Warehouse-in and warehouse-out sorting method and system suitable for different material boxes

Abstract

The invention relates to a warehouse-in and warehouse-out sorting method and system suitable for different material boxes, and the method comprises the steps: warehousing: enabling a goods shelf trolley to reach a first preset position, and enabling the system to generate a warehouse-in task; scanning the material boxes on the goods shelf trolley according to the warehousing task to obtain information of all the material boxes; the AGV is photographed, and the discharging position and the tray size are obtained; the carrying mechanism carries the material boxes, bar codes of the material boxes are input in the carrying process, the material boxes without the bar codes input are conveyed out through the first conveying line, and the material boxes with the bar codes input are put into trays on the AGV according to warehousing tasks and the colors and sizes of the material boxes to be subjected to warehousing classification; the AGV carries the material box to a second preset position, the system generates a warehouse-out task, the AGV carrying the tray is photographed, information of the material box in the tray is obtained, and the material box with the needed color and size is grabbed to a warehouse-out line according to the warehouse-out task to be transported out. The multi-functional work requirements can be met for material boxes and individuals with different sizes and colors.

Description

Technical Field

[0001] The present invention relates to the field of logistics technology, and in particular to a storage and sorting method and system suitable for different material boxes. Background Art

[0002] With the rapid development of production technology efficiency, the traditional process of unloading, sorting and warehousing of material boxes requires a lot of manpower, while the fully automatic unloading, sorting and warehousing robot system can realize the fast and accurate unloading, sorting and warehousing of material boxes, greatly improving the efficiency of warehouse inbound and outbound processing and reducing manpower and material costs. The fully automatic unloading, sorting and warehousing robot system is an innovative tool in the warehousing and logistics industry. Its working principle and application scenarios make it an important tool to improve logistics efficiency.

[0003] Although various robot picking and placing modes have emerged on the market, most of them process the same SKU and the same color and specification of material boxes, and then use fixed-point teaching of the robot to form a motion path. They are often unable to adapt to packaging of different sizes, sizes, and colors, and do not support multi-functional integrated processing functions such as unloading, classification, and warehousing. Summary of the invention

[0004] The present invention provides a storage and warehousing sorting method and system suitable for different material boxes, which can support multifunctional working requirements for material boxes and individuals of different sizes and colors.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A method for sorting different boxes of materials in and out of the warehouse is implemented by a sorting system for sorting different boxes of materials in and out of the warehouse, including:

[0007] Warehousing: The shelf trolley arrives at the first preset position, and the system generates a warehousing task; scan the material boxes on the shelf trolley according to the warehousing task to obtain all the material box information, including the size and color of the material box; take a photo of the AGV vehicle carrying the pallet at the second preset position to obtain the material placement position and pallet size; the transport mechanism transports the material box from the shelf trolley, and enters the barcode of the material box during the transport process. The material boxes without barcode entry are placed at the abnormal exit and transported out through the first conveyor line. The material boxes with barcode entry are placed in the pallet on the AGV vehicle according to the warehousing task and the color and size of the material box for warehousing classification;

[0008] Outbound delivery: The AGV carries the material box to the second predetermined location. The system generates an outbound delivery task, takes a photo of the AGV carrying the pallet, and obtains the material box information in the pallet, which includes the size and color of the material box. Then, according to the outbound delivery task, the material box of the required color and size is grabbed and shipped to the outbound delivery line.

[0009] Preferably, it also includes manual feeding box storage, and the manual feeding box storage is as follows:

[0010] The material boxes are manually put onto the second conveyor line and transported to the third predetermined position. The material boxes at the third predetermined position are photographed according to the warehousing task to obtain all the material box information, including the size and color of the material boxes. The AGV vehicle is photographed to obtain the material placement position and pallet size. The handling mechanism places the material boxes into the pallet on the AGV vehicle for warehousing classification according to the warehousing task and the color and size of the material boxes, and scans the material boxes during the handling process.

[0011] Preferably, the warehousing process also includes:

[0012] If the barcode of the material box cannot be entered, the transport mechanism will place the material box at the abnormal exit and transport it out through the first conveyor line;

[0013] If it is necessary to randomly inspect the material boxes, the transport mechanism directly transports the randomly inspected material boxes from the shelf trolley to the second transport line for transportation.

