Packaging warehousing control method and system

Abstract

The present invention discloses a packaging warehousing control method and system, wherein the control method of the present invention enables the AGV trolley to first receive the split pallet at the pallet depalletizer, and then move to the box supply mechanism to receive the box. The box and the pallet can be moved to the packing conveyor line by the AGV trolley for automatic packing by the loading robot, which can meet the requirements of packing on the pallet. After packing, the pallet and the box are transferred to the packaging conveyor line by the AGV trolley, so that the pallet and the box are tied together at the first binding mechanism and the second binding mechanism, which can avoid the relative movement of the pallet and the box causing the center of gravity to change, and is conducive to the subsequent stable warehousing. After binding, the box can be reinforced by wrapping the film to avoid the deformation of the box affecting the stability of the binding, and also create the prerequisite for stacking two packaged goods together for output during subsequent outbound delivery. At the same time, the AGV trolley does not need to perform the warehousing action, which can effectively reduce the control difficulty of the AGV trolley.

Description

Technical Field

[0001] The invention relates to automation equipment and control thereof, in particular to a packaging warehousing control method and system. Background Art

[0002] In the production and processing of enterprises, it is often necessary to load goods into boxes and then store the boxes in warehouses.

[0003] The invention patent application with application publication number CN114415684A discloses a method and system for transporting corrugated paper packaging cartons based on AGV positioning, which uses an AGV with a lifting gripping arm to automatically grab, lift and store the cartons. This method cannot meet the requirements of placing the cartons on a pallet and storing the pallets and cartons together.

[0004] In order to meet the above requirements, the invention patent application with application publication number CN111099238A discloses an intelligent AGV pallet supply and storage system, which places materials on pallets and then uses AGV to move the pallets loaded with goods to the warehouse area for storage.

[0005] In this structure, the pallet and the materials and boxes on it are not fixed together. During transportation and handling, there is relative movement between the materials, boxes and pallets, which causes the overall center of gravity to tilt, affecting the stable entry and exit of the warehouse.

[0006] At the same time, this structure cannot realize the packing operation of goods on the pallet. Summary of the invention

[0007] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a packaging warehousing control method and system.

[0008] The purpose of the present invention is achieved through the following technical solutions:

[0009] The packaging warehousing control method includes the following steps:

[0010] S1, controlling the AGV to move to the pallet depalletizer and then controlling the pallet depalletizer to depalletize a pallet and transfer it to the AGV;

[0011] S2, controlling the AGV to move to the box supply mechanism and then controlling the box supply mechanism to deliver a box to the pallet on the AGV;

[0012] S3, controlling the AGV to move to the box conveyor line and conveying the pallet on it to the box conveyor line;

[0013] S4, controlling the loading robot to grab the goods from the storage platform and load them into the box on the packing conveyor line, and after determining that the amount of goods loaded in the box meets the requirements, controlling the packing conveyor line to transport the pallet on the box to the AGV car docked with it;

[0014] S5, controlling the AGV to move to the packaging conveyor line and moving the pallet on it and the box covered on the pallet to the packaging conveyor line;

[0015] S6, controlling the packaging conveyor line to convey the pallet to the first binding mechanism, controlling the first binding mechanism to bind the pallet and the box thereon together through a binding tie; then controlling the packaging conveyor line to move the pallet to the second binding mechanism, controlling the second binding mechanism to bind the pallet and the box thereon together through a binding tie, and the binding ties for the two bindings are distributed in a tic-tac-toe shape;

[0016] S7, controlling the packaging conveyor line to convey the pallet and box body tied with cable ties to a film wrapping mechanism, and then controlling the film wrapping mechanism to wrap a film on the box body on the pallet to obtain packaged goods;

[0017] S8, controlling the packaging conveyor line to move the packaged goods to the first labeling machine, and then controlling the first labeling machine to label the packaged goods;

[0018] S9, controlling the packaging conveyor line to convey the packaged goods to the first RGV trolley docked therewith; then, controlling the first RGV trolley to convey the packaged goods to the storage conveyor line of the corresponding shelf, and controlling the storage conveyor line to convey the packaged goods to the second RGV trolley;

[0019] S10, controlling the second RGV to move to the shelf corresponding to the packaged goods and placing the packaged goods at the corresponding cargo position on the shelf.

[0020] Preferably, the box supply mechanism comprises a first weighing conveyor, and after the box is weighed at the first weighing conveyor, a second labeling machine on the side of the first weighing conveyor is controlled to label the box, and the label stores weight information of the box.

[0021] Preferably, S4 includes:

[0022] S41, controlling the loading robot to take a piece of EPE from the EPE storage and place it in the box;

[0023] S42, controlling the loading robot to grab a group of goods and place them into the box, wherein the group of goods can cover a layer of the box;

[0024] S43, repeat S41 and S42 until the amount of goods in the box meets the requirements.

[0025] Preferably, in S42, after controlling the loading robot to grab a group of goods, determine whether the quantity of the group of goods grabbed by the loading robot is accurate based on the weight measured by the storage table. If so, place the group of goods into the box; if not, place the group of goods into the box and then issue an alarm.

[0026] Preferably, after S5 and before S6, the packaging conveyor line is controlled to move the pallet thereon to the second weighing conveyor, the reading device is controlled to read the label on the box at the second weighing conveyor, the weight measured by the second weighing conveyor and the shelf and cargo position where the pallet and carton at the second weighing conveyor need to be stored are obtained, and the weight measured by the second weighing conveyor and the shelf and cargo position where the pallet and carton at the second weighing conveyor need to be stored are bound to the label on the box.

[0027] Preferably, before or after S8, the packaging conveyor line is controlled to move the packaged goods to the appearance detection mechanism, and whether the appearance of the packaged goods is abnormal is determined according to the signal of the appearance detection mechanism; if it is determined that the appearance of the packaged goods is abnormal, the packaging conveyor line is controlled to transfer the packaged goods to the second abnormal handling conveyor line via the first RGV trolley.

[0028] Preferably, the inbound conveyor line is arranged on one side of each second RGV trolley, and an outbound conveyor line is arranged on the other side of the inbound RGV trolley, and an outbound transfer conveyor line is arranged between adjacent inbound conveyor lines and outbound conveyor lines. The inbound conveyor line and outbound conveyor line can convey the packaged goods thereon to the outbound transfer conveyor line on their side.

[0029] Preferably, the outbound conveyor line farthest from the packaging conveyor line includes two turning conveyors, a transfer conveyor is arranged between the two turning conveyors, one side of the two turning conveyors is respectively connected to the output conveyor, and the other side of the turning conveyor close to the first RGV trolley is connected to the outbound transfer conveyor line, and an identification mechanism for reading the label on the packaged goods is arranged next to the outbound transfer conveyor line.

[0030] Preferably, the two output conveyors are respectively connected to a palletizer, and when shipping, the palletizer is controlled to stack two packaged goods together before outputting.

