load-bearing pallet are transferred to the first abnormality handling conveyor; S63, if it is determined that the appearance inspection is qualified, the load-bearing pallet and the pallet goods on the load-bearing pallet are transferred to the storage transfer mechanism.

2. The storage control method according to claim 1, characterized in that: The loading mechanism comprises a No. 2 conveyor, a lid closing station is arranged beside the No. 2 conveyor, and a first reading device is arranged at the lid closing station.

3. The storage control method according to claim 1, characterized in that: The loading mechanism includes conveyor No. 1, conveyor No. 2, turntable conveyor No. 1, conveyor No. 3, turntable conveyor No. 2, conveyor No. 4, turntable conveyor No. 3, conveyor No. 5, turntable conveyor No. 4, conveyor No. 6, and turntable conveyor No. 5, which are arranged in sequence. A buffer area is arranged between conveyor No. 6 and turntable conveyor No.

5.

4. The storage control method according to claim 1, characterized in that: In S6, the receiving conveyor is first controlled to convey the load-bearing pallet stacked with pallet goods to the labeling conveyor, and the second labeling machine next to the labeling conveyor is controlled to attach a second label to the side of the pallet goods on the load-bearing pallet. The second label stores the locations where the load-bearing pallet and the pallet goods on the load-bearing pallet are to be stored, and the pallet goods are stored in partitions according to the types of pallet goods.

5. The storage control method according to any one of claims 1 to 4, characterized in that: The in-and-out storage mechanism includes an RGV transfer vehicle located at each in-and-out storage channel and a transfer conveyor line connected between each RGV transfer vehicle and the in-stock transfer mechanism. The RGV transfer vehicle is connected to the out-stock conveyor line, and the out-stock conveyor line and the in-stock transfer mechanism are distributed on opposite sides of the shelf area.

6. The storage control method according to claim 5, characterized in that: The outbound conveyor line includes a main conveyor line, and a side of the main conveyor line is provided with an outbound transfer line matching each of the RGV transfer vehicles, and the outbound transfer line is used to transfer the load-bearing pallets and pallet goods transferred thereon by the in-and-out mechanism to the main conveyor line.

7. The storage control method according to claim 5, characterized in that: The outbound conveyor line is connected to the pallet return conveyor line, the pallet return conveyor line includes a pallet stacker, the pallet return conveyor line is docked with an inbound and outbound mechanism, and the inbound transfer mechanism is also connected to the pallet supply mechanism.

8. Warehouse control system, characterized in that, include: A loading unit is used to control the loading mechanism to transport a pallet of goods to a receiving conveyor of a stacking machine; the pallet of goods is composed of a pallet and goods placed on the pallet; A first lifting unit, used for controlling the stacking machine to lift the pallet cargo to above the receiving conveyor; The first stacking unit is used to control the loading mechanism to transport another pallet of goods to the receiving conveyor, and then control the stacking machine to place the lifted pallet of goods on the pallet of goods at the receiving conveyor; The second lifting unit is used to control the stacking machine to lift the two stacked pallets of goods to above the receiving conveyor; The second stacking unit is used to control the pallet supply mechanism to convey a load-bearing pallet to the receiving conveyor, and then control the stacking machine to place the lifted pallet cargo on the load-bearing pallet at the receiving conveyor; The material discharging unit is used to control the receiving conveyor to transport the load-bearing pallet with the pallet goods to the storage transfer mechanism; A transfer unit, used to control the storage transfer mechanism to transport the load-bearing pallet with pallet goods to its corresponding storage entry and exit mechanism; The storage unit is used to control the storage and retrieval mechanism to place the load-bearing pallet with pallet goods on its corresponding shelf; The loading unit is also used for: Controlling the loading mechanism to transport the pallet cargo thereon to the first strapping machine and controlling the first strapping machine to tie the straps on the pallet cargo; Controlling the loading mechanism to transport the pallet cargo to the second strapping machine for strapping, wherein the straps strapped by the second strapping machine and the first strapping machine on the pallet cargo are distributed in a tic-tac-toe pattern; Controlling the loading mechanism to transport the pallet cargo to the film wrapping machine, and controlling the film wrapping machine to wrap a film around the periphery of the portion of the pallet cargo located above the pallet; Controlling a loading mechanism to transport the pallet cargo to a first labeling machine, and controlling the first labeling machine to affix a first label to the cargo; and controlling a loading mechanism to transport the pallet cargo to the stacking machine; The discharging unit is also used to control the receiving conveyor to transport the load-bearing pallet and the pallet cargo on the load-bearing pallet to the appearance detection mechanism for appearance detection; if it is determined that the appearance detection is unqualified, the load-bearing pallet and the pallet cargo on the load-bearing pallet are transferred to the first abnormal handling conveyor; if it is determined that the appearance detection is qualified, the load-bearing pallet and the pallet cargo on the load-bearing pallet are transferred to the warehousing transfer mechanism.

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