[0014] Preferably, the material boxes used for manual material feeding into the warehouse are sampled material boxes or abnormal material boxes whose barcodes cannot be entered.

[0015] Preferably, during the warehousing process, the barcoded material boxes are placed into the tray on the AGV vehicle for warehousing classification according to the warehousing task and the color and size of the material boxes, which specifically includes:

[0016] If the warehousing task requires that boxes of the same color be stored together, the handling mechanism will put the boxes of the same color into the tray on the same AGV vehicle, and fill the tray with boxes according to the size of the tray and the boxes;

[0017] If the warehousing task requires that boxes of the same size be stored together, the handling mechanism will place the boxes of the same size into the tray on the same AGV, and place the boxes into the tray according to the size of the tray and the box.

[0018] If the warehousing task does not require the same size or the same color to be stored together, the handling mechanism will put the material box in according to the size of the pallet and the material box and fill the pallet on the AGV vehicle.

[0019] Preferably, the warehousing process also includes:

[0020] The AGV needs to transport the material boxes multiple times, and each time the AGV reaches the preset position, it needs to take a photo to obtain the latest material placement position.

[0021] Preferably, during the warehousing process, the system will also generate multiple warehousing addresses, and the multiple warehousing addresses correspond to multiple AGV vehicles. The warehousing method also includes: in the process of placing each material box on the pallet, according to the principle of taking pictures first and putting in the material box first, the pallets of multiple AGV vehicles are filled in turn.

[0022] A storage and sorting system suitable for different material boxes, used to implement the above storage and sorting method, including:

[0023] A shelf trolley, used for loading material boxes and located at a first preset position;

[0024] Barcode scanner, used to scan the barcode on the material box;

[0025] The first transport line is used to transport the boxes without barcodes;

[0026] The second transport line is used to transport the sampled boxes or the sampled boxes and the boxes with barcodes to a second preset location;

[0027] An AGV vehicle, carrying a pallet, for transporting material boxes between a third preset position and a warehouse;

[0028] A transport mechanism, used for transporting the material box between the above-mentioned shelf trolley, the above-mentioned barcode scanner, the above-mentioned first transport line, the above-mentioned second transport line and the above-mentioned AGV vehicle, and the transport end of the above-mentioned transport mechanism has a camera;

[0029] The industrial computer is connected to the first transport line, the second transport line, the barcode scanner, the AGV vehicle, the transport mechanism and the camera, and is used to control the operation of each mechanism.

[0030] Preferably, the transport mechanism comprises a moving device and a clamping assembly, and the clamping assembly is arranged at the end of the moving device;

[0031] The clamping assembly comprises a driving mechanism and two clamping plates, wherein the two clamping plates are arranged at the output end of the driving mechanism and are used to drive the two clamping plates to move closer or farther away;

[0032] A clamping space is formed between the two clamping plates, and a stopper is arranged in the middle of the clamping space. The stopper divides the clamping space into a first clamping space and a second clamping space. The first clamping space is located below the driving mechanism, and the second clamping space is located in front of the driving mechanism.

[0033] Preferably, the front end of the second clamping space is provided with an anti-drop mechanism, and the anti-drop mechanism comprises a baffle that can be rotated and reset;

[0034] When the material box enters the second clamping space, the baffle can rotate into the second clamping space under the action of the material box to form an opening for the material box to enter. When the material box enters the second clamping space, the baffle is reset to close the opening.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. This method integrates warehousing, sorting, sampling, and scanning code for warehousing. The warehousing method can achieve the purpose of warehousing material boxes of different specifications and colors by setting the warehousing task and obtaining the size and color of the material box, and putting the material box into the tray of the AGV vehicle according to the warehousing task and the size and color of the material box. The warehousing task is set according to the demand, which can meet the user's more warehousing needs of material boxes and has a wider range of applicable scenarios. The out-of-warehouse method can achieve the purpose of out-of-warehouse for material boxes of different specifications and colors by setting the out-of-warehouse task and obtaining the size and color of the material box, and moving the material box from the tray of the AGV vehicle according to the warehousing task and the size and color of the material box. The out-of-warehouse task is set according to the demand, which can meet the user's more out-of-warehouse needs of material boxes and has a wider range of applicable scenarios. Therefore, the whole method can support multi-functional work needs for material boxes of different sizes and colors and individuals.