[0031] Packaging warehousing control system, including:

[0032] A pallet loading unit, used to control the AGV trolley to move to the pallet depalletizer and then control the pallet depalletizer to depalletize a pallet and transfer it to the AGV trolley;

[0033] A box loading unit, used to control the AGV trolley to move to the box supply mechanism and then control the box supply mechanism to transport a box to the pallet on the AGV trolley;

[0034] A packing docking unit, used to control the AGV to move to the packing conveyor line and then transport the pallet on it to the packing conveyor line;

[0035] The packing and unloading unit is used to control the loading robot to load the goods into the box on the packing conveyor line, and after determining that the amount of goods loaded in the box meets the requirements, control the packing conveyor line to transport the pallet on the box to the AGV trolley docked with it;

[0036] A packaging docking unit, used to control the AGV to move to the packaging conveyor line and move the pallet on it and the box covered on the pallet to the packaging conveyor line;

[0037] The tying unit is used to control the packaging conveyor line to convey the pallet to the first tying mechanism, and control the first tying mechanism to tie the pallet and the box thereon together by means of a cable tie; then control the packaging conveyor line to move the pallet to the second tying mechanism, and control the second tying mechanism to tie the pallet and the box thereon together by means of a cable tie, and the cable ties of the two tyings are distributed in a tic-tac-toe shape;

[0038] A film wrapping unit, used to control the packaging conveyor line to convey the pallet and box body tied with cable ties to the film wrapping mechanism, and then control the film wrapping mechanism to wrap a film on the box body on the pallet to obtain packaged goods;

[0039] A labeling unit, used for controlling the packaging conveyor line to move the packaged goods to the first labeling machine; and then controlling the first labeling machine to label the packaged goods;

[0040] The RGV transfer unit is used to control the packaging conveyor line to convey the packaged goods to the first RGV trolley docked therewith; then, control the first RGV trolley to convey the packaged goods to the storage conveyor line of the corresponding shelf, and control the storage conveyor line to convey the packaged goods to the second RGV trolley;

[0041] The warehousing unit is used to control the second RGV to move to the shelf corresponding to the packaged goods and place the packaged goods on the shelf.

[0042] The advantages of the technical solution of the present invention are mainly reflected in:

[0043] The method of the present invention enables the AGV trolley to first receive the split pallet at the pallet depalletizer, and then move to the box supply mechanism to transport the box to the pallet, so that the pallet with the box can be moved to the packing conveyor line by the AGV trolley and automatically packed by the loading robot, which can meet the requirements of packing on the pallet. After packing, the pallet and the box are transferred to the packaging conveyor line by the AGV trolley, so that the pallet and the box are tied together at the first binding mechanism and the second binding mechanism to fix the two, which can effectively ensure that the pallet and the box will not have obvious relative movement during transportation and handling, resulting in a change in the center of gravity, which is conducive to subsequent stable storage. After binding, the box can be reinforced by wrapping the film to prevent the box from deforming and affecting the stability of the binding, and also create the prerequisite for stacking two packaged goods together for output during subsequent outbound storage. At the same time, the AGV trolley does not need to perform the storage action, which can effectively reduce the control difficulty of the AGV trolley.

[0044] The box supply mechanism of the present invention can weigh the box and attach a label to the box to store the weight information of the box, thereby providing a basic condition for subsequently determining whether the box and the goods match and determining the total weight of the goods loaded in the box.

[0045] The cargo platform of the present invention has a weighing function, so it can determine whether all the cargo on it has been taken away after being grabbed by the loading robot, thereby ensuring the reliability of packaging and loading. At the same time, it can determine whether the cargo at the sorting conveyor line has been effectively transferred to the cargo platform without the need to set a weighing sensor at the sorting conveyor line.

[0046] The present invention sets a second weighing conveyor at the packaging conveyor line to weigh, read labels and obtain the shelves and cargo positions where the pallets and boxes are to be stored, so that the current storage positions of the pallets and boxes can be accurately determined, and the goods can be classified and stored according to the types of goods stored in the boxes. Moreover, by weighing the data and reading the data obtained by the labels, the total weight of the goods stored in each box can be measured by only one weighing conveyor when there are multiple boxing conveyor lines. At the same time, it can be determined whether there is an abnormality based on the total weight of the goods in the box, and it can be processed when it is abnormal, effectively ensuring the accuracy of packaging.

[0047] The present invention determines whether the size of the packaged goods meets the requirements through appearance detection after wrapping the film, thereby ensuring that the packaged goods can be effectively placed on the shelf. At the same time, in the event of an abnormality, the abnormal packaged goods can be transferred to the second abnormal processing conveyor line through the first RGV trolley, without the need to set up an additional lifting and transferring machine or turntable conveyor, which is conducive to simplifying the structure and improving the utilization rate of the first RGV trolley.

[0048] The outbound structure of the present invention does not need to use the first RGV trolley to realize the outbound delivery of packaged goods, which can avoid interference with the inbound and outbound processes to the greatest extent, and is conducive to efficient inbound and outbound operations with a first RGV trolley.

[0049] The warehouse-out structure of the present invention uses a stacker to stack two packaged goods and then output them, which can effectively facilitate the loading operation and reduce the difficulty of forklift loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a schematic diagram of an area to which an AGV trolley moves in the packaging storage system of the present invention;

[0051] Figure 2 It is a partial schematic diagram of the storage and outbound areas in the packaging storage system of the present invention;

[0052] Figure 3 is a top view of the box supply mechanism of the present invention;

[0053] Figure 4 1 is a top view of the panel box supply mechanism of the present invention

[0054] Figure 5 is a perspective view of a loading robot of the present invention;

[0055] Figure 6 is a bottom view of the first grab assembly of the present invention;

[0056] Figure 7 is a top view of the supply mechanism of the present invention;

[0057] Figure 8 is a three-dimensional diagram of the supply mechanism of the present invention;

[0058] Fig. 9 is a side view of the supply mechanism of the present invention;

[0059] Fig.10 It is a partial top view of the packaging conveyor line and the first RGV trolley area of ​​the present invention;

[0060] Fig.11 is a perspective view of a rotary conveyor of the present invention;

[0061] Fig.12 yes Fig.11 A partial enlarged view of

[0062] Fig.13 is a cross-sectional view of a rotary conveyor of the present invention;

[0063] Fig.14 It is a partial top view of the first RGV trolley, the inbound conveyor line, the outbound conveyor line, the second RGV trolley and the shelf of the present invention;

[0064] Fig.15 is a partial top view of the second RGV trolley of the present invention;

[0065] Fig.16 is a top view of the forking mechanism of the present invention;

[0066] Fig.17 It is a side view of the turntable and telescopic fork assembly of the fork-taking mechanism of the present invention;

[0067] Fig.18 It is a process schematic diagram of the present invention;

[0068] Fig.19 It is a schematic diagram of the most downstream outbound conveyor line area of ​​the present invention. DETAILED DESCRIPTION

[0069] 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.

[0070] 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.

[0071] The packaging storage control method disclosed by the present invention is described below in conjunction with the accompanying drawings. The packaging storage control method is based on a packaging storage system, as shown in the attached drawings. Figure 1 , Attachment Figure 2 As shown, the packaging storage system includes:

[0072] A pallet depalletizer 100 is used to depalletize the stacked pallets and output them one by one;

[0073] The box supply mechanism 200 is used to output empty boxes to the tray on the AGV trolley 300;

[0074] The box conveyor line 400 is used to receive and convey the pallets with boxes;

[0075] A loading robot 500 is used to load the goods X into the box on the box conveying line 400;

[0076] A packaging conveyor line 600, for conveying a pallet with boxes thereon;

[0077] The AGV trolley 300 includes a receiving conveyor, which can move along a predetermined path 310 to a position where the receiving conveyor docks with the pallet depalletizer 100, the box supply mechanism 200, the box packing conveyor line 400, and the packaging conveyor line 600;

[0078] The first tying mechanism 700 and the second tying mechanism 800 are sequentially arranged at the packaging conveyor line 600, and are used to tie belts on the pallets and boxes on the packaging conveyor line 600;

[0079] The film wrapping mechanism 900 is arranged at the packaging conveyor line 600 and is located downstream of the second tying mechanism 800, and is used to wrap a film around the pallet and the box on the packaging conveyor line 600 to obtain packaged goods;

[0080] The first labeling machine A00 is arranged on the packaging conveying line 600 and is located downstream of the film wrapping mechanism 900, and is used to attach labels to the packaged goods;

[0081] The first RGV trolley B00 is connected to the output end of the packaging conveyor line 600, and is used to receive the packaged goods output by the packaging conveyor line 600 and drive the packaged goods to move horizontally;

[0082] Multiple rows of shelves C00 are arranged next to the first RGV trolley B00 for storing packaged goods, and aisles are formed between the shelves C00;

[0083] The inbound conveyor line D00 is set between the shelf C00 and the first RGV trolley B00 and is located next to each channel;

[0084] The second RGV trolley E00 is arranged at each channel, and is used to receive the packaged goods output by the inbound conveyor line D00 and place the packaged goods on its corresponding shelf C00.

[0085] Specifically, the pallet depalletizer 100 can be any known feasible depalletizer, such as the structure disclosed in patents with authorization announcement numbers CN106115275B, CN216189315U, etc., which will not be described in detail here. In addition, the pallet depalletizer 100 is preferably two, which are arranged side by side.

[0086] As attached Figure 3As shown, the box supply mechanism 200 includes a box conveyor line 201, the output end of the box conveyor line 201 is connected to a weighing conveyor 202, a second labeling machine 203 is arranged next to the weighing conveyor 202, and the output end of the weighing conveyor 202 is connected to a box buffer conveyor, the box buffer conveyor includes a plurality of box conveying sections 204 with independent power sources, and each box conveying section 204 is provided with a sensor to detect whether there is a box on it. The box can be a conventional carton, plastic box, etc., and the box is placed on the box conveyor line 201 manually.

[0087] As attached Figure 1 , Attachment Figure 4 As shown, the packaging storage system also includes a panel box supply mechanism F00, which is based on the box supply mechanism 200 and is further provided with a panel box depalletizer F01 at the input end. The panel box is used to split the stacked and folded panel boxes and transport them downstream. The separated panel boxes are manually removed from the cover and the panels are unfolded and placed on the panel box pallet. At this time, the AGV trolley 300 does not need to go to the pallet depalletizer 100 to get the pallet, but directly goes to the panel box supply mechanism F00 to receive the panel box pallet and the panels on it.

[0088] As attached Figure 1 As shown, a pearl cotton storage conveyor E00 is also arranged next to the box supply mechanism 200 or the panel box supply mechanism F00, and its conveying direction is parallel to the conveying direction of the box conveyor line 201. The AGV trolley 300 can move to the receiving conveyor and dock with the output end of the pearl cotton storage conveyor E00, so as to receive the pearl cotton storage output by the pearl cotton storage conveyor E00. Multiple layers of pearl cotton are stacked in the pearl cotton storage, and its top is open so that the loading robot 500 can take the pearl cotton.

[0089] The packing conveyor line 400 can be a known belt conveyor, chain conveyor, roller conveyor, etc., and its conveying direction is perpendicular to the conveying direction of the box conveyor line 201. The number of the packing conveyor lines 400 can be designed as needed, for example, the packing conveyor lines 400 are at least 2 and arranged side by side or in parallel. In addition, a code reader (not shown in the figure) is provided at each packing conveyor line 400 to read the label on the box entering thereon, so as to determine whether the box corresponds to the goods X and bind the packing conveyor line 400 where the box is located with the label.

[0090] As attached Figure 5 , Attachment Figure 6As shown, the loading robot 500 includes a first moving component 501 and a first grabbing component 502 driven by the first moving component 501. The first moving component 501 is, for example, a known 6-axis robot or a 4-axis robot, etc., which is not limited here. The first grabbing component 502 includes a mounting seat 503, on which a plurality of rows and columns of first grippers 504 are arranged. The number of rows and columns of the first grippers 504 can be designed as required. Preferably, the number of the first grippers 504 is sufficient to be able to grab a group of goods X at a time, and the group of goods X can cover a layer of the box. The first grippers 504 can be known pneumatic grippers, which are not described here.

[0091] As attached Figure 5 , Attachment Figure 6 As shown, a group of suction cup assemblies 505 located between the first clamping jaws 504 are also provided at the bottom of the mounting base 503. The suction cup assembly 505 is used to absorb the pearl cotton. The suction cup assembly 505 includes a telescopic cylinder 506, and the telescopic cylinder 506 is connected to the suction cup 507. When the pearl cotton needs to be absorbed, the cylinder shaft of the telescopic cylinder 506 extends to drive the suction cup to move to the bottom of the first clamping jaw 504; when the pearl cotton does not need to be absorbed, the cylinder shaft of the telescopic cylinder 506 retracts to move the suction cup to the top of the clamping portion of the first clamping jaw 504.

[0092] For easy packing, please Figure 5 As shown, a telescopic enclosure mechanism is also provided on the mounting seat 503 and is located outside the opposite sides of a group of the first clamping jaws. The telescopic enclosure mechanism includes a telescopic cylinder 508 and a side block 509 driven by the telescopic cylinder to move up and down. When the first clamping jaw does not grab the cargo, the cylinder shaft of the telescopic cylinder 508 retracts. When the first clamping jaw grabs the cargo, the cylinder shaft of the telescopic cylinder 508 extends, thereby limiting the grabbed cargo. Furthermore, the telescopic cylinder 508 is also provided on a translation cylinder 510, and the translation cylinder drives the telescopic cylinder to translate.

[0093] As attached Figure 1 , Attachment Figure 7As shown, the loading robot 500 grabs the goods X from the inventory platform G00, and the inventory platform G00 includes a pallet G01, and the pallet G01 is used to place the group of goods X. The pallet G01 is provided with a No. 1 enclosure G02 and a No. 2 enclosure G03 distributed in an L shape, and the pallet G01 is also provided with a No. 1 push plate G04 and a No. 2 push plate G05 corresponding to the No. 1 enclosure and the No. 2 enclosure, respectively. The No. 1 push plate G04 is connected to a first driving mechanism (not shown in the figure) that drives it to move horizontally and linearly to adjust the distance between it and the No. 1 enclosure G02, and the No. 2 push plate G05 is connected to a second driving mechanism (not shown in the figure) that drives it to move horizontally and linearly to adjust the distance between it and the No. 2 enclosure G03. When a group of goods X is placed on the pallet G01, the push plate No. 1 G04 moves toward the direction of the enclosure No. 1 G02 to a predetermined position and then resets. At the same time, the push plate No. 2 G05 moves toward the direction of the enclosure No. 2 G03 to a predetermined position and then resets. In this way, the goods X located between the push plate No. 1 G04, the enclosure No. 1 G02, the push plate No. 2 G05 and the enclosure No. 2 G03 can be gathered together so that the first grabbing component 502 can effectively grab all the goods X.