[0037] 2. The system uses cameras and robots to work with multifunctional fixtures, which improves the efficiency of warehousing and the multifunctional use of a device. It is also suitable for various sizes of material boxes without restrictions on size and specifications. The warehousing and warehousing effect is stable and accurate without damaging the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 It is a block diagram of a material box storage method in an embodiment of the present invention;

[0040] Figure 2 It is a block diagram of a material box out-of-warehouse method in an embodiment of the present invention;

[0041] Figure 3 It is a block diagram of the manual feeding box storage method in an embodiment of the present invention;

[0042] Figure 4 It is a schematic diagram of the overall system of an embodiment of the present invention;

[0043] Figure 5Schematic diagram of the clamping assembly in the embodiment of the present invention Figure 1 ;

[0044] Figure 6 Schematic diagram of the clamping assembly in the embodiment of the present invention Figure 2 .

[0045] Description of reference numerals:

[0046] 1. Shelf trolley; 2. Barcode scanner; 3. First transport line; 4. Second transport line; 5. AGV vehicle; 51. Pallet; 6. Camera; 7. Transport mechanism; 71. Moving device; 72. Clamping assembly; 721. Driving mechanism; 722. Clamping plate; 723. First clamping space; 724. Second clamping space; 725. Block; 726. Baffle. DETAILED DESCRIPTION

[0047] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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.

[0049] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] An embodiment of the present invention provides a warehousing and out-of-warehouse sorting method suitable for different material boxes, which is implemented through an warehousing and out-of-warehouse sorting system. The method specifically includes warehousing and out-of-warehouse, wherein warehousing is to transport the material box from the shelf cart to the AGV vehicle through a transport mechanism, and then the material box is transported to the warehouse by the AGV vehicle, wherein out-of-warehouse is to take the material box from the warehouse by the AGV vehicle, transport the material box to the designated location, and then transport the material box on the AGV vehicle to the conveyor line through the transport mechanism for transportation.

[0051] Specifically, Figure 1 As shown, the warehousing process is as follows:

[0052] When the shelf trolley reaches the unloading position (the first preset position), the system receives a signal notification, and then the system generates a warehousing task, wherein the warehousing task can be set manually, so that the warehousing task for each warehousing can be adjusted according to actual needs;

[0053] The material boxes on the shelf cart are scanned by a 3D line scan camera to obtain information about all the material boxes thereon, wherein the information about the material boxes includes the size and color of the material boxes. Specifically, after the 3D line scan camera scans the shelf cart, a 3D contour point cloud map of the material box is generated in the system, and then the existing software algorithm is used to analyze the point cloud data to generate an existing algorithm model, which is then passed to the transport mechanism. The transport mechanism will automatically plan the optimal material box transport path through the generated algorithm model;

[0054] The 3D line scan camera takes a picture of the AGV at the handling position, so that the system can obtain the size of the pallet and the exact location where the material box needs to be placed;

[0055] The system then controls the transporting mechanism to transport the material boxes on the shelf cart, first transports the material boxes to the barcode scanner, and enters the barcode on the material box so that the information of the material box can be recorded in the warehouse. The transporting mechanism puts the material boxes without barcodes entered to the abnormal exit and transports them out through the first conveyor line, and puts the material boxes with barcodes entered into the tray on the AGV vehicle for warehousing classification according to the warehousing task and the color and size of the material boxes.

[0056] Among them, the material boxes with barcodes are placed on the trays on the AGV for storage classification according to the storage tasks and the color and size of the material boxes. There are mainly three situations, as follows:

[0057] If the warehousing task requires that material boxes of the same color be warehousing together, the handling mechanism will place the material boxes of the same color into the pallet on the same AGV vehicle, and fill the pallet with material boxes according to the size of the pallet and the material boxes, thereby realizing the warehousing classification of material boxes of the same color; the above placement is only limited to the color of the material boxes, so in order to maximize the AGV vehicle carrying enough material boxes each time, it is necessary to place the material boxes in the pallet according to the size of each pallet and the size of the material box, so that there is no remaining space in the pallet to ensure the transportation efficiency. It should be noted that the above placement process is a prior art and will not be repeated.