[0094] Furthermore, the pallet G01 is arranged on a weighing sensor (not shown in the figure), so that after the first grabbing component 502 grabs, the weight measured by the weighing sensor on which the pallet is located is significantly greater than the weight measured when there is no cargo on the pallet, then it can be determined that there is a missed grab situation. At this time, after the grabbed cargo X is placed in the box, an alarm is required to remind manual processing.

[0095] As attached Figure 7 , Attachment Figure 8 As shown, a sorting conveyor line H00 is provided on one side of the inventory station G00. The sorting conveyor line H00 can be a known belt conveyor. The conveying direction of the sorting conveyor line H00 is parallel to the boxing conveyor line 400. At the same time, the length of the sorting conveyor line H00 satisfies that multiple goods X can be input thereon at the same time, and a stopper H01 is provided at the output end of the sorting conveyor line H00 to prevent the goods X from being output outside the sorting conveyor line H00, and at the same time, the goods X conveyed to the sorting conveyor line H00 can be tightly attached to facilitate simultaneous grabbing.

[0096] As attached Figure 7 -Attached Fig. 9 As shown, a second grabbing assembly i00 is arranged above the sorting conveyor line H00, and the second grabbing assembly i00 includes a row of second grippers i01 corresponding one by one to the goods X closely attached to the sorting conveyor line H00, and a group of the second grippers i01 can be known pneumatic grippers, which are arranged on a horizontal carrier i02, and the horizontal carrier i02 is connected to the second moving assembly J00.

[0097] As attached Figure 7 -Attached Fig. 9 As shown, the second moving assembly J00 includes a translation frame J01, which is slidably arranged on a translation rail J02, and the translation rail J02 extends horizontally along a conveying direction perpendicular to the sorting conveyor line H00. The translation frame J01 is connected to a translation drive mechanism J03 that drives it to slide along the translation rail J02. The translation drive mechanism J03 can be a known linear module, a linear motor, etc., or can be a structure composed of a motor and a lead screw, or a structure composed of a motor and a gear and a rack, which is not limited here. The second moving assembly J00 also includes a group of telescopic rods J04 arranged on the translation frame J01, and the telescopic rods J04 extend in a vertical direction and move up and down relative to the translation frame J01. The lower end of the telescopic rods J04 is connected to the horizontal carrier plate i02, and the horizontal carrier plate i02 is also connected to the lifter J05 on the translation frame J01. The lifter J05 can be a cylinder, a hydraulic cylinder, or other device fixed to the translation frame J01. After the second grabbing component i00 grabs the goods on the sorting table and puts them on the pallet, it can be determined whether the quantity of the goods grabbed by the second grabbing component i00 meets the requirements based on the weight measured at this time.

[0098] As attached Figure 7 -Attached Fig. 9 As shown, there are two sorting conveyor lines H00, which are arranged side by side. A storage table G00 is arranged on the outside of each sorting conveyor line H00, and the second grabbing component i00 can transfer the goods X on the two sorting conveyor lines H00 to the storage tables G00 on their outsides respectively.

[0099] Correspondingly, the input ends of the two sorting conveyor lines H00 are provided with selection conveyor lines K00, and the conveying direction of the selection conveyor line K00 is consistent with the conveying direction of the sorting conveyor line H00. The selection conveyor line K00 can be a known belt conveyor. At the same time, the selection conveyor line K00 is arranged on a translation component L00, and the translation component L00 drives the selection conveyor line K00 to translate along a conveying direction perpendicular to the sorting conveyor line, so that the selection conveyor can be connected with the two sorting conveyor lines H00 respectively.

[0100] Furthermore, in order to distinguish goods X of different weights, the selection conveyor line K00 is a known weighing conveyor, and a goods X detection sensor is provided at the input end of the selection conveyor line K00. The goods X detection sensor is, for example, a through-beam sensor 60i, a proximity sensor, etc. When goods X are completely conveyed to the selection conveyor line K00, the control device obtains the weight weighed by the selection conveyor line K00 and determines which sorting conveyor line H00 the selection conveyor line K00 is to be docked with based on the obtained weight.

[0101] The input end of the selection conveyor line K00 is connected to a loading conveyor line M00, and the loading conveyor line M00 is used to transport the goods X one by one to the selection conveyor line K00. A loading robot can be set at the input end of the loading conveyor line M00 to place the goods X one by one to the loading conveyor line M00, or the loading can be done manually.

[0102] As attached Figure 1 As shown, a loading conveyor line M00, a selection conveyor line K00, two sorting conveyor lines H00, two inventory tables G00, a second grabbing component i00 and a second moving component J00 constitute a supply mechanism. The supply mechanism can be one or more, and the multiple supply mechanisms are distributed on the side of the box supply mechanism 200 along the conveying direction of the box supply mechanism 200. Each supply mechanism cooperates with at least two boxing conveyor lines 400 and one pearl cotton conveyor line N00. The pearl cotton conveyor line N00 is located between the two boxing conveyor lines 400 and their conveying directions are parallel.

[0103] In order to make full use of the loading robot 500, the loading robot 500 can be set on a mobile frame 510. The mobile frame is, for example, an RGV cart or an AGV cart, etc., which is not limited here. The mobile frame drives the loading robot 500 to move along the arrangement direction of the supply mechanism so that it can perform packing operations for multiple supply mechanisms.

[0104] The AGV trolley 300 can adopt a known magnetic strip navigation or laser navigation trolley structure. The receiving conveyor on the AGV trolley 300 can be a known roller conveyor, chain plate conveyor or other conveyor that can bear sufficient load, which is not limited here. A detection sensor can be set at one end of the receiving conveyor to detect whether there is a pallet on it. At the same time, the number of the AGV trolleys 300 can be set as needed, which is not limited here.

[0105] As attached Figure 1As shown, the packaging storage system further includes at least one lid closing conveyor line O00, and there may be at least two lid closing conveyor lines O00, which are arranged side by side. The AGV trolley 300 can move to any of the lid closing conveyor lines O00 and dock the receiving conveyor with the lid closing conveyor line O00, so that after the AGV trolley 300 receives the box filled with goods X, it moves to the lid closing conveyor line O00 for lid closing, which is to close the top of the box or cover the cover of the panel box on the panel manually or by automated equipment. After the lid closing is completed, the AGV trolley 300 moves to the lid closing conveyor line O00 to receive the pallet and the lidded box on it and moves to the packaging conveyor line 600. Of course, the lid closing conveyor line O00 is not necessary. The AGV trolley 300 can directly move to the designated position and cover the box manually or by automated equipment, or it can be lidded at the box packing conveyor line.

[0106] As attached Figure 1 As shown, the overall extension direction of the packaging conveyor line 600 is perpendicular to the conveying direction of the box supply mechanism 200 and the gap is located beside the output end of the box supply mechanism. Fig.10 The packaging conveyor line 600 at least includes a first conveyor 601, a second weighing conveyor 602, a first turntable conveyor 603, a second conveyor 604, a second turntable conveyor 605, a third conveyor 606, a third turntable conveyor 607, a fourth conveyor 608, a fourth turntable conveyor 609, a fifth conveyor 610, and a sixth conveyor 611. The structures of the first turntable conveyor 603, the second turntable conveyor 605, the third turntable conveyor 607, and the fourth turntable conveyor 609 can be the same or different, and they can be the structures disclosed in the patents with authorization announcement numbers CN208453794U, CN217457379U, etc.