[0058] If the warehousing task requires that material boxes of the same size be warehousing together, the handling mechanism will place the material boxes of the same size into the tray on the same AGV vehicle, and place the material boxes into the tray according to the size of the tray and the material box, thereby realizing the warehousing classification of material boxes of the same size; further, in order to maximize the AGV vehicle carrying enough material boxes each time, it is necessary to place the material boxes in the tray according to the size of each pallet and the size of the material box, so that there will be no remaining space in the tray (of course, this is not absolute, and there may be space left because the material box cannot be placed), to ensure the transportation efficiency. It should be noted that the above placement process is a prior art and will not be repeated here.

[0059] If the warehousing task does not require the same size or the same color to be stored together, the handling mechanism can put the material box in according to the size of the pallet and the material box and fill the pallet on the AGV vehicle without making too many requirements.

[0060] The above-mentioned warehousing method can achieve the purpose of warehousing material boxes of different specifications and colors by setting the warehousing task and obtaining the size and color of the material box, and placing the material box into the tray of the AGV vehicle according to the warehousing task and the size and color of the material box. The warehousing task can be set according to the needs, which can meet the user's more material box warehousing needs and has a wider range of applicable scenarios.

[0061] Specifically, Figure 2 As shown, the outbound process is as follows:

[0062] The AGV carries the material box to the second predetermined position, where the second predetermined position is the material box loading or unloading position of the AGV, and the system generates a delivery task, where the delivery task can be manually set, so that the delivery task of each delivery can be adjusted according to actual needs;

[0063] The AGV carrying the pallet is then photographed using a 3D line scan camera to obtain information about the material boxes loaded on the pallet, including the size and color of the material boxes. The material boxes of the required color and size are then grabbed according to the outbound delivery task and transported to the outbound delivery line. For example, if the outbound delivery task requires five material boxes of the same color, the transport mechanism will transport five material boxes of the same color from the pallet on the AGV in turn, place them on the outbound delivery line, and then transport the remaining material boxes in the pallet on the AGV back to the warehouse.

[0064] The above-mentioned outbound method can achieve the purpose of outbound delivery of material boxes of different specifications and colors by setting the outbound delivery task and obtaining the size and color of the material box, and moving the material box from the tray of the AGV vehicle according to the warehousing task and the size and color of the material box. The outbound delivery task can be set according to the needs, which can meet the user's more material box outbound delivery needs and has a wider range of applicable scenarios.

[0065] Furthermore, warehousing also includes manual feeding box warehousing, such as Figure 3 As shown, the manual feeding box storage is as follows:

[0066] First, the material box is manually put into the second conveyor line, and transported to the third predetermined position through the second conveyor line, wherein the third movement position is the exit of the second conveyor line;

[0067] According to the warehousing task, take a photo of the material box at the third predetermined position to obtain all the material box information, including the size and color of the material box, take a photo of the AGV vehicle, obtain the material placement position and pallet size of the material box, and then the transport mechanism transports the material box to the corresponding AGV vehicle, and scans the material box during the transport process. Among them, the transport mechanism must place the material box into the pallet on the AGV vehicle according to the warehousing task and the color and size of the material box. The specific process is as described above and will not be repeated here.

[0068] Specifically, in order to simplify the process, manual feeding of material boxes into the warehouse is generally carried out after the material boxes on the shelf cart are unloaded, but it can also be done independently.

[0069] Specifically, the warehousing process also includes the following processes:

[0070] If the barcode of the material box cannot be entered, the handling mechanism will place the material box at the abnormal exit and transport it out through the first conveyor line for manual processing;

[0071] If manual sampling of the material boxes is required, the transport mechanism directly transports the sampled material boxes from the shelf trolley to the second transport line for transportation, wherein the sampled material boxes can be set in the warehousing task and determined manually.

[0072] Specifically, the material boxes used for manual material feeding into the warehouse are sampled material boxes or abnormal material boxes whose barcodes cannot be entered. After the sampled material boxes and the abnormal material boxes are re-barcoded, they will be transported to the third predetermined position through the second transport line, and then transported to the pallet on the AGV vehicle by the transport mechanism.

[0073] Specifically, during the warehousing process, generally speaking, the AGV needs to transport the material boxes back and forth many times, so every time the AGV reaches the preset position, a 3D line scan camera is needed to take a picture of it to obtain the material placement position of the AGV each time. Because each time the AGV reaches the second preset position, its position will deviate, and the position of the pallet will also deviate. Therefore, the latest position is obtained through the 3D line scan camera to ensure that each time the transport mechanism transports the material box, it can accurately place the material box into the pallet.