[0107] Preferably, the first turntable conveyor 603, the second turntable conveyor 605, the third turntable conveyor 607 and the fourth turntable conveyor 609 are rotary conveyors with the same structure, as shown in the attached Fig.11 As shown, the rotary conveyor includes a base 60a, on which an external gear slewing bearing 60b is disposed, and on which a conveying assembly 60c is disposed. The conveying assembly 60c may be a known chain plate conveyor or roller conveyor, etc., which will not be described in detail here. The external gear slewing bearing 60b is meshed with a gear 60m, and the gear is driven by a slewing drive motor 60n.

[0108] As attached Fig.11 -Attached Fig.14As shown, a supporter 60e is provided at the bottom of the base frame 60d of the conveying component 60c, and the supporter 60e is located at both ends of the base frame 60d and is preferably a universal ball, and the ball 60f of the universal ball faces downward. More preferably, two supports 60e are arranged side by side at both ends of the base frame 60d, and four support blocks 60g matching the supporters 60e are provided on the machine base 60a. The support blocks 60g are distributed in the middle positions of the four sides of the top of the machine base 60a, and the two short edges of the support blocks 60g are set as chamfers 60h. When the conveying direction of the conveying component 60c is consistent with the conveying direction of the first conveyor 601, the sphere 60f of the support 60e at each end is located on a support block 60g, and when the conveying component 60c is rotated horizontally 90°, the supports 60e at both ends are respectively supported on the other two support blocks 60g, thereby effectively avoiding the problem that the ends of the conveying component 60c sag due to the heavy load, resulting in the pallet and the boxes on it being unable to be smoothly transferred to the downstream.

[0109] As attached Fig.11 As shown, in order to ensure that the conveying assembly can effectively stop at the target after rotation, a rotating stopper 60j is provided on the conveying assembly, and two shock-absorbing stops 60k distributed at 90° are provided on the machine base, so that when the conveying assembly rotates 90°, the rotating stopper 60j is blocked by the shock-absorbing stopper 60k, thereby ensuring that the conveying assembly can rotate into place.

[0110] As attached Fig.14 As shown, in order to enable the second turntable conveyor 605, the third turntable conveyor 607 and the fourth turntable conveyor 609 to accurately cooperate with the first binding mechanism, the second binding mechanism and the film wrapping mechanism, two pairs of through-shooting sensors 60i are also provided on the base frame 60d of the conveying component 60c. The two pairs of through-shooting sensors 60i are close to the two ends of the conveying component 60c. When the downstream through-shooting sensors 60i sense the box conveyed on the conveying component 60c, the conveying component 60c stops conveying. At this time, the pallet and the box are located in the center of the conveying component 60c, so that the first binding mechanism and the second binding mechanism can accurately insert the cable tie into the insertion channel of the pallet to achieve binding and cooperate with the film wrapping mechanism to carry out film wrapping.

[0111] In order to facilitate power supply and communication for the two pairs of sensors on the rotating conveying assembly 60c, a slip ring 601 concentric with the external gear slewing bearing 60b is further provided at the middle position of the base frame 60d.

[0112] The second weighing conveyor 602 is used to weigh the pallets and boxes that enter it. At the same time, a code reading mechanism is set next to the second weighing conveyor. The code reading mechanism reads the label on the box at the second weighing conveyor 602 to bind the weight weighed by the second weighing conveyor with the label. After weighing and reading the code, the total weight of the goods X in the box can be determined according to the information on the label and whether the total weight of the goods is abnormal. When it is determined that there is an abnormality, the pallet and the goods X are conveyed to the first turntable conveyor 603, and the first turntable conveyor 603 transfers them to the first abnormal processing conveyor line 613 connected to its side for processing. In addition, the control device determines the shelf where the box with the label needs to be stored and the cargo position on the corresponding shelf C00, and binds the shelf and the cargo position on the corresponding shelf C00 to the label.

[0113] As attached Figure 1 As shown, the first binding mechanism 700 is arranged at the second turntable conveyor 605, and the second binding mechanism 800 is arranged at the third turntable conveyor 607. The first binding mechanism 700 and the second binding mechanism 800 are known arrow-through type strapping machines, which will not be described in detail here. They can bind the pallet and the box thereon together.

[0114] The film wrapping mechanism 900 is provided at the fourth turntable conveyor 609, and the film wrapping mechanism can apply film on the top and sides of the box body. Applying film on the top of the box body can effectively prevent foreign matter from entering the box body of the lower layer during subsequent stacking, thereby contaminating the goods in the box body. The film wrapping mechanism 900 can be a known and feasible automatic film wrapping machine, which will not be described in detail here. Moreover, more preferably, there are two film wrapping mechanisms 900, and correspondingly, a fifth turntable conveyor is also provided between the fourth turntable conveyor and the fifth conveyor, and another film wrapping mechanism is provided at the fifth turntable conveyor.

[0115] The first labeling machine A00 is arranged at the fifth conveyor 610. The specific structure of the first labeling machine is a known technology and will not be described here. The first labeling machine A00 is used to label the side of the packaged goods. The label stores information such as the shelf, cargo position, total weight, quantity, type, etc. of the packaged goods to be stored.

[0116] As attached Fig.10As shown, an appearance detection mechanism 613 can also be set at the fifth conveyor 610 or the sixth conveyor 611. The appearance detection mechanism 613 detects the five surfaces of the front, back, left, right and top of the packaged goods through the through-beam sensor 60i. Specifically, the appearance detection mechanism includes a frame, and five groups of through-beam sensors 60i are set on the frame. Each group of through-beam sensors 60i forms a detection surface. The detection surface formed by the five groups of through-beam sensors 60i and the conveying surface of the fifth conveyor 610 or the sixth conveyor 611 form a square space. When the packaged goods move to the square space, if a group of through-beam sensors 60i do not detect the packaged goods, it is determined that the appearance of the packaged goods is normal and can be stored on the shelf C00; otherwise, it is determined that the appearance of the packaged goods is abnormal, and the packaged goods need to be transferred to the second abnormal processing conveyor line 614. The second abnormal processing conveyor line 614 and the packaging conveyor line 600 are located on opposite sides of the first RGV trolley B00. When the packaged goods have an abnormal appearance and need to be transferred to the second abnormality handling conveyor line 614 , the abnormal packaged goods are transferred to the second abnormality handling conveyor line 614 by the first RGV trolley B00 .

[0117] As attached Figure 1 , Attachment Figure 2 As shown, the first RGV trolley B00 includes a first track B01, the extension direction of the first track B01 is perpendicular to the conveying direction of the packaging conveyor line, and a conveying trolley B02 is movably arranged on the first track B01, and the conveying trolley includes a first mobile frame with a power source and a transfer conveyor arranged on the first mobile frame. The specific structure of the first mobile frame is a known technology and is not described here. The conveying direction of the transfer conveyor is perpendicular to the extension direction of the first track B01, and the transfer conveyor can be a known chain conveyor or roller conveyor, etc., which is not limited here.

[0118] As attached Figure 2 , Attachment Fig.14As shown, multiple rows of shelves C00 are arranged on the side of the first RGV trolley B00, and multiple channels are formed between the shelves C00, and the second RGV trolley E00 is arranged at the channel. The entry conveyor line D00 is arranged between the first RGV trolley B00 and the shelf C00, and is located on one side of each second RGV trolley E00. The entry conveyor line D00 includes a first entry conveyor D01, a second entry conveyor D02 and a first turning conveyor D03 arranged in sequence. The first entry conveyor D01 is located on the side of the first RGV trolley B00, and the first turning conveyor D03 is located on the side of the shelf C00. The first entry conveyor D01 and the second entry conveyor D02 can be known chain conveyors or roller conveyors, etc., and the first turning conveyor D03 can be a known lifting and transferring machine or turntable conveyor, which will not be described here.