[0074] Specifically, during the warehousing process, the system will also generate multiple warehousing addresses, one warehousing address corresponds to a warehouse location where a material box is stored, wherein multiple warehousing addresses correspond to multiple AGV vehicles, and multiple AGV vehicles transport the material boxes to the warehouse locations corresponding to the multiple warehousing addresses. In order to ensure the accuracy of the AGV vehicle placing the material box, in the process of placing the material box into the pallet on the AGV vehicle each time, the pallets of multiple AGV vehicles are filled in sequence according to the principle of taking a photo first and putting the material box in first. For example, there are three AGV vehicles. First, take a photo of the first AGV vehicle, and then place the material box on the pallet on the AGV vehicle through the transport mechanism according to the warehousing task. After it is full, then take a photo of the second AGV vehicle, and place the material box on the pallet on the AGV vehicle through the transport mechanism according to the warehousing task. Then take a photo of the third AGV vehicle, and place the material box on the pallet on the AGV vehicle through the transport mechanism according to the warehousing task. After all the AGV vehicles are full, the AGV vehicles transport the material boxes to the corresponding warehouses.

[0075] Of course, the embodiment of the present invention also specifically discloses a storage and sorting system suitable for different material boxes, which is used to implement the above storage and sorting method, such as Figure 4As shown, it specifically includes a shelf trolley 1, a barcode scanner 2, a first transport line 3, a second transport line 4, an AGV vehicle 5, a handling mechanism 7 and an industrial computer; wherein the shelf trolley 1 is used to load material boxes and move to the first preset position for unloading; the barcode scanner 2 is used to scan the barcode on the material box and record the material box to be stored in the warehouse; the first transport line 3 and the second transport line 4 are both used to transport material boxes, wherein the first transport line 3 is used to transport out material boxes without barcodes, that is, abnormal material boxes, which are then manually inspected and then the barcodes are affixed. The material boxes with the barcodes affixed are transported back through the second transport line 4 for continued storage, wherein the second transport line 4 is used to transport the sampled material boxes out and then transport them back after the sampling is completed, that is, the second transport line 4 is a two-way transportation; the AGV vehicle 5 carries There is a pallet 51, which is used to load material boxes and transport material boxes between the third preset position and the warehouse; wherein the transport mechanism 7 is used to transport material boxes between the shelf trolley 1, the barcode scanner 2, the first transport line 3, the second transport line 4 and the AGV vehicle 5, and the transport end of the transport mechanism 7 has a camera 6, and the camera 6 is used to take pictures and scan the AGV trolley, the shelf trolley 1 and the material boxes, so as to obtain the position of the pallet 51 on the AGV trolley (material placement position), all the material box information of the shelf trolley 1 and the material box information alone on the second transport line 4, where the material box information refers to the size and color of the material box; an industrial computer is connected to the first transport line 3, the second transport line 4, the barcode scanner 2, the AGV vehicle 5, the transport mechanism 7 and the camera 6, and is used to control the operation of each mechanism.

[0076] Specifically, when entering the warehouse, the shelf trolley 1 moves to the first preset position, and then the industrial computer generates a warehousing task. Of course, the warehousing task is set manually. The handling device drives the camera 6 thereon to scan the shelf trolley 1 to obtain all the material box information, and then the camera 6 takes a photo and scans the AGV car 5 located at the second preset position to obtain the position information of the pallet 51. The handling end of the handling mechanism 7 carries the material box from the shelf trolley 1 to the scanner for scanning. The material box that has been scanned continues to be transported to the pallet 51 on the AGV car 5, and the material box that has not been scanned is placed on the first transport line 3, transported out, and manually affixed with a barcode; then the material on the shelf trolley 1 After the box transportation is completed, the material boxes with barcodes and the manually inspected material boxes are manually transported from the second transport line 4 to the third preset position. The camera 6 takes a photo and scans the material boxes, and then takes a photo of the AGV vehicle 5. Then the transport mechanism 7 transports the material boxes at the third preset position to the tray 51 on the AGV vehicle 5. The inspected material boxes are set in the warehousing task. During the process of transporting the material boxes, they are transported from the second transport line 4 for inspection. Of course, the transport mechanism 7 places the material boxes into the tray 51 on the AGV vehicle 5 according to the warehousing task and according to the color and size of the material boxes. The specific transportation situation is introduced in the method and will not be repeated here.

[0077] When out of the warehouse, the AGV vehicle 5 drives the material box to the second preset position, and then the industrial computer generates an outbound task, and then the conveying mechanism 7 drives the camera 6 to take pictures and scan the AGV vehicle 5 to determine the position, color and size of the material box, and then according to the outbound task, the material box of the required color and size is grabbed and transported to the outbound line. The specific grabbing process will not be repeated here, as it has been described in the above method.

[0078] Specifically, the transport mechanism 7 includes a moving device 71 and a clamping assembly 72. The moving device 71 is a 6-axis industrial robot, wherein the clamping assembly 72 is disposed at the end of the moving device 71. Specifically, as shown in FIG. Figure 5-Figure 6 As shown, the clamping assembly 72 includes a driving mechanism 721 and two clamping plates 722. The two clamping plates 722 are arranged at the output end of the driving mechanism 721, and are used to drive the two clamping plates 722 to move closer or farther away. Preferably, a clamping space is formed between the two clamping plates 722, and a stopper 725 is arranged in the middle of the clamping space. The stopper 725 divides the clamping space into a first clamping space 723 and a second clamping space 724. The first clamping space 723 is located below the driving mechanism 721, and is used to grab the material box located directly below the driving mechanism 721 to avoid interference, while the second clamping space 724 is located in front of the driving mechanism 721, and can be used to extend into the shelf trolley 1 to facilitate grabbing the material box in the shelf trolley 1, thereby making the application range of the clamping assembly 72 wider and facilitating the transportation of the material box. In this embodiment, the driving mechanism 721 includes a servo motor, a screw, a driving nut and a driving plate. The servo motor is connected to the screw. The thread rotation direction of the end of the screw close to the servo motor and the end away from the servo motor are different. There are two driving nuts and two driving plates. The two driving nuts are respectively connected to the threaded rods at both ends of the screw. The two driving plates are respectively connected to the lower ends of the two driving nuts, and the two driving plates are respectively connected to the two clamping plates 722, so that the servo motor can drive the two clamping plates 722 to move closer or farther away through the screw.

[0079] Specifically, a front end of the second clamping space 724 is provided with an anti-drop mechanism, and the anti-drop mechanism includes a rotatable and resettable baffle 726. Specifically, the baffle 726 has two baffles 726 that are rotatably arranged at the two clamping plates 722 respectively, and the baffle 726 is rotatably connected to the horizontal step on the inner wall of the clamping plate 722 through a rotating shaft, and then a torsion spring sleeved on the rotating shaft is provided between the lower side wall of the baffle 726 and the step, so that the baffle 726 can rotate into the second clamping space 724 under the action of the material box during the process of the material box entering the second clamping space 724, forming an opening for the material box to enter, and when the material box enters the second clamping space 724, the baffle 726 is reset under the action of the torsion spring to close the opening or partially close the opening, thereby preventing the material box from slipping away from the second clamping space 724. The applicable scenario is: the clamping assembly 72 extends into the shelf trolley 1 to clamp the material box. Specifically, the inner side walls of the two clamping plates 722 are provided with bosses for cooperating with the convex edges of the material box, so that the clamping of the material box is more stable.

[0080] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A method for sorting different boxes of materials in and out of the warehouse, which is implemented by a sorting system for sorting different boxes of materials in and out of the warehouse, characterized in that: include: Warehouse entry: The shelf trolley arrives at the first preset position, and the system generates a warehouse entry task; Scan the material boxes on the shelf trolley according to the warehousing task to obtain all the material box information, including the size and color of the material box; take a photo of the AGV car located at the second predetermined position and carrying the pallet to obtain the material placement position and pallet size; the transport mechanism transports the material boxes from the shelf trolley, and enters the barcode of the material box during the transport process. The material boxes without barcode entry are placed at the abnormal exit and transported out through the first conveyor line. The material boxes with barcode entry are placed in the pallet on the AGV car according to the warehousing task and the color and size of the material box for warehousing classification; Outbound delivery: The AGV carries the material box to the second predetermined location. The system generates an outbound delivery task, takes a photo of the AGV carrying the pallet, and obtains the material box information in the pallet, which includes the size and color of the material box. Then, according to the outbound delivery task, the material box of the required color and size is grabbed and shipped to the outbound delivery line.