[0119] As attached Fig.15 As shown, the second RGV trolley E00 includes a second track E01, and the second track E01 is perpendicular to the first track B01. A second movable frame E02 with a power source is movably provided along the second track E01. The specific structure of the second movable frame E02 can be designed as needed and is not limited here. A load-bearing conveyor E03 is provided on the second movable frame E02. The conveying direction of the load-bearing conveyor E03 is perpendicular to the second track E01. It can be a known chain conveyor or roller conveyor, etc., which is not limited here.

[0120] As attached Fig.15 -Attached Fig.17As shown, the second moving frame E02 is also provided with a fork-picking mechanism E04 located next to the carrying conveyor E03, and the fork-picking mechanism E04 includes a lifting mechanism E05. The lifting mechanism E05 can adopt various feasible structures. For example, the lifting mechanism E05 includes a bracket E06 arranged on the second moving frame E02, and a lifting drive component E07 is arranged on the bracket E06. The lifting drive component E07 is connected to the platform E08, and the platform E08 is arranged on the bracket E06 so as to be movable up and down. The lifting drive component E07 is, for example, a servo module arranged along the vertical direction. Of course, it can also be other feasible structures. In this embodiment, the lifting drive component E07 includes a reel E10 driven to rotate by a lifting drive motor E09. The reel E10 is inserted into the lifting drive motor E09 and is rotatably arranged on a seat bearing on the bracket. Wire drums E11 are respectively provided at both ends of the reel E10. Steel wire E12 is wound around the wire drum E11. The steel wire E12 is wound around the idler wheel E13 at the top of the bracket and is connected to the top of the carrier E08. The carrier E08 is provided with a turntable E14, and the turntable E14 may be a known servo turntable. The turntable E14 is provided with a telescopic fork assembly E15, and the forks of the telescopic fork assembly E15 may extend under the pallet of packaged goods on the carrying conveyor E03 to lift the packaged goods and place them on the shelf C00. The specific structure of the telescopic fork assembly E15 is a known technology and will not be elaborated here.

[0121] When the packaging storage system is working, the control device controls the entire packaging storage system to automatically operate. Fig.18 As shown, the packaging warehousing control method includes the following steps:

[0122] S1, control the AGV trolley 300 to move to the pallet depalletizer 100 and dock the carrying conveyor E03 on it with the pallet conveyor of the pallet depalletizer 100, and then control the pallet depalletizer 100 to depalletize a pallet and transfer it to the receiving conveyor of the AGV trolley 300.

[0123] S2, after determining that a pallet enters the receiving conveyor, control the AGV trolley 300 to move to the box supply mechanism 200 and connect the receiving conveyor to the output end of the box buffer conveyor. Then, control the box buffer conveyor to transport a box to the pallet on the AGV trolley 300.

[0124] S3, controlling the AGV trolley 300 to move to the box conveyor line 400 and docking the receiving conveyor with the box conveyor line 400, and then controlling the receiving conveyor to transport the pallet thereon to the box conveyor line 400.

[0125] S4, control the loading robot 500 to load the goods X into the box on the packing conveyor line 400. After determining that the amount of goods loaded in the box meets the requirements, control the packing conveyor line 400 to transport the pallet on it to the AGV trolley 300 docked with it.

[0126] The S4 specifically includes the following steps:

[0127] S41, control the loading robot 500 to take a piece of pearl cotton from the pearl cotton storage and place it in the box; the pearl cotton storage is transported to the pearl cotton storage conveyor E00 through the AGV cart 300.

[0128] S42, controlling the loading robot 500 to grab a group of goods X and place them into the box, wherein the group of goods X can cover a layer of the box.

[0129] S43, repeat S41 and S42 until the amount of goods in the box meets the requirements.

[0130] In S42, the loading robot 500 is controlled to grab a group of goods X from the storage platform G00, and the group of goods X is placed on the storage platform G00 according to the following process.

[0131] The control device controls the loading conveyor line M00 to convey the goods X to the selection conveyor line K00. After a good X enters the selection conveyor line K00, the selection conveyor line K00 is driven to translate and connect with the sorting conveyor line H00 corresponding to the good X, and then the selection conveyor line K00 is controlled to convey the good X to the sorting conveyor line H00; when the number of a row of goods X on the sorting conveyor line H00 reaches the requirement, the second moving component J00 is controlled to drive the second grabbing component i00 to move and grab the row of goods X, and the second moving component J00 is controlled to place the goods X grabbed by the second grabbing component i00 on the inventory table G00 outside the sorting conveyor line H00.

[0132] Repeat the above process until the number of goods X on a storage platform G00 meets the requirement, control the first drive mechanism and the second drive mechanism to start to gather the goods X on the storage platform G00. Then, control the loading robot 500 to grab a group of goods X on the storage platform G00.

[0133] Further, in S42, after the loading robot 500 is controlled to grab a group of goods X, it is determined whether the group of goods X grabbed by the loading robot 500 is correct according to the weight measured by the loading robot 500. If so, the group of goods X is placed in the box. If not, an alarm is issued after the group of goods X is placed in the box to remind the operator to place the missed goods X in the box. Of course, while the alarm is issued, the second grabbing component i00 can also be controlled to stop transferring the goods X to the storage station G00 where the missed goods X are located.

[0134] After a box is filled with goods X, the box can be covered or the cover can be placed on the enclosure by manual or automated equipment at the box packing conveyor line 400 or the cover closing conveyor line 000.

[0135] S5, controlling the AGV trolley 300 to move to the packaging conveyor line and moving the pallet on the AGV trolley and the box body covered on the pallet to the packaging conveyor line.

[0136] S6, control the packaging conveyor line to transport the pallet to the first binding mechanism 700, control the first binding mechanism 700 to bind two circles of side-by-side cable ties on the box body on the pallet; then control the packaging conveyor line to move the pallet to the second binding mechanism 800, control the second binding mechanism 800 to bind two circles of side-by-side cable ties on the box body on the pallet, and the cable ties used for the two bindings are distributed in a tic-tac-toe shape.

[0137] S7, controlling the packaging conveyor line to convey the pallet and box body tied with cable ties to the film wrapping mechanism 900, and then controlling the film wrapping mechanism 900 to wrap a film on the box body on the pallet to obtain packaged goods.

[0138] S8, controlling the packaging conveyor line to move the packaged goods to the first labeling machine A00, and then controlling the first labeling machine A00 to label the packaged goods.

[0139] S9, control the packaging conveyor line to convey the packaged goods to the first RGV trolley B00 docked therewith; then, control the first RGV trolley B00 to convey the packaged goods to the warehousing conveyor line D00 corresponding to the shelf C00, and then control the warehousing conveyor line D00 to convey the packaged goods to the second RGV trolley E00. Specifically, when the first RGV trolley B00 is controlled to move to the transfer conveyor and dock with the first inbound conveyor D01, the transfer conveyor is controlled to start conveying the packaged goods to the first inbound conveyor D01 docked therewith, and then the first inbound conveyor D01 is controlled to convey the packaged goods to the second inbound conveyor D02, and the second inbound conveyor D02 is continued to be controlled to convey the packaged goods to the first turning conveyor D03, and then the first turning conveyor D03 is controlled to drive the packaged goods to rotate 90° and dock the first turning conveyor D03 with the carrying conveyor E03 of the second RGV trolley E00, and then the first turning conveyor D03 is controlled to convey the packaged goods to the carrying conveyor E03.

[0140] S10, control the second RGV trolley E00 to move to the shelf C00 corresponding to the packaged goods and place the packaged goods on the shelf C00. Specifically, control the second RGV trolley E00 to move to the cargo position where the packaged goods are to be placed, and make the fork-taking mechanism E04 face the cargo position, and finally control the fork-taking mechanism E04 to transfer the packaged goods to the cargo position.

[0141] Further, before or after S8, the packaging conveyor line is controlled to move the packaged goods to the shape detection mechanism 613, and the shape detection mechanism 613 is controlled to detect the packaged goods. If it is determined that the shape of the packaged goods is abnormal, the packaging conveyor line is controlled to transfer the packaged goods to the second abnormal processing conveyor line 614 for processing via the first RGV trolley B00. Preferably, the shape detection can be performed after S8. If it is determined that the shape of the packaged goods is abnormal, the packaged goods are processed on the second abnormal processing conveyor line 614, and then the packaged goods are transferred to the first RGV trolley B00 again for storage.

[0142] Example 2

[0143] Based on the above embodiment 1, as shown in the attached Figure 2 , Attachment Fig.14As shown, this embodiment further adds an outbound conveyor line P00. Specifically, the inbound conveyor line D00 is set on one side of each second RGV cart E00, and an outbound conveyor line P00 is set on the other side of the inbound RGV cart. An outbound transfer conveyor line Q00 is set between adjacent inbound conveyor lines D00 and outbound conveyor lines P00. The inbound conveyor line D00 and outbound conveyor line P00 can convey the packaged goods thereon to the outbound transfer conveyor line Q00 on their sides.

[0144] Except for the outbound conveyor line P00 (the most downstream outbound conveyor line) which is farthest from the packaging conveyor line, the other outbound conveyor lines P00 include a second turning conveyor P01 directly opposite to the first turning conveyor D03. The second turning conveyor P01 can be a known lifting and transferring conveyor or a turntable conveyor. The second turning conveyor P01 is provided with a third turning conveyor P02 on the side close to the first RGV trolley B00. The third turning conveyor P02 can also be a known lifting and transferring conveyor or the above-mentioned turntable conveyor.

[0145] The outbound transfer conveyor line Q00 is connected between the third turning conveyor P02 and the first inbound conveyor D01. At this time, except for the inbound conveyor closest to the packaging conveyor line, the first inbound conveyor D01 of other inbound conveyors is also a known lifting and transferring conveyor or turntable conveyor.

[0146] As attached Fig.19 As shown, the outbound conveyor line P00 farthest from the packaging conveyor line includes two turning conveyors P03, and a transfer conveyor P04 is arranged between the two turning conveyors P03. The two turning conveyors P03 are respectively connected to the output conveyor R00, and the conveying direction of the output conveyor is parallel to the conveying direction of the first RGV trolley. The upstream side of the turning conveyor PO3 close to the first RGV trolley B00 is connected to the outbound transfer conveyor line Q00. Next to the outbound transfer conveyor line Q00 is an identification mechanism U00 for reading the label on the packaged goods. The identification mechanism is a code reading mechanism, which reads the label of the packaged goods at the outbound transfer conveyor line Q00 to determine which output conveyor R00 it should be transported to.

[0147] Furthermore, in order to facilitate packing, the two output conveyors R00 are respectively connected to the palletizer S00, and the palletizer S00 stacks the two packaged goods together and then conveys them to the fork-taking conveyor T00. The specific structure of the palletizer S00 can be designed as needed and is not limited here.

[0148] When it is necessary to take packaged goods from a shelf C00 out of the warehouse, the control device moves the second mobile frame E02 of the second RGV trolley E00 at the channel where the shelf C00 is located to the shelf C00, controls the fork mechanism E04 to take the packaged goods from the shelf C00 and transfers them to the carrying conveyor E03, then controls the second mobile frame E02 to move to the outbound conveyor line P00 next to it and transfers the packaged goods on it to the second turning conveyor P01, and then controls the second turning conveyor P01 to transfer the packaged goods to the third turning conveyor P02. Then the third diverting conveyor P02 transfers the packaged goods to the downstream outbound transfer conveyor Q00, and then controls the outbound transfer conveyor Q00 to transfer the packaged goods to the first inbound conveyor D01 of the downstream inbound conveyor D00, and then controls the first inbound conveyor D01 to transfer the packaged goods on it to the downstream outbound transfer conveyor Q00, until the packaged goods move to the diverting conveyor of the most downstream outbound conveyor P00 close to the first RGV trolley B00, where the barcode on the packaged goods is identified to determine the output conveyor R00 to be transported. Then, the conveying conveyor is controlled to transport the packaged goods to the palletizer S00, and the palletizer S00 lifts the packaged goods to a certain height, and when another packaged goods moves to the palletizer S00, the lifted packaged goods are placed on the other packaged goods, and finally the palletizer S00 is controlled to output the two packaged goods stacked together to the fork-taking conveyor. The two packages can then be transferred to the truck compartment using a forklift.

[0149] Example 3

[0150] This embodiment discloses a packaging storage control system, including:

[0151] A pallet loading unit, used to control the AGV trolley 300 to move to the pallet depalletizer 100 and then control the pallet depalletizer 100 to depalletize a pallet and transfer it to the AGV trolley 300;

[0152] A box loading unit, used to control the AGV trolley 300 to move to the box supply mechanism 200 and then control the box supply mechanism 200 to transport a box to the tray on the AGV trolley 300;

[0153] A packing docking unit, used to control the AGV trolley 300 to move to the packing conveyor line 400 and then transport the pallet on it to the packing conveyor line 400;

[0154] The box unloading unit is used to control the loading robot 500 to load the goods X into the box on the box conveyor line 400, and after determining that the amount of goods loaded in the box meets the requirements, control the box conveyor line 400 to transport the pallet on it to the AGV trolley 300 docked with it;

[0155] A packaging docking unit, used to control the AGV trolley 300 to move to the packaging conveyor line and to move the pallet on the trolley and the box covered on the pallet to the packaging conveyor line;

[0156] The tying unit is used to control the packaging conveyor line to convey the pallet to the first tying mechanism 700, and control the first tying mechanism 700 to tie two circles of tie ties in parallel on the box body on the pallet; then control the packaging conveyor line to move the pallet to the second tying mechanism 800, and control the second tying mechanism 800 to tie two circles of tie ties in parallel on the box body on the pallet, and the tie ties tied twice are distributed in a tic-tac-toe shape;

[0157] A film wrapping unit, used to control the packaging conveyor line to convey the pallet and box body tied with cable ties to the film wrapping mechanism 900, and then control the film wrapping mechanism 900 to wrap a film on the box body on the pallet to obtain packaged goods;

[0158] A labeling unit, used for controlling the packaging conveyor line to move the packaged goods to the first labeling machine A00; and then controlling the first labeling machine A00 to label the packaged goods;

[0159] The RGV transfer unit is used to control the packaging conveyor line to convey the packaged goods to the first RGV trolley B00 docked therewith; then, control the first RGV trolley B00 to convey the packaged goods to the storage conveyor line D00 corresponding to the shelf C00, and control the storage conveyor line D00 to convey the packaged goods to the second RGV trolley E00;

[0160] The warehousing unit is used to control the second RGV trolley E00 to move to the shelf C00 corresponding to the packaged goods and place the packaged goods on the shelf C00.