2. The method according to claim 1, characterized in that: It also includes manual feeding box storage, which is as follows: The material boxes are manually put onto the second conveyor line and transported to the third predetermined position. The material boxes at the third predetermined position are photographed according to the warehousing task to obtain all the material box information, including the size and color of the material boxes. The AGV vehicle is photographed to obtain the material placement position and pallet size. The handling mechanism places the material boxes into the pallet on the AGV vehicle for warehousing classification according to the warehousing task and the color and size of the material boxes, and scans the material boxes during the handling process.

3. The method according to claim 2, characterized in that The warehousing process also includes: If the barcode of the material box cannot be entered, the transport mechanism will place the material box at the abnormal exit and transport it out through the first conveyor line; If it is necessary to randomly inspect the material boxes, the transport mechanism directly transports the randomly inspected material boxes from the shelf trolley to the second transport line for transportation.

4. The method according to claim 3, characterized in that: The material boxes used for manual material feeding into the warehouse are sampled material boxes or abnormal material boxes whose barcodes cannot be entered.

5. The method according to claim 2, characterized in that: During the warehousing process, the barcoded boxes are placed on the trays on the AGV for warehousing classification according to the warehousing tasks, the color and size of the boxes, including: If the warehousing task requires that boxes of the same color be stored together, the handling mechanism will put the boxes of the same color into the tray on the same AGV vehicle, and fill the tray with boxes according to the size of the tray and the boxes; If the warehousing task requires that boxes of the same size be stored together, the handling mechanism will place the boxes of the same size into the tray on the same AGV, and place the boxes into the tray according to the size of the tray and the box. If the warehousing task does not require the same size or the same color to be stored together, the handling mechanism will put the material box in according to the size of the pallet and the material box and fill the pallet on the AGV vehicle.

6. The method according to claim 1, characterized in that The warehousing process also includes: The AGV needs to transport the material boxes multiple times, and each time the AGV reaches the preset position, it needs to take a photo to obtain the latest material placement position.

7. The method according to claim 1, characterized in that During the warehousing process, the system will also generate multiple warehousing addresses, and the multiple warehousing addresses correspond to multiple AGV vehicles. The warehousing method also includes: in the process of placing each material box on the pallet, according to the principle of taking pictures first and putting in the material box first, the pallets of multiple AGV vehicles are filled in turn.

8. A storage and sorting system suitable for different material boxes, used to implement the storage and sorting method according to any one of claims 1 to 7, characterized in that: include: A shelf trolley, used for loading material boxes and located at a first preset position; Barcode scanner, used to scan the barcode on the material box; The first transport line is used to transport the boxes without barcodes; The second transport line is used to transport the sampled boxes or the sampled boxes and the boxes with barcodes to a second preset location; An AGV vehicle, carrying a pallet, for transporting material boxes between the third preset position and the warehouse; A transport mechanism, used for transporting material boxes between the shelf trolley, the barcode scanner, the first transport line, the second transport line and the AGV vehicle, and a transport end of the transport mechanism is provided with a camera; An industrial computer is connected to the first transport line, the second transport line, the barcode scanner, the AGV vehicle, the transport mechanism and the camera, and is used to control the operation of each mechanism.

9. The system according to claim 8, characterized in that The transport mechanism comprises a moving device and a clamping assembly, wherein the clamping assembly is arranged at the end of the moving device; The clamping assembly includes a driving mechanism and two clamping plates, wherein the two clamping plates are arranged at the output end of the driving mechanism and are used to drive the two clamping plates to move closer or farther away; A clamping space is formed between the two clamping plates, and a stopper is arranged in the middle of the clamping space. The stopper divides the clamping space into a first clamping space and a second clamping space. The first clamping space is located below the driving mechanism, and the second clamping space is located in front of the driving mechanism.

10. The system according to claim 9, characterized in that The front end of the second clamping space is provided with an anti-drop mechanism, and the anti-drop mechanism includes a baffle that can be rotated and reset; When the material box enters the second clamping space, the baffle can rotate into the second clamping space under the action of the material box to form an opening for the material box to enter. When the material box enters the second clamping space, the baffle is reset to close the opening.

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