[0161] 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 packaging warehousing control method, characterized in that: The steps include: S1, controlling the AGV to move to the pallet depalletizer and then controlling the pallet depalletizer to depalletize a pallet and transfer it to the AGV; S2, controlling the AGV to move to the box supply mechanism and then controlling the box supply mechanism to deliver a box to the pallet on the AGV; S3, controlling the AGV to move to the box conveyor line and conveying the pallet on it to the box conveyor line; S4, controlling the loading robot to grab the goods from the storage platform and load them into the box on the packing conveyor line, and after determining that the amount of goods loaded in the box meets the requirements, controlling the packing conveyor line to transport the pallet on the box to the AGV car docked with it; S5, controlling the AGV to move to the packaging conveyor line and moving the pallet on it and the box covered on the pallet to the packaging conveyor line; S6, controlling the packaging conveyor line to convey the pallet to the first binding mechanism, controlling the first binding mechanism to bind the pallet and the box thereon together through a binding tie; then controlling the packaging conveyor line to move the pallet to the second binding mechanism, controlling the second binding mechanism to bind the pallet and the box thereon together through a binding tie, and the binding ties for the two bindings are distributed in a tic-tac-toe shape; S7, controlling the packaging conveyor line to convey the pallet and the box body tied with cable ties to the film wrapping mechanism, and then controlling the film wrapping mechanism to wrap a film on the box body on the pallet to obtain packaged goods; S8, controlling the packaging conveyor line to move the packaged goods to the first labeling machine, and then controlling the first labeling machine to label the packaged goods; S9, controlling the packaging conveyor line to convey the packaged goods to the first RGV trolley docked therewith; then, controlling the first RGV trolley to convey the packaged goods to the storage conveyor line of the corresponding shelf, and controlling the storage conveyor line to convey the packaged goods to the second RGV trolley; S10, controlling the second RGV to move to the shelf corresponding to the packaged goods and placing the packaged goods at the corresponding cargo position on the shelf.

2. The packaging storage control method according to claim 1, characterized in that: The box supply mechanism includes a first weighing conveyor. After the box is weighed at the first weighing conveyor, a second labeling machine at a side of the first weighing conveyor is controlled to label the box. The label stores weight information of the box.

3. The packaging storage control method according to claim 1, characterized in that: The S4 includes: S41, controlling the loading robot to take a piece of EPE from the EPE storage device and place it in the box; S42, controlling the loading robot to grab a group of goods and place them into the box, wherein the group of goods can cover a layer of the box; S43, repeat S41 and S42 until the amount of goods in the box meets the requirements.

4. The packaging storage control method according to claim 3 is characterized in that: In S42, after controlling the loading robot to grab a group of goods, determine whether the quantity of the group of goods grabbed by the loading robot is accurate based on the weight measured by the inventory table. If so, put the group of goods into the box. If not, put the group of goods into the box and then issue an alarm.

5. The packaging storage control method according to claim 1, characterized in that: After S5 and before S6, the packaging conveyor line is controlled to move the pallet thereon to the second weighing conveyor, and the reading device is controlled to read the label on the box at the second weighing conveyor, and the weight measured by the second weighing conveyor and the shelf and cargo position where the pallet and carton at the second weighing conveyor need to be stored are obtained, and the weight measured by the second weighing conveyor and the shelf and cargo position where the pallet and carton at the second weighing conveyor need to be stored are bound to the label on the box.

6. The packaging storage control method according to claim 1, characterized in that: Before or after S8, the packaging conveyor line is controlled to move the packaged goods to the appearance detection mechanism, and whether the appearance of the packaged goods is abnormal is determined according to the signal of the appearance detection mechanism. If it is determined that the appearance of the packaged goods is abnormal, the packaging conveyor line is controlled to transfer the packaged goods to the second abnormal handling conveyor line via the first RGV trolley.

7. The packaging storage control method according to any one of claims 1 to 6, characterized in that: The inbound conveyor line is arranged on one side of each second RGV trolley, and an outbound conveyor line is arranged on the other side of the inbound RGV trolley. An outbound transfer conveyor line is arranged between adjacent inbound conveyor lines and outbound conveyor lines. The inbound conveyor line and the outbound conveyor line can convey the packaged goods thereon to the outbound transfer conveyor line on their side.

8. The packaging storage control method according to claim 7, characterized in that: The outbound conveyor line farthest from the packaging conveyor line includes two turning conveyors, a transfer conveyor is arranged between the two turning conveyors, one side of the two turning conveyors is connected to the output conveyor respectively, and the other side of the turning conveyor close to the first RGV trolley is connected to the outbound transfer conveyor line, and an identification mechanism for reading the label on the packaged goods is arranged next to the outbound transfer conveyor line.

9. The packaging storage control method according to claim 8, characterized in that: The two output conveyors are respectively connected to the palletizers. When shipping, the palletizers are controlled to stack two packaged goods together before outputting.

10. The packaging storage control system is characterized by: include: A pallet loading unit, used to control the AGV trolley to move to the pallet depalletizer and then control the pallet depalletizer to depalletize a pallet and transfer it to the AGV trolley; A box loading unit, used to control the AGV trolley to move to the box supply mechanism and then control the box supply mechanism to transport a box to the pallet on the AGV trolley; A packing docking unit, used to control the AGV to move to the packing conveyor line and then transport the pallet on it to the packing conveyor line; The packing and unloading unit is used to control the loading robot to load the goods into the box on the packing conveyor line, and after determining that the amount of goods loaded in the box meets the requirements, control the packing conveyor line to transport the pallet on the box to the AGV trolley docked with it; A packaging docking unit, used to control the AGV to move to the packaging conveyor line and move the pallet on it and the box covered on the pallet to the packaging conveyor line; The tying unit is used to control the packaging conveyor line to convey the pallet to the first tying mechanism, and control the first tying mechanism to tie the pallet and the box thereon together by means of a cable tie; then control the packaging conveyor line to move the pallet to the second tying mechanism, and control the second tying mechanism to tie the pallet and the box thereon together by means of a cable tie, and the cable ties of the two tyings are distributed in a tic-tac-toe shape; A film wrapping unit, used to control the packaging conveyor line to convey the pallet and box body tied with cable ties to the film wrapping mechanism, and then control the film wrapping mechanism to wrap a film on the box body on the pallet to obtain packaged goods; A labeling unit, used for controlling the packaging conveyor line to move the packaged goods to the first labeling machine; and then controlling the first labeling machine to label the packaged goods; The RGV transfer unit is used to control the packaging conveyor line to convey the packaged goods to the first RGV trolley docked therewith; then, control the first RGV trolley to convey the packaged goods to the storage conveyor line of the corresponding shelf, and control the storage conveyor line to convey the packaged goods to the second RGV trolley; The warehousing unit is used to control the second RGV trolley to move to the shelf corresponding to the packaged goods and place the packaged goods on the shelf.

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